5 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…
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…
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…
EndoGSim: Physics-Aware 4D Dynamic Endoscopic Scene Simulations via MLLM-Guided Gaussian Splatting
Changjing Liu, Yiming Huang, Long Bai +2
In robot-assisted minimally invasive surgery, high-fidelity dynamic endoscopic scene reconstruction and simulation are crucial to enhancing downstream tasks and advancing surgical…