{"id":"https://openalex.org/W4416749665","doi":"https://doi.org/10.1109/iros60139.2025.11247229","title":"dARt Vinci: Egocentric Data Collection for Surgical Robot Learning at Scale","display_name":"dARt Vinci: Egocentric Data Collection for Surgical Robot Learning at Scale","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749665","doi":"https://doi.org/10.1109/iros60139.2025.11247229"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247229","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247229","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100696068","display_name":"Yihao Liu","orcid":"https://orcid.org/0000-0001-9874-0602"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yihao Liu","raw_affiliation_strings":["Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065023449","display_name":"You Jin Ku","orcid":"https://orcid.org/0000-0002-6727-0289"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu-Chun Ku","raw_affiliation_strings":["Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100453789","display_name":"Jiaming Zhang","orcid":"https://orcid.org/0009-0006-7842-9693"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiaming Zhang","raw_affiliation_strings":["Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101717963","display_name":"Hao Ding","orcid":"https://orcid.org/0000-0003-4539-582X"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hao Ding","raw_affiliation_strings":["Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022619253","display_name":"Peter Kazanzides","orcid":"https://orcid.org/0000-0002-6117-5467"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Kazanzides","raw_affiliation_strings":["Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090301235","display_name":"Mehran Armand","orcid":"https://orcid.org/0000-0003-1028-8303"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mehran Armand","raw_affiliation_strings":["Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":26.3879,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.99232152,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3978","last_page":"3985"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.4318000078201294,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10916","display_name":"Surgical Simulation and Training","score":0.4318000078201294,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.359499990940094,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.10679999738931656,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.7488999962806702},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.64410001039505},{"id":"https://openalex.org/keywords/data-collection","display_name":"Data collection","score":0.6025999784469604},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4869000017642975},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.44209998846054077},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.40049999952316284},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.390500009059906},{"id":"https://openalex.org/keywords/wired-glove","display_name":"Wired glove","score":0.38499999046325684}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7488999962806702},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6517999768257141},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.64410001039505},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.6025999784469604},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4869000017642975},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.48510000109672546},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48170000314712524},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.44209998846054077},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.40049999952316284},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.390500009059906},{"id":"https://openalex.org/C107953548","wikidata":"https://www.wikidata.org/wiki/Q1172433","display_name":"Wired glove","level":3,"score":0.38499999046325684},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3637000024318695},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.34790000319480896},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.3456999957561493},{"id":"https://openalex.org/C163985040","wikidata":"https://www.wikidata.org/wiki/Q1172399","display_name":"Data acquisition","level":2,"score":0.3176000118255615},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.31349998712539673},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31189998984336853},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.3093999922275543},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.29760000109672546},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2937999963760376},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.28380000591278076},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2793000042438507},{"id":"https://openalex.org/C136085584","wikidata":"https://www.wikidata.org/wiki/Q910289","display_name":"Overlay","level":2,"score":0.27379998564720154},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.26010000705718994},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.25949999690055847},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.25540000200271606}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247229","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247229","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337362","display_name":"National Institute of Arthritis and Musculoskeletal and Skin Diseases","ror":"https://ror.org/006zn3t30"},{"id":"https://openalex.org/F4320337363","display_name":"National Institute of Biomedical Imaging and Bioengineering","ror":"https://ror.org/00372qc85"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W2061417916","https://openalex.org/W2498525044","https://openalex.org/W2568518337","https://openalex.org/W2964157221","https://openalex.org/W2994446013","https://openalex.org/W3081954207","https://openalex.org/W3131831054","https://openalex.org/W3196757288","https://openalex.org/W3204665606","https://openalex.org/W4211225190","https://openalex.org/W4212965831","https://openalex.org/W4221152011","https://openalex.org/W4240305192","https://openalex.org/W4283694278","https://openalex.org/W4285309763","https://openalex.org/W4313563108","https://openalex.org/W4367016688","https://openalex.org/W4383097529","https://openalex.org/W4385430674","https://openalex.org/W4385430679","https://openalex.org/W4387211680","https://openalex.org/W4388720459","https://openalex.org/W4400579539","https://openalex.org/W4401415042","https://openalex.org/W4401415154","https://openalex.org/W4401416907","https://openalex.org/W4402354047","https://openalex.org/W4403917943","https://openalex.org/W4408757728"],"related_works":[],"abstract_inverted_index":{"Data":[0,167],"scarcity":[1],"has":[2],"long":[3],"been":[4],"an":[5,189],"issue":[6],"in":[7,13,36,66,86,102,196,217],"the":[8,92,121,126,147,197,209,226],"robot":[9,64,97,127,176],"learning":[10,38,65],"community.":[11],"Particularly,":[12],"safety-critical":[14],"domains":[15],"like":[16],"surgical":[17,67,88,165],"applications,":[18],"obtaining":[19],"high-quality":[20],"data":[21,60,128,211],"can":[22,234],"be":[23,131,235],"especially":[24],"difficult.":[25],"It":[26],"poses":[27],"challenges":[28],"to":[29,32,50,82,130,174],"researchers":[30],"seeking":[31],"exploit":[33],"recent":[34],"advancements":[35],"reinforcement":[37],"and":[39,47,77,99,107,113,139,151],"imitation":[40],"learning,":[41],"which":[42],"have":[43],"greatly":[44],"improved":[45],"generalizability":[46],"enabled":[48],"robots":[49],"conduct":[51],"tasks":[52,158,172],"autonomously.":[53],"We":[54],"introduce":[55],"dARt":[56],"Vinci,":[57],"a":[58,78,95,117],"scalable":[59],"collection":[61,129],"platform":[62],"for":[63,94,159,231],"settings.":[68],"The":[69,182,193,228],"system":[70],"uses":[71],"Augmented":[72],"Reality":[73],"(AR)":[74],"hand":[75],"tracking":[76,138],"high-fidelity":[79],"physics":[80],"engine":[81],"capture":[83],"subtle":[84],"maneuvers":[85],"primitive":[87,157],"tasks:":[89],"By":[90],"eliminating":[91],"need":[93],"physical":[96],"setup":[98],"providing":[100],"flexibility":[101],"terms":[103],"of":[104,191],"time,":[105,123],"space,":[106],"hardware":[108],"resources-such":[109],"as":[110],"multiview":[111],"sensors":[112],"actuators-specialized":[114],"simulation":[115],"is":[116,186,201,212],"viable":[118],"alternative.":[119],"At":[120],"same":[122],"AR":[124],"allows":[125],"more":[132],"egocentric,":[133],"supported":[134],"by":[135,178,188],"its":[136],"body":[137],"content":[140],"overlaying":[141],"capabilities.":[142],"Our":[143],"user":[144],"study":[145],"confirms":[146],"proposed":[148],"system\u2019s":[149],"efficiency":[150],"usability,":[152],"where":[153],"we":[154],"use":[155],"widely-used":[156],"training":[160],"teleoperation":[161],"with":[162],"da":[163],"Vinci":[164],"robots.":[166],"throughput":[168],"improves":[169],"across":[170],"all":[171],"compared":[173],"real":[175],"settings":[177],"41%":[179],"on":[180],"average.":[181],"total":[183],"experiment":[184],"time":[185],"reduced":[187],"average":[190],"10%.":[192],"temporal":[194],"demand":[195],"task":[198],"load":[199],"survey":[200],"improved.":[202],"These":[203],"gains":[204],"are":[205],"statistically":[206],"significant.":[207],"Additionally,":[208],"collected":[210],"over":[213],"400":[214],"times":[215],"smaller":[216],"size,":[218],"requiring":[219],"far":[220],"less":[221],"storage":[222],"while":[223],"achieving":[224],"double":[225],"frequency.":[227],"source":[229],"code":[230],"this":[232],"project":[233],"accessed":[236],"at":[237],"https://dartvinci.finite-state.com/.":[238]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}