Learning by observation for surgical subtasks: Multilateral cutting of 3D viscoelastic and 2D Orthotropic Tissue Phantoms. - Adithyavairavan Murali; Siddarth Sen; Ben Kehoe; Animesh Garg; Seth McFarland; Sachin Patil; W. Douglas Boyd; Susan Lim; Pieter Abbeel; Kenneth Y. Goldberg (ICRA, 2015)