Diffusion Stabilizer Policy for Automated Surgical Robot Manipulations
Fuente:
arXiv
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866911494384386048 |
|---|---|
| author | Ho, Chonlam Hu, Jianshu Song, Lei Wang, Hesheng Dou, Qi Ban, Yutong |
| author_facet | Ho, Chonlam Hu, Jianshu Song, Lei Wang, Hesheng Dou, Qi Ban, Yutong |
| contents | Intelligent surgical robots have the potential to revolutionize clinical practice by enabling more precise and automated surgical procedures. However, the automation of such robot for surgical tasks remains under-explored compared to recent advancements in solving household manipulation tasks. These successes have been largely driven by (1) advanced models, such as transformers and diffusion models, and (2) large-scale data utilization. Aiming to extend these successes to the domain of surgical robotics, we propose a diffusion-based policy learning framework, called Diffusion Stabilizer Policy (DSP), which enables training with imperfect or even failed trajectories. Our approach consists of two stages: first, we train the diffusion stabilizer policy using only clean data. Then, the policy is continuously updated using a mixture of clean and perturbed data, with filtering based on the prediction error on actions. Comprehensive experiments conducted in various surgical environments demonstrate the superior performance of our method in perturbation-free settings and its robustness when handling perturbed demonstrations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_01252 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Diffusion Stabilizer Policy for Automated Surgical Robot Manipulations Ho, Chonlam Hu, Jianshu Song, Lei Wang, Hesheng Dou, Qi Ban, Yutong Robotics Intelligent surgical robots have the potential to revolutionize clinical practice by enabling more precise and automated surgical procedures. However, the automation of such robot for surgical tasks remains under-explored compared to recent advancements in solving household manipulation tasks. These successes have been largely driven by (1) advanced models, such as transformers and diffusion models, and (2) large-scale data utilization. Aiming to extend these successes to the domain of surgical robotics, we propose a diffusion-based policy learning framework, called Diffusion Stabilizer Policy (DSP), which enables training with imperfect or even failed trajectories. Our approach consists of two stages: first, we train the diffusion stabilizer policy using only clean data. Then, the policy is continuously updated using a mixture of clean and perturbed data, with filtering based on the prediction error on actions. Comprehensive experiments conducted in various surgical environments demonstrate the superior performance of our method in perturbation-free settings and its robustness when handling perturbed demonstrations. |
| title | Diffusion Stabilizer Policy for Automated Surgical Robot Manipulations |
| topic | Robotics |
| url | https://arxiv.org/abs/2503.01252 |