arXiv subjects

Shing-Hei Ho

Publications and source records attributed to Shing-Hei Ho.

7 recordsLinked to original sources

arXiv2026

Bayesian Retraction Optimization for Tissue Attachment Mapping in Surgical Dissection

With growing surgeon shortages, automating surgical sub-tasks such as tissue dissection offers a promising step toward reducing workload and expanding patient access. Prior work has relied on hand-crafted incision policies that cannot quantify uncertainty or has relied on simulation-based methods that require strong modeling assumptions. We instead view tissue attachment identification as an inherently probabilistic problem and propose a Bayesian approach that avoids explicit tissue modeling. Our method uses a Sequential Bayesian Hilbert Map (SBHM) to represent the likelihood that each tissue point is attached to the underlying resection surface. An ensemble of learned classifiers predicts attachment likelihoods from spatial data acquired during robotic tissue retraction, with each classifier serving as a noisy information source to update the SBHM. To plan the next retraction, we devise Bayesian Retraction Optimization (BRO) to select the most informative action under safety constraints. As the SBHM refines over time, regions with high attachment likelihood are selectively incised. We validate our method in simulation across diverse tissue geometries and acquisition strategies, and demonstrate zero-shot transfer to real robotic dissection experiments.

cs.RO↗

arXiv2025

A Fully First-Order Layer for Differentiable Optimization

Differentiable optimization layers enable learning systems to make decisions by solving embedded optimization problems. However, computing gradients via implicit differentiation requires solving a linear system with Hessian terms, which is both compute- and memory-intensive. To address this challenge, we propose a novel algorithm that computes the gradient using only first-order information. The key insight is to rewrite the differentiable optimization as a bilevel optimization problem and leverage recent advances in bilevel methods. Specifically, we introduce an active-set Lagrangian hypergradient oracle that avoids Hessian evaluations and provides finite-time, non-asymptotic approximation guarantees. We show that an approximate hypergradient can be computed using only first-order information in $\tilde{O}(1)$ time, leading to an overall complexity of $\tilde{O}(\delta^{-1}\epsilon^{-3})$ for constrained bilevel optimization, which matches the best known rate for non-smooth non-convex optimization. Furthermore, we release an open-source Python library that can be easily adapted from existing solvers. The source code is available at https://github.com/guaguakai/FFOLayer.

cs.LG↗

arXiv2025

DiffDef: A Diffusion Model for Generating Multimodal Goal Shapes From Demonstrations for Deformable Object Manipulation

Deformable object manipulation is a key capability in many robotic applications. A promising paradigm for this problem is shape servoing, which aims to control deformable objects toward desired goal shapes. However, existing approaches typically rely on impractical goal-shape acquisition methods, such as domain-knowledge engineering or manual manipulation. Moreover, prior methods generally assume a single deterministic goal and fail to handle multimodal goal settings, a common scenario in many real-world tasks where multiple distinct goal shapes can all lead to successful task completion. In this paper, we introduce DiffDef, a novel neural network that uses a diffusion model to learn a distribution of feasible goal shapes rather than predicting a single deterministic outcome. This allows DiffDef to generate diverse goal configurations while avoiding the mode-averaging artifacts common in deterministic predictors. We evaluate our method on several deformable manipulation tasks inspired by manufacturing and surgical applications, both in simulation and on two physical robotic platforms: the da Vinci Research Kit (dVRK) and a bimanual KUKA-based robotic system. The results demonstrate that DiffDef effectively captures multimodal goal distributions and significantly improves task performance in practical robotic settings. Website: sites.google.com/view/diffdef.

cs.RO↗

arXiv2024

LiDAR-EDIT: LiDAR Data Generation by Editing the Object Layouts in Real-World Scenes

We present LiDAR-EDIT, a novel paradigm for generating synthetic LiDAR data for autonomous driving. Our framework edits real-world LiDAR scans by introducing new object layouts while preserving the realism of the background environment. Compared to end-to-end frameworks that generate LiDAR point clouds from scratch, LiDAR-EDIT offers users full control over the object layout, including the number, type, and pose of objects, while keeping most of the original real-world background. Our method also provides object labels for the generated data. Compared to novel view synthesis techniques, our framework allows for the creation of counterfactual scenarios with object layouts significantly different from the original real-world scene. LiDAR-EDIT uses spherical voxelization to enforce correct LiDAR projective geometry in the generated point clouds by construction. During object removal and insertion, generative models are employed to fill the unseen background and object parts that were occluded in the original real LiDAR scans. Experimental results demonstrate that our framework produces realistic LiDAR scans with practical value for downstream tasks.

cs.CV↗

arXiv2024

Reward Learning from Suboptimal Demonstrations with Applications in Surgical Electrocautery

Automating robotic surgery via learning from demonstration (LfD) techniques is extremely challenging. This is because surgical tasks often involve sequential decision-making processes with complex interactions of physical objects and have low tolerance for mistakes. Prior works assume that all demonstrations are fully observable and optimal, which might not be practical in the real world. This paper introduces a sample-efficient method that learns a robust reward function from a limited amount of ranked suboptimal demonstrations consisting of partial-view point cloud observations. The method then learns a policy by optimizing the learned reward function using reinforcement learning (RL). We show that using a learned reward function to obtain a policy is more robust than pure imitation learning. We apply our approach on a physical surgical electrocautery task and demonstrate that our method can perform well even when the provided demonstrations are suboptimal and the observations are high-dimensional point clouds. Code and videos available here: https://sites.google.com/view/lfdinelectrocautery

cs.RO↗

arXiv2023

DefGoalNet: Contextual Goal Learning from Demonstrations For Deformable Object Manipulation

Shape servoing, a robotic task dedicated to controlling objects to desired goal shapes, is a promising approach to deformable object manipulation. An issue arises, however, with the reliance on the specification of a goal shape. This goal has been obtained either by a laborious domain knowledge engineering process or by manually manipulating the object into the desired shape and capturing the goal shape at that specific moment, both of which are impractical in various robotic applications. In this paper, we solve this problem by developing a novel neural network DefGoalNet, which learns deformable object goal shapes directly from a small number of human demonstrations. We demonstrate our method's effectiveness on various robotic tasks, both in simulation and on a physical robot. Notably, in the surgical retraction task, even when trained with as few as 10 demonstrations, our method achieves a median success percentage of nearly 90%. These results mark a substantial advancement in enabling shape servoing methods to bring deformable object manipulation closer to practical, real-world applications.

cs.RO↗

arXiv2023

DeformerNet: Learning Bimanual Manipulation of 3D Deformable Objects

Applications in fields ranging from home care to warehouse fulfillment to surgical assistance require robots to reliably manipulate the shape of 3D deformable objects. Analytic models of elastic, 3D deformable objects require numerous parameters to describe the potentially infinite degrees of freedom present in determining the object's shape. Previous attempts at performing 3D shape control rely on hand-crafted features to represent the object shape and require training of object-specific control models. We overcome these issues through the use of our novel DeformerNet neural network architecture, which operates on a partial-view point cloud of the manipulated object and a point cloud of the goal shape to learn a low-dimensional representation of the object shape. This shape embedding enables the robot to learn a visual servo controller that computes the desired robot end-effector action to iteratively deform the object toward the target shape. We demonstrate both in simulation and on a physical robot that DeformerNet reliably generalizes to object shapes and material stiffness not seen during training, including ex vivo chicken muscle tissue. Crucially, using DeformerNet, the robot successfully accomplishes three surgical sub-tasks: retraction (moving tissue aside to access a site underneath it), tissue wrapping (a sub-task in procedures like aortic stent placements), and connecting two tubular pieces of tissue (a sub-task in anastomosis).

cs.RO↗