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cs.RO2026
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…
cs.RO2026
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gastrointestinal endoscopy is intrinsically bidirectional: the instrument is advanced to reach target anatomy and later withdrawn or retroflexed for inspection, while an ex…