Preprint Open access
SurgFlow: 3D Object-Centric Contact Flow for Surgical Robot Manipulation
Paired video-action demonstrations enable autonomous surgical behavior, but such data is scarce: robots perform roughly 1% of surgeries, while video-only data is abundant. Learning 3D object flow offers an embodiment-agnostic way to utilize video data, but flow alone specifies how an object should move, not where and w …