"Using Bayesian Optimization to Guide Probing of a Flexible Environment for Simultaneous Registration and Stiffness Mapping", Elif Ayvali, Arun Srivatsan, Long Wang, Rajarshi Roy, Nabil Simaan and Howie Choset, in proceedings of ICRA 2016.
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Bayesian Optimization Guided Palpation of Tissue | NatokHD
