Search Results for author: Yotam Barnoy

Found 3 papers, 2 papers with code

Localization and Control of Magnetic Suture Needles in Cluttered Surgical Site with Blood and Tissue

no code implementations20 May 2021 Will Pryor, Yotam Barnoy, Suraj Raval, Xiaolong Liu, Lamar Mair, Daniel Lerner, Onder Erin, Gregory D. Hager, Yancy Diaz-Mercado, Axel Krieger

Our localization method combines neural network-based segmentation and classical techniques, and we are able to consistently locate our needle with 0. 73 mm RMS error in clean environments and 2. 72 mm RMS error in challenging environments with blood and occlusion.

Visual Localization

Robotic Surgery With Lean Reinforcement Learning

1 code implementation3 May 2021 Yotam Barnoy, Molly O'Brien, Will Wang, Gregory Hager

As far as we know, this is the first time an RL-based agent is taught from visual data in a surgical robotics environment.

Q-Learning reinforcement-learning +1

Visual Robot Task Planning

1 code implementation30 Mar 2018 Chris Paxton, Yotam Barnoy, Kapil Katyal, Raman Arora, Gregory D. Hager

In this work, we propose a neural network architecture and associated planning algorithm that (1) learns a representation of the world useful for generating prospective futures after the application of high-level actions, (2) uses this generative model to simulate the result of sequences of high-level actions in a variety of environments, and (3) uses this same representation to evaluate these actions and perform tree search to find a sequence of high-level actions in a new environment.

Imitation Learning Robot Task Planning

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