Automatic task recognition in a flexible endoscopy benchtop trainer with semi-supervised learning. - Valentin Bencteux; Guinther Saibro; Eran Shlomovitz; Pietro Mascagni; Silvana Perretta; Alexandre Hostettler; Jacques Marescaux; Toby Collins (Int. J. Comput. Assist. Radiol. Surg., 2020)