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cs.RO2026

BiliVLA: Scene-Aware Vision-Language-Action Model with Reinforcement Learning for Autonomous Biliary Endoscopic Navigation

Jinsong Lin, Chi Kit Ng, Zhiyong Xiong +8

The paper introduces BiliVLA, a vision‑language‑action system that uses instruction‑conditioned visuomotor learning and reinforcement learning to autonomously navigate a continuum…