Author

Hongliang Ren

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Preprint Oct 2026

RoPE-Flow: Monocular Vision-based Robot Pose Estimation via 2D Graph-Conditioned 3D Flow Matching

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 remains a challenging task. Existing camera-to-robot pose estimation methods either rely on time-consuming iterative rendering or involve s...

Liang-Jing Shao, Wan-Hao Liu, Zhi-Wei Fang et al. · 0 citations

Preprint Aug 2026

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation

Surgical robotic systems are increasingly being adopted as clinical workload rises, motivating autonomous solutions for repetitive manipulation subtasks. Learning-based controllers improve generalization compared with rule-based and analytic approaches, but most are trained for individual tasks and remain difficult to...

Mingwu Su, Guan-Kun Wang, Jinsong Lin et al. · 0 citations

Preprint Aug 2026

EndoWAM: A Grounded World-Action Model for Generalizable Endoscopic Navigation

EndoWAM is presented, which is, to the authors' knowledge, the first WAM for generalizable robotic endoscopic navigation and introduces future grounding, which predicts task-relevant target regions in future observations from intermediate denoising features of a video world model.

Jinsong Lin, Zikang Pan, Wanhao Liu et al. · 1 citation