This is the meta-repository of the project "LapGym - An Open Source Framework for Reinforcement Learning in Robot-Assisted Laparoscopic Surgery".
It contains the following submodules:
- sofa_env: Defines reinforcement learning environments for robot-assisted surgery.
- sofa_godot: Provides a Godot plugin to visually create new SOFA scenes.
- sofa_zoo: Provides the code for the reinforcement learning experiments described in LapGym paper
Please refer to the individual submodels and the LapGym paper for more information.
If you use the project in your work, please consider citing it with:
@article{JMLR:v24:23-0207,
author = {Paul Maria Scheikl and Balázs Gyenes and Rayan Younis and Christoph Haas and Gerhard Neumann and Martin Wagner and Franziska Mathis-Ullrich},
title = {LapGym - An Open Source Framework for Reinforcement Learning in Robot-Assisted Laparoscopic Surgery},
journal = {Journal of Machine Learning Research},
year = {2023},
volume = {24},
number = {368},
pages = {1--42},
url = {http://jmlr.org/papers/v24/23-0207.html}
}