2 citations · 3 across the 11 of their papers we have counts for
13 papers
Multimodal Progress-Residual Fusion for Anticipating Navigation Retreat in Robotic Flexible Endoscopy
Chi Kit Ng, Tianchun Wu, Jiatan Sun +3
Flexible robotic endoscopes provide access through tortuous anatomy, where friction, deformation, and wall interaction separate commanded insertion from useful distal progress. Ope…
EBV-CAN: Vision--Language Grounding for Contact-Aided Endoscope Navigation
Chi Kit Ng, Shuchang Liu, Jinsong Lin +4
Flexible endoscopes exploit structural compliance to traverse narrow lumens, pipes, and cavities, where navigation involves distributed environmental contact. This compliance makes…
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…
EndoLIFT: Language-Disambiguated Latent-Conditioned Rectified Flow for Bidirectional Endoscopic Control
Chi Kit Ng, Yidong Zhang, Lui Siu Hing +9
Routine gastrointestinal endoscopy is intrinsically bidirectional: the instrument is advanced to reach target anatomy and later withdrawn or retroflexed for inspection, while an ex…
CrossScope: A Role-Asymmetric World Model for Joint Dual-Scope Surgical Video Prediction
Wanhao Liu, Jinsong Lin, Rulin Zhou +11
Visual world models typically learn future dynamics from a single observation stream, limiting their ability to model cooperative systems with multiple independently moving observe…
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…
BiliVLA: Scene-Aware Vision-Language-Action Model with Reinforcement Learning for Autonomous Biliary Endoscopic Navigation
Jinsong Lin, Chi Kit Ng, Zhiyong Xiong +8
Endoscopic retrograde cholangiopancreatography (ERCP) demands precise endoscopic navigation and stable biliary cannulation within a narrow monocular field characterized by specular…
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Open-H-Embodiment Consortium, :, Nigel Nelson +213
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medic…
Leveling3D: Leveling Up 3D Reconstruction with Feed-Forward 3D Gaussian Splatting and Geometry-Aware Generation
Yiming Huang, Baixiang Huang, Beilei Cui +3
Feed-forward 3D reconstruction has revolutionized 3D vision, providing a powerful baseline for downstream tasks such as novel-view synthesis with 3D Gaussian Splatting. Previous wo…
TMR-VLA:Vision-Language-Action Model for Magnetic Motion Control of Tri-leg Silicone-based Soft Robot
Ruijie Tang, Chi Kit Ng, Kaixuan Wu +5
In-vivo environments, magnetically actuated soft robots offer advantages such as wireless operation and precise control, showing promising potential for painless detection and ther…
GeoLanG: Geometry-Aware Language-Guided Grasping with Unified RGB-D Multimodal Learning
Rui Tang, Guankun Wang, Long Bai +6
Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains hig…
Jacobian Exploratory Dual-Phase Reinforcement Learning for Dynamic Endoluminal Navigation of Deformable Continuum Robots
Yu Tian, Chi Kit Ng, Hongliang Ren
Deformable continuum robots (DCRs) present unique planning challenges due to nonlinear deformation mechanics and partial state observability, violating the Markov assumptions of co…
EndoVLA: Dual-Phase Vision-Language-Action Model for Autonomous Tracking in Endoscopy
Chi Kit Ng, Long Bai, Guankun Wang +6
In endoscopic procedures, autonomous tracking of abnormal regions and following circumferential cutting markers can significantly reduce the cognitive burden on endoscopists. Howev…