1. Transition state clustering: Unsupervised surgical trajectory segmentation for robot learning. (December 2017) Authors: Krishnan, Sanjay; Garg, Animesh; Patil, Sachin; Lea, Colin; Hager, Gregory; Abbeel, Pieter; Goldberg, Ken Journal: International journal of robotics research Issue: Volume 36:Number 13/14(2017) Page Start: 1595 Record Type: Journal Article View Content: Available online (eLD content is only available in our Reading Rooms) ↗