A trajectory-divergence safety gate that truncates unstable action chunks improves VLA-based surgical manipulation success on real hardware.
Learning by observation for surgical subtasks: Multilateral cutting of 3d viscoelastic and 2d orthotropic tissue phantoms,
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Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation
A trajectory-divergence safety gate that truncates unstable action chunks improves VLA-based surgical manipulation success on real hardware.