Investigating exploration for deep reinforcement learning of concentric tube robot control. - Keshav Iyengar; George Dwyer; Danail Stoyanov (Int. J. Comput. Assist. Radiol. Surg., 2020)

Deep Reinforcement Learning for Concentric Tube Robot Control with a Goal-Based Curriculum. - Keshav Iyengar; Danail Stoyanov (ICRA, 2021)

Deep Reinforcement Learning for Concentric Tube Robot Path Planning. - Keshav Iyengar; Sarah K. Spurgeon; Danail Stoyanov (CoRR, 2023)

Sim2Real Transfer of Reinforcement Learning for Concentric Tube Robots. - Keshav Iyengar; S. M. Hadi Sadati; Christos Bergeles; Sarah K. Spurgeon; Danail Stoyanov (IEEE Robotics Autom. Lett., 2023)