Author

Caleb D. Rucker

2 papers indexed here

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Preprint Sep 2026

Differentiable Mesh State Estimation via Factor Graph Inference for Deformable Object Reconstruction

Estimating deformable object states remains a fundamental challenge in robotics and simulation. We propose a novel factor graph-based framework for probabilistic mesh state estimation of deformable objects. The method directly updates a tetrahedral mesh, a rich and physically-grounded representation of an environment,...

Lidia Al-Zogbi, Fang-Jie Li, Samuel Tobin et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Anatomy-Aware Dexterity-Driven Design Optimization of Surgical Continuum Robots

This work presents a design optimization method that considers both dexterity and anatomy in the design of a bimanual dexterous sheaths robot for performing procedures on cancerous polyps in colon anatomies, achieving a 78% higher RVDSA on average than optimizing for 3D voxel coverage alone.

Tony Qin, Peter Connor, Khoa T. Dang et al. · 0 citations