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endoscopy is intrinsically bidirectional: the instrument is advanced to reach target anatomy and later withdrawn or retroflexed for inspection, while an ex…