arXiv Computer Vision
StenoVLA-3D: 3D-Aware Reasoning VLA for Navigation Through Gastrointestinal Stenoses
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StenoVLA-3D: 3D-Aware Reasoning VLA for Navigation Through Gastrointestinal Stenoses
Autonomous endoscopic navigation requires the policy model to predict actions from texture-poor monocular observations, make safe control decisions, and retain evidence of lesions after they leave the...
arXiv AI
Jun 30
SurgVLA-Bench: Towards Evaluating Vision-Language-Action Models for Laparoscopic Surgical Robotics
arXiv:2606. 29247v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models represent a promising direction for embodied intelligence in surgical robotics.
arXiv AI
Jun 17
Geometry-Consistent Endoscopic Representations for Image-Guided Navigation via Structured Foundation Model Adaptation
arXiv:2606. 17340v1 Announce Type: cross Abstract: Accurate vision-based navigation in monocular endoscopy is difficult due to limited depth cues, weak tissue texture, non-rigid deformation, and substantial appearance variation across domains, all of which complicate pose estimation, depth prediction, and image-to-anatomy alignment.
arXiv AI
Sep 10
3DWay: Generalizing Robot Manipulation via 3D Consistent Waypoints
The paper introduces 3DWay, a method that predicts 3D-consistent waypoints for robot manipulation by first generating multi‑view consistent 2D waypoints and then triangulating them. This approach addresses the 3D ambiguity inherent in 2D trajectory predictions and leverages pretrained vision‑language models to provide explicit 3D motion specifications. Experiments demonstrate that 3DWay improves 3D spatial grounding and vision‑language reasoning, enhancing generalization for robot manipulation tasks.
Hugging Face Trending Papers
Sep 8
3DWay: Generalizing Robot Manipulation via 3D Consistent Waypoints
The paper introduces 3DWay, a method that predicts 3D consistent waypoints for robot manipulation using multi‑view images. By first generating 2D waypoints that are consistent across views and then triangulating them, the approach provides explicit 3D motion specifications while leveraging pretrained vision‑language models. Experiments demonstrate that 3DWay improves 3D spatial grounding and vision‑language reasoning, enhancing the generalization of robot manipulation policies.
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.