Preprint
Aug 2026
Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation
Surgical robotic systems are increasingly being adopted as clinical workload rises, motivating autonomous solutions for repetitive manipulation subtasks. Learning-based controllers improve generalization compared with rule-based and analytic approaches, but most are trained for individual tasks and remain difficult to...
Mingwu Su, Guan-Kun Wang, Jinsong Lin et al.
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