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simmediummanipulation-datametric · varies
SurgiPose: Estimating Surgical Tool Kinematics from Monocular Video for Surgical Robot Learning
Description
Imitation learning (IL) has shown immense promise in enabling autonomous dexterous manipulation, including learning surgical tasks. To fully unlock the potential of IL for surgery, access to clinical datasets is needed, which unfortunately lack the kinematic data required for current IL approaches. A promising source of large-scale surgical demonstrations is monocular surgical videos available online, making monocular pose estimation a crucial step toward enabling large-scale robot learning. Tow