12 papers
RoPE-Flow: Monocular Vision-based Robot Pose Estimation via 2D Graph-Conditioned 3D Flow Matching
Liangjing Shao, Wanhao Liu, Zhiwei Fang +6
Camera-to-robot pose estimation from a monocular image is significant for vision-based robot navigation and control. However, recovering 3D structural features from 2D observations…
SurgCast: Action-Conditioned Future Skeletons for Controllable Surgical World Models
Wanhao Liu, Rulin Zhou, Liangjing Shao +9
Surgical world models must turn prospective robot actions into visually faithful, structurally consistent instrument motion. We introduce SurgCast, which predicts future instrument…
StenoVLA-3D: 3D-Aware Reasoning VLA for Navigation Through Gastrointestinal Stenoses
Tamima Tabassum, Yiming Huang, Tianchun Wu +7
Autonomous endoscopic navigation requires the policy model to predict actions from texture-poor monocular observations, make safe control decisions, and retain evidence of lesions…
Surg-UniWorld: A Unified Surgical World Model with Multimodal Control Experts
Rulin Zhou, Wanhao Liu, Guoheng Ma +8
Controllable surgical world models can provide a generative foundation for surgical artificial intelligence and simulation by synthesizing realistic instrument--tissue interactions…
EndoWAM: A Grounded World-Action Model for Generalizable Endoscopic Navigation
Jinsong Lin, Zikang Pan, Wanhao Liu +10
Autonomous endoscopic navigation can reduce clinicians' operational burden, yet robust control remains challenging due to tissue deformation, transient occlusions, and rapidly chan…
Boosting Generalizable Depth Estimation in Endoscopy by Mixture of Lightweight Experts and Intrinsic Image Alignment
Liangjing Shao, Beilei Cui, Yiming Huang +2
Depth estimation is a significant task for 3D perception in endoscopic surgeries. However, illumination interference and feature diversity in various endoscopic scenes are still ch…
Parameter-Efficient Adaptation of SAM3 for Prompt-Driven Surgical Concept Segmentation
Changjing Liu, Yiming Huang, Beilei Cui +5
Efficient surgical segmentation empowers clinical diagnosis, intraoperative monitoring, and downstream robotic pipelines for reconstruction and simulation. Although prompt-driven f…
CoGE: Sim-to-Real Online Geometric Estimation for Monocular Colonoscopy
Liangjing Shao, Beilei Cui, Hongliang Ren
Geometric estimation including depth estimation and scene reconstruction is a crucial technique for colonoscopy which can provide surgeons with 3D spatial perception and navigation…
EndoGMDE: Generalizable Monocular Depth Estimation with Mixture of Low-Rank Experts for Diverse Endoscopic Scenes
Liangjing Shao, Chenkang Du, Benshuang Chen +2
Self-supervised monocular depth estimation is a significant task for low-cost and efficient 3D scene perception and measurement in endoscopy. However, the variety of illumination c…
EndoMUST: Monocular Depth Estimation for Robotic Endoscopy via End-to-end Multi-step Self-supervised Training
Liangjing Shao, Linxin Bai, Chenkang Du +1
Monocular depth estimation and ego-motion estimation are significant tasks for scene perception and navigation in stable, accurate and efficient robot-assisted endoscopy. To tackle…
SSD-Poser: Avatar Pose Estimation with State Space Duality from Sparse Observations
Shuting Zhao, Linxin Bai, Liangjing Shao +2
The growing applications of AR/VR increase the demand for real-time full-body pose estimation from Head-Mounted Displays (HMDs). Although HMDs provide joint signals from the head a…
REMOTE: Real-time Ego-motion Tracking for Various Endoscopes via Multimodal Visual Feature Learning
Liangjing Shao, Benshuang Chen, Shuting Zhao +1
Real-time ego-motion tracking for endoscope is a significant task for efficient navigation and robotic automation of endoscopy. In this paper, a novel framework is proposed to perf…