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Reinforcement learning environments for robot-assisted laparoscopic surgery

License: MIT License

Python 100.00%

reinforcement-learning reinforcement-learning-environments sofa-framework python

sofa_env's Introduction

Where to find me

Projects

sofa_env: Reinforcement learning environments for robot-assisted laparoscopic surgery.
sofa_zoo: Reinforcement learning scripts for sofa_env environments.
sofa_godot: A Godot plugin to create SOFA scenes in Godot.

Code for papers

LapGym -- An Open Source Framework for Reinforcement Learning in Robot-Assisted Laparoscopic Surgery (paper, SOFA Award 2022, SOFA Award 2023).
Environment for Sim-to-Real Transfer for Visual Reinforcement Learning of Deformable Object Manipulation for Robot-Assisted Surgery (paper).
Extended environment for Cooperative Assistance in Robotic Surgery through Multi-Agent Reinforcement Learning (paper).
Movement Primitive Diffusion - Learning Gentle Robotic Manipulation of Deformable Objects (paper)

Educational projects

CURAC Academy 2021 - Workshop: Introduction to deep learning on medical data.

Contributing to

SOFA: Real-time multi-physics simulation with an emphasis on medical simulation.
SofaPython3: Python bindings for SOFA.
MP_PyTorch: Movement Primitives in PyTorch.
qmk: Keyboard firmware.

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