Contact-Stable Deformable Tissue Simulation Using Implicit Integration and Live-Pose Grasp Constraints for Laparoscopic Surgery Robot Policy Evaluation

arXiv:2609.25642 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-27

Code: https://github.com/NVIDIA/warp

Terminology

• APEX — 5× in this paper · explained in 1 episode
• Ablation — 4× in this paper · explained in 1 episode
• Vertex Block Descent — 4× in this paper
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Core — 2× in this paper · explained in 2 episodes
• Action Flow — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Reconstruction Error — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• AutoPeel: Adhesion-aware Safe Peeling Trajectory Optimization for Robotic Wound Care
• SAM 2: Segment Anything in Images and Videos
• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
• OpenVLA: An Open-Source Vision-Language-Action Model
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

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