Benchmarking ACT, Diffusion Policy, SmolVLA, and π0 on suture following yields 50-75% success under ideal conditions and 92% stitch completion with π0 in a surgeon-robot trial.
ORBIT-Surgical: An open-simulation framework for learning surgical augmented dexterity.arXiv preprint arXiv:2404.16027,
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Imitation Learning for Robot Assistance in Open Surgery: A Multi-Policy Evaluation on Suture Following
Benchmarking ACT, Diffusion Policy, SmolVLA, and π0 on suture following yields 50-75% success under ideal conditions and 92% stitch completion with π0 in a surgeon-robot trial.