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Lars Doorenbos

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2 papers
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2

TMLR Journal 2024 Journal Article

Hyperbolic Random Forests

  • Lars Doorenbos
  • Pablo Márquez Neila
  • Raphael Sznitman
  • Pascal Mettes

Hyperbolic space is becoming a popular choice for representing data due to the hierarchical structure - whether implicit or explicit - of many real-world datasets. Along with it comes a need for algorithms capable of solving fundamental tasks, such as classification, in hyperbolic space. Recently, multiple papers have investigated hyperbolic alternatives to hyperplane-based classifiers, such as logistic regression and SVMs. While effective, these approaches struggle with more complex hierarchical data. We, therefore, propose to generalize the well-known random forests to hyperbolic space. We do this by redefining the notion of a split using horospheres. Since finding the globally optimal split is computationally intractable, we find candidate horospheres through a large-margin classifier. To make hyperbolic random forests work on multi-class data and imbalanced experiments, we furthermore outline new methods for combining classes based on the lowest common ancestor and class-balanced large-margin losses. Experiments on standard and new benchmarks show that our approach outperforms both conventional random forest algorithms and recent hyperbolic classifiers.

IROS Conference 2024 Conference Paper

SuFIA: Language-Guided Augmented Dexterity for Robotic Surgical Assistants

  • Masoud Moghani
  • Lars Doorenbos
  • William Chung-Ho Panitch
  • Sean Huver
  • Mahdi Azizian
  • Ken Goldberg
  • Animesh Garg

In this work, we present SuFIA, the first framework for natural language-guided augmented dexterity for robotic surgical assistants. SuFIA incorporates the strong reasoning capabilities of large language models (LLMs) with perception modules to implement high-level planning and low-level control of a robot for surgical sub-task execution. This enables a learning-free approach to surgical augmented dexterity without any in-context examples or motion primitives. SuFIA uses a human-in-the-loop paradigm by restoring control to the surgeon in the case of insufficient information, mitigating unexpected errors for mission-critical tasks. We evaluate SuFIA on four surgical sub-tasks in a simulation environment and two sub-tasks on a physical surgical robotic platform in the lab, demonstrating its ability to perform common surgical sub-tasks through supervised autonomous operation under challenging physical and workspace conditions. Project website: orbit-surgical.github.io/sufia

v2026.09.13