robotics
Depth Found the Contact That Color Couldn’t Transfer
A stereo-distance signal held a 0.927 macro F1 across new surgical tasks and phantoms while an RGB baseline fell to 0.320.
Summary
A stereo-distance signal held a 0.927 macro F1 across new surgical tasks and phantoms while an RGB baseline fell to 0.320.
The detector reduces stereo depth around a surgical tool boundary to one distance-derived scalar and models contact as a two-state process. Trained on six palpation sessions and tested on four held-out sessions, it reached 0.927 macro F1 and 0.980 AUPRC across same- and cross-phantom settings. The comparison uses silicone phantoms, so the study supports a transferable cue rather than clinical performance in living tissue.
Why it matters
A stereo-distance signal held a 0.927 macro F1 across new surgical tasks and phantoms while an RGB baseline fell to 0.320.
Limits and context
No additional limitation was separately recorded.
Key claims
A stereo-distance signal held a 0.927 macro F1 across new surgical tasks and phantoms while an RGB baseline fell to 0.320.
Evidence: source-2026-08-20-006
Sources
- arXiv preprint 2608.18270arXiv · primary research
Corrections
No corrections have been recorded for this story.