arXiv:2610.19327v1 Announce Type: new Abstract: Robotic ultrasound can standardize image acquisition and reduce operator workload and variability, but policy learning remains limited by the lack of r...
arXiv:2610.09785v1 Announce Type: new Abstract: World models can enable autonomous ultrasound scanning by predicting the outcomes of probe motions from local observations. Learning this action--obser...
World models can enable autonomous ultrasound scanning by predicting the outcomes of probe motions from local observations. Learning this action--observation relationship typically relies on synchroni...
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.
Endoscopic video contains state transitions induced by camera displacement, deformable tissue, and instrument interaction, yet existing pre-training methods treat dynamics implicitly. Inspired by acti...
CLAP is a cross-embodiment framework for action‑conditioned video generation that can be trained on diverse internet‑scale videos from both humans and robots. It reconciles different action spaces—end‑effector poses, language instructions, and latent actions—using a curriculum that first learns physics priors from unlabeled video and then grounds them in real‑world action spaces for zero‑shot deployment. The resulting models match or exceed state‑of‑the‑art single‑embodiment models in challenging environments and support few‑shot adaptation across a wide range of robot morphologies.
arXiv:2610.27890v1 Announce Type: new Abstract: Endoscopic video contains state transitions induced by camera displacement, deformable tissue, and instrument interaction, yet existing pre-training me...
arXiv:2609.18430v1 Announce Type: new Abstract: Modeling physical dynamics, including how objects move, interact, and change state, is central to video world models for embodied AI. We present StrucP...
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.
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...
arXiv:2610.07922v1 Announce Type: cross Abstract: World-action models (WAMs) couple future prediction with robot control, yet existing systems often vary the video backbone, interaction structure, su...
arXiv:2606. 08657v1 Announce Type: cross Abstract: Diffusion-based visuomotor policies operating directly in raw action spaces conflate scene comprehension with trajectory generation within a single denoising process.