arxivcs.ROcs.LG2026-07-15
Deformable State Estimation for Autonomous Surgical Tissue Retraction Under Partial Observability
Everest Yang, Skye Thompson, George D. Konidaris
Surgical tissue retraction requires effective manipulation planning under partial and noisy perception. We study state estimation for deformable tissue retraction, where only sparse observations of the tissue surface are available at decision time. We propose a learned state esti…