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BEGIN:VEVENT

CATEGORIES:Medicine
CATEGORIES:Engineering
CATEGORIES:Utilities
CATEGORIES:Technology
CATEGORIES:Main
CONTACT;X-BEDEWORK-UID=00f1fcdb-0f068baf-010f-068baf83-00000004:None
CREATED:20250926T175153Z
DESCRIPTION:ABSTRACT:  Recent advances in surgical robotics have enabled i
 nnovative techniques that reduce patient trauma\, shorten hospital stays\
 , and improve both diagnostic accuracy and therapeutic outcomes. However\
 , despite the many benefits of robot-assisted minimally invasive and endo
 scopic procedures\, significant limitations remain\, particularly in the 
 dexterity\, intelligence\, and autonomy of current robotic systems\, as w
 ell as in the biomechanical design of medical devices and implants.\nOne 
 of the most pressing challenges is inadequate dexterity\, driven by limit
 ed access to target anatomy and insufficient control over rigid instrumen
 ts and implants. These constraints highlight the need for specialized ins
 trumentation\, intelligent sensing\, and adaptive control paradigms capab
 le of navigating complex anatomical environments. Advancing autonomy in s
 urgical systems also requires more than robotic intelligence alone\, it d
 emands synergistic human-robot interaction\, where the system can both as
 sist and adapt to the surgeon's decision-making process in real time.\nTh
 is talk will introduce our lab's efforts in advancing the engineering of 
 surgery (or surgineering) to address these challenges. I will present tra
 nslational research across several clinical applications\, including:\n•	
 Spinal fixation using steerable drills and flexible pedicle screws\n•	Col
 orectal cancer screening with vision-based tactile sensors and complement
 ary AI algorithms\n•	In vivo bioprinting for treating volumetric muscle l
 oss via robotic delivery systems\nBy integrating continuum manipulators\,
  stretchable soft sensors\, intelligent implants\, and semi/autonomous co
 ntrol strategies\, our work aims to fundamentally transform the paradigm 
 of minimally invasive and endoscopic interventions\, bringing true dexter
 ity and autonomy to surgical robotics.
DURATION:PT1H
DTSTAMP:20250926T175803Z
DTSTART;TZID=America/New_York:20251002T120000
LAST-MODIFIED:20250926T175803Z
LOCATION;X-BEDEWORK-UID=18832e99-1f6846be-011f-6ad32936-0000000d:Hudson Ha
 ll 115A
STATUS:CONFIRMED
SUMMARY:Surgineering Using Intelligent and Flexible Robotic Systems
UID:CAL-8a00ec8b-979413b9-0199-8727268c-00003602demobedework@mysite.edu
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 opics/Medicine
X-BEDEWORK-ALIAS;X-BEDEWORK-PARAM-DISPLAYNAME=Technology:/user/public-user
 /Topics/Technology
X-BEDEWORK-STUDENT-CONTACT;X-BEDEWORK-PARAM-EMAIL=cindy.canty.dumas@duke.e
 du:Cindy Canty-Dumas
X-BEDEWORK-SPEAKER:Dr Farshid Alambeigi
X-BEDEWORK-DUKE-SERIES:MEMS 2025 Robotic Seminar Series
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X-BEDEWORK-IMAGE-ALT-TEXT:Dr Alambeigi
X-BEDEWORK-SUBMITTEDBY:st305 for Mechanical Engineering and Materials Scie
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END:VEVENT
BEGIN:VEVENT

CATEGORIES:Lectures/Conferences
CATEGORIES:Utilities
CATEGORIES:Panel/Seminar/Colloquium
CATEGORIES:Main
CONTACT;X-BEDEWORK-UID=8a00ec8b-979413b9-0198-c90229fd-00004085:Cheng\, Xi
 anyi
CREATED:20251121T221056Z
DESCRIPTION:Title: Modularity for Robot Manipulation\n\nAbstract:\nIn the 
 future\, we aim to build robots with the robustness and versatility neede
 d to operate in open-world environments such as homes\, service industrie
 s\, and hospitals. Achieving this vision requires robots to learn manipul
 ation skills that generalize across diverse objects and task scenarios. M
 odularity is a key principle for enabling such adaptability. In this talk
 \, I will present recent work from my lab on leveraging modularity to str
 ucture manipulation tasks for more efficient learning. I will discuss how
  robots can acquire modular skill representations tailored to specific ta
 sks\, enabling rapid adaptation. By exploiting intra-skill modularity\, r
 obots can efficiently transfer behaviors between different objects using 
 foundation models. I will subsequently describe our work on learning the 
 scope of skills and planners. By understanding the scope of their abiliti
 es\, robots can identify their own limitations and address them in a syst
 ematic manner. Finally\, I will highlight ongoing efforts to develop modu
 lar robot hardware\, with a focus on new designs for robotic hands.\n\nBi
 o:\nDr. Oliver Kroemer is an Associate Professor in the Robotics Institut
 e at Carnegie Mellon University (CMU)\, where he leads the Intelligent Au
 tonomous Manipulation Lab. His research focuses on developing algorithms 
 and representations that enable robots to acquire versatile and robust ma
 nipulation skills. Before joining CMU\, Dr. Kroemer was a postdoctoral re
 searcher at the University of Southern California (USC). He received his 
 Bachelor's and Master's degrees in Engineering from the University of Cam
 bridge in 2008. From 2009 to 2011\, he conducted his doctoral research at
  the Max Planck Institute for Intelligent Systems and completed his Ph.D.
  in 2014 at the Technische Universität Darmstadt with a dissertation on m
 achine learning for robot grasping and manipulation.
DURATION:PT1H
DTSTAMP:20251121T221056Z
DTSTART;TZID=America/New_York:20251204T120000
LAST-MODIFIED:20251121T221056Z
LOCATION;X-BEDEWORK-UID=18832e99-1f6846be-011f-6ad32936-0000000d:Hudson Ha
 ll 115A
STATUS:CONFIRMED
SUMMARY:[Duke Robotics Seminar] Modularity for Robot Manipulation
UID:CAL-8a00ec9e-9a83ce7f-019a-a8787424-00006035demobedework@mysite.edu
URL:https://robotics.pratt.duke.edu/events/671
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 ties/Main
X-BEDEWORK-ALIAS;X-BEDEWORK-PARAM-DISPLAYNAME=Panel_Seminar_Colloquium:/us
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X-BEDEWORK-SPEAKER:Prof. Oliver Kroemer
X-BEDEWORK-DUKE-SERIES:Duke Robotics Seminar
X-BEDEWORK-SUBMITTEDBY:xc243 for Duke Robotics Group (agrp_Pratt_DukeRobot
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END:VEVENT
BEGIN:VEVENT

CATEGORIES:Engineering
CATEGORIES:Lectures/Conferences
CATEGORIES:Utilities
CATEGORIES:Lecture/Talk
CATEGORIES:Technology
CATEGORIES:Main
CONTACT;X-BEDEWORK-UID=2c918083-5fc14a35-015f-cbd1d1e0-0000485b:Orlando\, 
 Griffin
CREATED:20260317T170530Z
DESCRIPTION:Abstract: Vision-Language-Action (VLA) policies have recently 
 emerged as a promising paradigm for generalist robot autonomy. However\, 
 VLAs have several challenges that must be overcome before they can achiev
 e their potential. Firstly\, these models require fine-tuning with human-
 teleoperation demonstrations\, which can be tedious\, expensive\, and tim
 e-consuming to collect. Secondly\, policy performance is limited to teleo
 p demonstration quality\, which can be highly variable depending on the h
 uman teleoperator's skill and the dexterity barrier of the teleop interfa
 ce. Lastly\, VLA models\, with the current state of practice\, appear to 
 suffer from strong overfitting to the fine-tuning data. All of these issu
 es lead to "generalist" policies that do not generalize very well. In thi
 s talk\, I will describe recent work in my lab to address each of these p
 roblems. I will describe techniques we have developed to scale up demonst
 ration data by leveraging 3D Gaussian Splatting models and optimization-b
 ased planning experts to generate arbitrary volumes of high-quality visua
 l demonstrations to augment or replace human teleop data. I will describe
  our work on multi-task progress models that can track\, based on visual 
 inputs and text prompts\, the progress of a demonstration. This can be us
 ed to filter human teleop data for high-quality training data\, and can b
 e used as an online performance monitor during policy execution for fault
  detection\, recovery guidance\, and diagnostics. Finally\, I will descri
 be our work on memorization vs generalization in visuo-motor policies\, w
 here we find that current fine-tuning practices cause overfitting to the 
 training data\, limiting a VLA's generalization capabilities. I will expl
 ore some remedies for this problem. The talk will include experimental re
 sults for drone navigation policies\, drone aerial manipulation policies\
 , and table-top manipulation\n \nDR. MAC SCHWAGER is an Associate Profess
 or of Aeronautics and Astronautics and Computer Science (by courtesy) at 
 Stanford University.
DURATION:PT1H
DTSTAMP:20260317T171039Z
DTSTART;TZID=America/New_York:20260402T120000
LAST-MODIFIED:20260317T171039Z
LOCATION;X-BEDEWORK-UID=18832e99-1f6846be-011f-6ad32936-0000000d:Hudson Ha
 ll 115A
STATUS:CONFIRMED
SUMMARY:MEMS Robotics Seminar: How general are generalist robot policies? 
  Data scaling\, diagnostic tools\, and memorization in VLAs
UID:CAL-8a003384-9cc4d1fe-019c-fcc27f5f-0000547bdemobedework@mysite.edu
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 /Topics/Technology
X-BEDEWORK-CS;X-BEDEWORK-PARAM-DESCRIPTION="/principals/users/agrp_PrattSc
 hool,":Pratt School of Engineering
X-BEDEWORK-SPEAKER:Mac Schwager
X-BEDEWORK-DUKE-SERIES:MEMS Robotics Seminar
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X-BEDEWORK-IMAGE-ALT-TEXT:schwager
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END:VEVENT
BEGIN:VEVENT

CATEGORIES:Medicine
CATEGORIES:Engineering
CATEGORIES:Lectures/Conferences
CATEGORIES:Utilities
CATEGORIES:Panel/Seminar/Colloquium
CATEGORIES:Technology
CATEGORIES:Main
CONTACT;X-BEDEWORK-UID=2c918083-5fc14a35-015f-cbd1d1e0-0000485b:Orlando\, 
 Griffin
CREATED:20260407T154358Z
DESCRIPTION:Abstract:  Continuum robots are slender elastic structures tha
 t can be remotely actuated and steered\, with many potential applications
  in medicine. Many such structures have been explored by the robotics com
 munity over the last two decades\, including systems based on tendon/cabl
 e-drive\, concentric pre-curved tubes\, shape-memory actuation\, and flui
 dic actuation. In recent work\, we explored a new method based on asymmet
 rically laser-machined\, concentric tubes that are welded together at the
 ir tips.  Pushing and pulling the bases of the tubes then controls deform
 ation in the laser-machined sections.   These concentric push-pull robots
  have great potential as manipulators that can be delivered through flexi
 ble endoscopes to steer diagnostic and therapeutic tools with greater dex
 terity and range than is currently possible. This talk will discuss recen
 t progress in design and modeling for these robots and others toward next
 -generation surgical systems.  I will also highlight the process of trans
 lating technology from the lab into commercial products at EndoTheia.\n\n
 Bio: Caleb Rucker received his B.S. degree in engineering mechanics and m
 athematics from Lipscomb University\, Nashville\, TN\, USA\, in 2006\, an
 d his Ph.D. degree in mechanical engineering from Vanderbilt University\,
  Nashville TN\, in 2011.
DURATION:PT1H
DTSTAMP:20260407T162341Z
DTSTART;TZID=America/New_York:20260416T120000
LAST-MODIFIED:20260407T162341Z
LOCATION;X-BEDEWORK-UID=18832e99-1f6846be-011f-6ad32936-0000000d:Hudson Ha
 ll 115A
STATUS:CONFIRMED
SUMMARY:Progress In Tubular Robot Structures for Surgery
UID:CAL-8a003384-9cc4d1fe-019d-689d663a-000066b8demobedework@mysite.edu
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X-BEDEWORK-ALIAS;X-BEDEWORK-PARAM-DISPLAYNAME=Technology:/user/public-user
 /Topics/Technology
X-BEDEWORK-ALIAS;X-BEDEWORK-PARAM-DISPLAYNAME=Medicine:/user/public-user/T
 opics/Medicine
X-BEDEWORK-CS;X-BEDEWORK-PARAM-DESCRIPTION="/principals/users/agrp_PrattSc
 hool,":Pratt School of Engineering
X-BEDEWORK-SPEAKER:Dr Caleb Rucker
X-BEDEWORK-DUKE-SERIES:MEMS Seminar Series
X-BEDEWORK-SUBMITTEDBY:st305 for Mechanical Engineering and Materials Scie
 nce (MEMS) (agrp_PrattSchool_MEMS)
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END:VEVENT
END:VCALENDAR