{"ID":2851366,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.20965","arxiv_id":"2510.20965","title":"SutureBot: A Precision Framework \u0026 Benchmark For Autonomous End-to-End Suturing","abstract":"Robotic suturing is a prototypical long-horizon dexterous manipulation task, requiring coordinated needle grasping, precise tissue penetration, and secure knot tying. Despite numerous efforts toward end-to-end autonomy, a fully autonomous suturing pipeline has yet to be demonstrated on physical hardware. We introduce SutureBot: an autonomous suturing benchmark on the da Vinci Research Kit (dVRK), spanning needle pickup, tissue insertion, and knot tying. To ensure repeatability, we release a high-fidelity dataset comprising 1,890 suturing demonstrations. Furthermore, we propose a goal-conditioned framework that explicitly optimizes insertion-point precision, improving targeting accuracy by 59\\%-74\\% over a task-only baseline. To establish this task as a benchmark for dexterous imitation learning, we evaluate state-of-the-art vision-language-action (VLA) models, including $π_0$, GR00T N1, OpenVLA-OFT, and multitask ACT, each augmented with a high-level task-prediction policy. Autonomous suturing is a key milestone toward achieving robotic autonomy in surgery. These contributions support reproducible evaluation and development of precision-focused, long-horizon dexterous manipulation policies necessary for end-to-end suturing. Dataset is available at: https://huggingface.co/datasets/jchen396/suturebot","short_abstract":"Robotic suturing is a prototypical long-horizon dexterous manipulation task, requiring coordinated needle grasping, precise tissue penetration, and secure knot tying. Despite numerous efforts toward end-to-end autonomy, a fully autonomous suturing pipeline has yet to be demonstrated on physical hardware. We introduce S...","url_abs":"https://arxiv.org/abs/2510.20965","url_pdf":"https://arxiv.org/pdf/2510.20965v1","authors":"[\"Jesse Haworth\",\"Juo-Tung Chen\",\"Nigel Nelson\",\"Ji Woong Kim\",\"Masoud Moghani\",\"Chelsea Finn\",\"Axel Krieger\"]","published":"2025-10-23T19:50:17Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.LG\"]","methods":"[]","has_code":false}