IEEE T-RO

OmniRAS: Standardizing Foundation Model Training and Evaluation in Robot-Assisted Surgery

OmniRAS：标准化机器人辅助手术领域的基础模型训练与评估

Leonardo Borgioli, Neil Getty, Wenli Xiu, Jessica Cassiani, Alvaro Ducas, Carlos Agustin Orda, Hira Waris, Fangfang Xia, Rick Stevens, Pier Cristoforo Giulianotti, Milos Zefran

AI总结 本文针对机器人辅助手术领域基础模型稀缺的问题，提出OmniRAS系列V-JEPA-2.1编码器，发布专属数据集并完成大规模预训练与多任务评估，取得最优适配结果。

Comments 18 pages, 11 figures, 4 tables. Under review at IEEE Transactions on Robotics (T-RO)