Author

Liang-Jing Shao

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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 Sep 2026

StenoVLA-3D: 3D-Aware Reasoning VLA for Navigation Through Gastrointestinal Stenoses

Autonomous endoscopic navigation requires the policy model to predict actions from texture-poor monocular observations, make safe control decisions, and retain evidence of lesions after they leave the field of view. Existing vision-language-action (VLA) models primarily rely on visual appearance and short-term context,...

Tamima Tabassum, Yi-Ming Huang, Tian-Hang Wu 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