This study focuses on the manipulation of deformable objects in robotic surgery. The authors propose an adaptive parameter tuning approach for simulation optimization, aiming to bridge the real-to-sim gap in physics simulations. This method estimates a residual mapping and optimizes stiffness parameters in real-time, improving the simulation’s predictive capabilities. The research contributes to the advancement of simulation-based deformable tissue manipulation and holds potential for enhancing surgical autonomy.
Publication date: 22 Sep 2023
Project Page: Not provided
Paper: https://arxiv.org/pdf/2309.11656
