Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Bimanual Regrasping for Suture Needles using Reinforcement Learning for
  Rapid Motion Planning   Regrasping a suture needle is an important yet time-consuming process in
suturing. To bring efficiency into regrasping, prior work either designs a
task-specific mechanism or guides the gripper toward some specific pick-up
point for proper grasping of a needle. Yet, these methods are usually not
deployable when the working space is changed. Therefore, in this work, we
present rapid trajectory generation for bimanual needle regrasping via
reinforcement learning (RL). Demonstrations from a sampling-based motion
planning algorithm is incorporated to speed up the learning. In addition, we
propose the ego-centric state and action spaces for this bimanual planning
problem, where the reference frames are on the end-effectors instead of some
fixed frame. Thus, the learned policy can be directly applied to any feasible
robot configuration. Our experiments in simulation show that the success rate
of a single pass is 97%, and the planning time is 0.0212s on average, which
outperforms other widely used motion planning algorithms. For the real-world
experiments, the success rate is 73.3% if the needle pose is reconstructed from
an RGB image, with a planning time of 0.0846s and a run time of 5.1454s. If the
needle pose is known beforehand, the success rate becomes 90.5%, with a
planning time of 0.0807s and a run time of 2.8801s.

22
The categories of this paper are: chao-dyn
3
The categories of this paper are: physics
35
The categories of this paper are: mtrl-th
28
The categories of this paper are: alg-geom
25
The categories of this paper are: patt-sol
19
The categories of this paper are: eess
27
The categories of this paper are: comp-gas
4
The categories of this paper are: cond-mat
30
The categories of this paper are: q-alg
37
The categories of this paper are: supr-con
7
The categories of this paper are: hep-th
9
The categories of this paper are: nlin
8
The categories of this paper are: hep-ex
36
The categories of this paper are: cmp-lg
29
The categories of this paper are: funct-an
34
The categories of this paper are: chem-ph