arXiv Computer Vision

UltraWorld: Learning Interactive Ultrasound World Models from Untracked Clinical Videos with Acoustic Sampling Map

arXiv Computer Vision

5d ago

UltraDiff: Differentiable Ray Tracing in Ultrasound for Shape Optimization

UltraDiff is a modular framework that extends differentiable rendering to medical ultrasound by modeling image formation as a path‑space integral gated by travel time. It derives a Monte Carlo estimator for both the forward ultrasound model and its gradients, enabling gradient‑based optimization of scene parameters. The authors demonstrate the method on inverse geometry estimation, recovering vertebral surfaces from simulated and real B‑mode sweeps without requiring pre‑segmented images, achieving competitive geometric accuracy.

By Felix Duelmer, Magdalena Wysocki, Nassir Navab, Mohammad Farid Azampour

robotics benchmarks

arXiv AI

Aug 12

Surgical WAM: A World-Action Model for Data-Efficient Surgical Robot Learning

arXiv:2608. 11204v1 Announce Type: cross Abstract: Learning reliable surgical manipulation policies is bottlenecked by the scarcity of action-labeled demonstrations: teleoperated surgical robot (e.

By Wenrui Bao, Tianyun Jiang, Zhiben Chen, Ser-Nam Lim, Peter D. Peng, Yuzhang Shang

robotics fine-tuning

arXiv Computer Vision

Aug 26

ZODIAC: Zero-shot Octree-based Diffusion for Anatomical Completion

arXiv:2608.24422v1 Announce Type: new Abstract: Recovering the full 3D spine anatomy from intraoperative ultrasound is an ill-posed inverse problem, as the complete structure must be inferred from in...

By Miruna-Alexandra Gafencu, Vlad Bratulescu, Yordanka Velikova, Mohammad Farid Azampour, Nassir Navab

diffusion

arXiv AI

Aug 10

Surg-UniWorld: A Unified Surgical World Model with Multimodal Control Experts

arXiv:2608. 06770v1 Announce Type: new Abstract: Controllable surgical world models can provide a generative foundation for surgical artificial intelligence and simulation by synthesizing realistic instrument--tissue interactions.

By Rulin Zhou, Wanhao Liu, Guoheng Ma, Liangjin Shao, Qiujie Song, Yidu Wang, Guankun Wang, Tong Chen, Long Bai, Luping Zhou, Hongliang Ren

diffusion multimodal benchmarks

Hugging Face Trending Papers

Sep 21

Colon3R: Cross-Domain 3D Reconstruction from Monocular Colonoscopic Video

Monocular colonoscopic 3D reconstruction is important for surgical robotic colonoscopy, but remains challenging due to weak texture, specular reflections, limited view overlap, and non-rigid tissue mo...

computer-vision robotics fine-tuning benchmarks

arXiv AI

Jun 6

Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics

arXiv:2604. 21017v3 Announce Type: replace-cross Abstract: Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision.

By Open-H-Embodiment Consortium, :, Nigel Nelson, Juo-Tung Chen, Jesse Haworth, Xinhao Chen, Lukas Zbinden, Dianye Huang, Alaa Eldin Abdelaal, Alberto Arezzo, Ayberk Acar, Farshid Alambeigi, Carlo Alberto Ammirati, Yunke Ao, Pablo David Aranda Rodriguez, Soofiyan Atar, Mattia Ballo, Noah Barnes, Federica Barontini, Filip Binkiewicz, Peter Black, Sebastian Bodenstedt, Leonardo Borgioli, Nikola Budjak, Benjamin Calm\'e, Fabio Carrillo, Nicola Cavalcanti, Changwei Chen, Haoxin Chen, Sihang Chen, Qihan Chen, Zhongyu Chen, Ziyang Chen, Shing Shin Cheng, Meiqing Cheng, Min Cheng, Zih-Yun Sarah Chiu, Xiangyu Chu, Camilo Correa-Gallego, Giulio Dagnino, Anton Deguet, Jacob Delgado, Jonathan C. DeLong, Kaizhong Deng, Alexander Dimitrakakis, Qingpeng Ding, Hao Ding, Giovanni Distefano, Daniel Donoho, Anqing Duan, Marco Esposito, Shane Farritor, Jad Fayad, Zahi Fayad, Mario Ferradosa, Filippo Filicori, Chelsea Finn, Philipp F\"urnstahl, Jiawei Ge, Stamatia Giannarou, Xavier Giralt Ludevid, Frederic Giraud, Aditya Amit Godbole, Ken Goldberg, Antony Goldenberg, Diego Granero Marana, Xiaoqing Guo, Tam\'as Haidegger, Evan Hailey, Pascal Hansen, Ziyi Hao, Kush Hari, Kengo Hayashi, Jonathon Hawkins, Shelby Haworth, Ortrun Hellig, S. Duke Herrell, Zhouyang Hong, Andrew Howe, Junlei Hu, Zhaoyang Jacopo Hu, Ria Jain, Mohammad Rafiee Javazm, Howard Ji, Rui Ji, Jianmin Ji, Zhongliang Jiang, Dominic Jones, Jeffrey Jopling, Britton Jordan, Ran Ju, Michael Kam, Luoyao Kang, Fausto Kang, Siddhartha Kapuria, Peter Kazanzides, Sonika Kiehler, Ethan Kilmer, Ji Woong Kim, Przemys{\l}aw Korzeniowski, Chandra Kuchi, Nithesh Kumar, Alan Kuntz, Federico Lavagno, Yu Chung Lee, Hao-Chih Lee, Hang Li, Zhen Li, Xiao Liang, Xinxin Lin, Jinsong Lin, Chang Liu, Fei Liu, Pei Liu, Yun-hui Liu, Wanli Liuchen, Eszter Luk\'acs, Sareena Mann, Miles Mannas, Brett Marinelli, Sabina Martyniak, Francesco Marzola, Lorenzo Mazza, Xueyan Mei, Maria Clara Morais, Luigi Muratore, Chetan Reddy Narayanaswamy, Micha{\l} Naskr\k{e}t, David Navarro-Alarcon, Cyrus Neary, Chi Kit Ng, Christopher Nguan, David Noonan, Ki Hwan Oh, Tom Christian Olesch, Allison M. Okamura, Justin Opfermann, Matteo Pescio, Doan Xuan Viet Pham, Tito Porras, Hongliang Ren, Ariel Rodriguez Jimenez, Ferdinando Rodriguez y Baena, Septimiu E. Salcudean, Asmitha Sathya, Preethi Satish, Lalithkumar Seenivasan, Jiaqi Shao, Yiqing Shen, Yu Sheng, Lucy XiaoYang Shi, Zoe Soul\'e, Stefanie Speidel, Mingwu Su, Jianhao Su, Idris Sunmola, Krist\'of Tak\'acs, Yunxi Tang, Patrick Thornycroft, Yu Tian, Jordan Thompson, Mehmet K. Turkcan, Mathias Unberath, Pietro Valdastri, Carlos Vives, Quan Vuong, Martin Wagner, Farong Wang, Wei Wang, Lidian Wang, Chung-Pang Wang, Guankun Wang, Junyi Wang, Erqi Wang, Ziyi Wang, Tanner Watts, Wolfgang Wein, Yimeng Wu, Zijian Wu, Hongjun Wu, Luohong Wu, Jie Ying Wu, Junlin Wu, Victoria Wu, Kaixuan Wu, Mateusz W\'ojcikowski, Yunye Xiao, Nan Xiao, Wenxuan Xie, Hao Yang, Tianqi Yang, Yinuo Yang, Menglong Ye, Ryan S. Yeung, Nural Yilmaz, Chim Ho Yin, Michael Yip, Rayan Younis, Chenhao Yu, Sayem Nazmuz Zaman, Milos Zefran, Han Zhang, Yuelin Zhang, Yidong Zhang, Yanyong Zhang, Xuyang Zhang, Yameng Zhang, Joyce Zhang, Ning Zhong, Peng Zhou, Haoying Zhou, Xiuli Zuo, Nassir Navab, Mahdi Azizian, Sean D. Huver, Axel Krieger

agents robotics multimodal benchmarks

arXiv Computer Vision

Sep 17

PointZero: 3D Point Track Completion for Learning Transferable 3D Dynamics

arXiv:2609.19142v1 Announce Type: new Abstract: World models endow perceptual systems with the ability to predict how scenes evolve under interaction. They are most beneficial when trained on diverse...

By Bardienus P. Duisterhof, Kaifeng Zhang, Adam Hung, Bowen Wen, Stan Birchfield, Yunzhu Li, Deva Ramanan, Jeffrey Ichnowski

llms robotics fine-tuning benchmarks

arXiv Computer Vision

Sep 1

SCoPE-Reg: Efficient Rigid Ultrasound Slice-to-Volume Registration via State-Space Correlation and Closed-Form Pose Estimation

arXiv:2608.28715v1 Announce Type: cross Abstract: Ultrasound-guided interventions can require localization of an untracked 2D frame within a 3D anatomical reference. Rigid slice-to-volume registratio...

By Niklas Schwarz, Jens Kleesiek, Moritz Rempe

computer-vision benchmarks

arXiv AI

Jun 2

From Human Videos to Robot Manipulation: A Survey on Scalable Vision-Language-Action Learning with Human-Centric Data

arXiv:2606. 00054v1 Announce Type: cross Abstract: Recent progress in generalizable embodied control has been driven by large-scale pretraining of Vision-Language-Action (VLA) models.

By Zhiyuan Feng, Qixiu Li, Huizhi Liang, Rushuai Yang, Yichao Shen, Zhiying Du, Zhaowei Zhang, Yu Deng, Li Zhao, Hao Zhao, Zongqing Lu, Oier Mees, Marc Pollefeys, Jiaolong Yang, Baining Guo

robotics multimodal

arXiv Computer Vision

Sep 11

UBone3D: Physics-Rectified Conditional Flow Matching for Anatomical 3D Shape Completion from Ultrasound

UBone3D is a new framework that completes 3D anatomical shapes from partial ultrasound point clouds using physics-rectified conditional flow matching. It models ultrasound artifacts with a simulated physics proxy and applies test-time physics rectification to guide the completion. The method combines a CT-trained generative shape prior and a physics consistency network, achieving higher reconstruction accuracy and anatomical fidelity than existing baselines.

By Weiying Chen, Yuchong Gao, Siyuan Li, Marek Reformat, Rui Zheng, Edmond Lou

diffusion computer-vision

arXiv Computer Vision

Aug 28

Surgical Video Generation From Diffusion to World Models: A Survey

This survey reviews recent advances in surgical video generation, categorizing methods into unconditional, conditional, and world modeling generation. It highlights a shift from creating visually plausible frames to modeling the causal dynamics of surgical scenes, and discusses challenges such as pixel-level fidelity versus clinical plausibility, generalization, physical realism, controllability, and interpretability. The paper also compiles experimental results from public datasets to serve as a quantitative benchmark for the field.

By Fuxiang Huang, Chenxu Zhang, Liang Han, Lei Zhang

diffusion robotics multimodal safety

arXiv Computer Vision

Sep 22

Colon3R: Cross-Domain 3D Reconstruction from Monocular Colonoscopic Video

arXiv:2609.23961v1 Announce Type: new Abstract: Monocular colonoscopic 3D reconstruction is important for surgical robotic colonoscopy, but remains challenging due to weak texture, specular reflectio...

By Zhihao Xing, Yingyu Wang, Liang Zhao, Shoudong Huang

computer-vision robotics fine-tuning benchmarks

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