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Isaac Sim: Revolutionizing VR Controller Precision for Micromanipulation using Time2Vec+Transformer Model

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dc.contributor.advisor 송철 -
dc.contributor.author Obasi Yetunde Oluwatoyosi -
dc.date.accessioned 2026-01-23T11:03:10Z -
dc.date.available 2026-01-23T11:03:10Z -
dc.date.issued 2025 -
dc.identifier.uri https://scholar.dgist.ac.kr/handle/20.500.11750/59843 -
dc.identifier.uri http://dgist.dcollection.net/common/orgView/200000888279 -
dc.description Virtual Reality, Microsurgery, Transformer, Isaac Sim. -
dc.description.tableofcontents Contents
List of Figures ii
List of Tables iv
1 Introduction 1
1.1 Study Background 1
1.2 Related Studies 1
1.2.1 Implementations of Virtual Reality 1
1.2.2 Applications and Significance of VR 2
1.3 Study Objective 2
1.4 Application of Isaac Sim in this study 3
2 Deep Learning Technique 5
2.1 Deep learning Algorithms 5
2.1.1 Recurrent Neural Networks (RNNs) 5
2.1.2 Transformer model 8
3 System Implementation 13
3.1 Hardware System 13
3.2 Software System 13
3.3 Schematic System Overview 14
3.4 Model Training and Evaluation Process 15
3.5 Configuration for Training 16
4 Experiments and Results 20
4.1 Experiment 1: Real-World Experiment 20
4.1.1 Methodology 20
4.1.2 Results 20
4.2 Experiment 2: Simulated Environment in Isaac Sim 22
4.2.1 Methodology 22
4.2.2 Results 23
4.2.3 Comparison Between Real-World and Synthetic Data 24
4.3 Experiment 3: Human-Participant Study Experiment 25
4.3.1 Results 27
5 Discussion and Conclusion 30
6 Future works 31
REFERENCES 32		 -
dc.format.extent 35 -
dc.language eng -
dc.publisher DGIST -
dc.title Isaac Sim: Revolutionizing VR Controller Precision for Micromanipulation using Time2Vec+Transformer Model -
dc.type Thesis -
dc.identifier.doi 10.22677/THESIS.200000888279 -
dc.description.degree Master -
dc.contributor.department Artificial Intelligence Major -
dc.contributor.coadvisor Daewon Seo -
dc.date.awarded 2025-08-01 -
dc.publisher.location Daegu -
dc.description.database dCollection -
dc.citation XT.AM OB12 202508 -
dc.date.accepted 2025-07-21 -
dc.contributor.alternativeDepartment 학제학과인공지능전공 -
dc.subject.keyword Virtual Reality, Microsurgery, Transformer, Isaac Sim. -
dc.contributor.affiliatedAuthor Obasi Yetunde Oluwatoyosi -
dc.contributor.affiliatedAuthor Cheol Song -
dc.contributor.affiliatedAuthor Daewon Seo -
dc.contributor.alternativeName 오바시 예툰데 올루와토요시 -
dc.contributor.alternativeName Cheol Song -
dc.contributor.alternativeName 서대원 -
dc.rights.embargoReleaseDate 2030-08-31 -
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