Teleoperated Unitree G1 humanoids using manual wristed instruments completed two in-vivo porcine cholecystectomies and dry-lab tasks with performance between manual laparoscopy and commercial surgical robots.
Zhang, Taylor A
3 Pith papers cite this work. Polarity classification is still indexing.
3
Pith papers citing it
fields
cs.RO 3years
2026 3representative citing papers
Test-time steering of pre-trained whole-body policies via sample-based planning lets legged robots generalize dynamic loco-manipulation to varied heavy objects and tasks without additional training or tuning.
RL policy biases MPPI sampling for humanoid control, enabling online correction of drift and new whole-body references in simulation.
citing papers explorer
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In vivo feasibility study of humanoid robots in surgery
Teleoperated Unitree G1 humanoids using manual wristed instruments completed two in-vivo porcine cholecystectomies and dry-lab tasks with performance between manual laparoscopy and commercial surgical robots.
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Sumo: Dynamic and Generalizable Whole-Body Loco-Manipulation
Test-time steering of pre-trained whole-body policies via sample-based planning lets legged robots generalize dynamic loco-manipulation to varied heavy objects and tasks without additional training or tuning.
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RGB: RL Guided Whole-Body MPPI for Humanoid Control
RL policy biases MPPI sampling for humanoid control, enabling online correction of drift and new whole-body references in simulation.