Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: SurRoL: An Open-source Reinforcement Learning Centered and dVRK
  Compatible Platform for Surgical Robot Learning   Autonomous surgical execution relieves tedious routines and surgeon's
fatigue. Recent learning-based methods, especially reinforcement learning (RL)
based methods, achieve promising performance for dexterous manipulation, which
usually requires the simulation to collect data efficiently and reduce the
hardware cost. The existing learning-based simulation platforms for medical
robots suffer from limited scenarios and simplified physical interactions,
which degrades the real-world performance of learned policies. In this work, we
designed SurRoL, an RL-centered simulation platform for surgical robot learning
compatible with the da Vinci Research Kit (dVRK). The designed SurRoL
integrates a user-friendly RL library for algorithm development and a real-time
physics engine, which is able to support more PSM/ECM scenarios and more
realistic physical interactions. Ten learning-based surgical tasks are built in
the platform, which are common in the real autonomous surgical execution. We
evaluate SurRoL using RL algorithms in simulation, provide in-depth analysis,
deploy the trained policies on the real dVRK, and show that our SurRoL achieves
better transferability in the real world.

24
The categories of this paper are: dg-ga
18
The categories of this paper are: econ
33
The categories of this paper are: plasm-ph
25
The categories of this paper are: patt-sol
16
The categories of this paper are: stat
30
The categories of this paper are: q-alg
31
The categories of this paper are: ao-sci
37
The categories of this paper are: supr-con
5
The categories of this paper are: gr-qc
0
The categories of this paper are: hep-ph
35
The categories of this paper are: mtrl-th
9
The categories of this paper are: nlin
8
The categories of this paper are: hep-ex
2
The categories of this paper are: math
34
The categories of this paper are: chem-ph
12
The categories of this paper are: nucl-th