An ensemble of diffusion policies detects out-of-distribution states during simulated needle insertion, and a model-free control barrier function filters unsafe actions.
Robot- assisted minimally invasive surgery—surgical robotics in the data age,
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Safe Uncertainty-Aware Learning of Robotic Suturing
An ensemble of diffusion policies detects out-of-distribution states during simulated needle insertion, and a model-free control barrier function filters unsafe actions.