الملخص
Autonomous colonoscopic navigation can reduce operator burden and the risk of loop formation or tissue trauma, but remains challenging due to deformable anatomy, weak-texture and specular endoscopic visuals, and contact-rich viscoelastic interactions. Existing methods either rely on geometry-driven pipelines, which are efficient and interpretable yet brittle due to manually engineered features and switching logic, or adopt learning-based policies, whose inferred depth/geometry can become temporally inconsistent or overly smooth under weak texture and specular highlights while simulation-trained variants (e.g., deep reinforcement learning) may further suffer from a sim-to-real gap. We propose ColoACT, an autonomous navigation system that integrates an RGB-D-E based Action Chunking Transformer policy (ColoACT policy) for a compact self-propelled Bevel-Gear-Based Endoscopic Robot (BGER). The ColoACT policy augments RGB with estimated relative depth and a gradient-based pseudo-elevation map to enhance fold-ridge saliency and other high-frequency geometric cues, and enables smooth continuous control of the BGER by predicting overlapping action chunks and fusing them via temporal ensembling. In different \textit{ex-vivo} porcine colons (approximately 60 cm), our system achieves success rates of 85.4\% and 72.5\% in straight and curved segments, respectively, and achieves 70\% success in 90-degree turns and 60\% in double-bend sequences, with feasibility further demonstrated in challenging triple-bend segments. The project page is available at: https://Adamhu1.github.io/ColoACT/.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Hu, J., He, S., Chang, L., Li, Z., Huang, D., Shi, C., & Hu, C. (2026). ColoACT: Multi-Cue Action Chunking for Smooth Autonomous Colon Navigation on a Self-Propelled Endoscopic Robot. https://omanscience.com/ar/articles/coloact-multi-cue-action-chunking-for-smooth-autonomous-colon-navigation-on-a-self-propelled-endoscopic-robot
MLA 9
Hu, Jian, et al. "ColoACT: Multi-Cue Action Chunking for Smooth Autonomous Colon Navigation on a Self-Propelled Endoscopic Robot." https://omanscience.com/ar/articles/coloact-multi-cue-action-chunking-for-smooth-autonomous-colon-navigation-on-a-self-propelled-endoscopic-robot.
شيكاغو (المؤلف–التاريخ)
Hu, Jian, Shujing He, Leixin Chang, Zongze Li, Ding Huang, Chaoyang Shi, and Chengzhi Hu. 2026. "ColoACT: Multi-Cue Action Chunking for Smooth Autonomous Colon Navigation on a Self-Propelled Endoscopic Robot." https://omanscience.com/ar/articles/coloact-multi-cue-action-chunking-for-smooth-autonomous-colon-navigation-on-a-self-propelled-endoscopic-robot.
هارفارد
Hu, J., He, S., Chang, L., Li, Z., Huang, D., Shi, C. and Hu, C. (2026) 'ColoACT: Multi-Cue Action Chunking for Smooth Autonomous Colon Navigation on a Self-Propelled Endoscopic Robot', Available at: https://omanscience.com/ar/articles/coloact-multi-cue-action-chunking-for-smooth-autonomous-colon-navigation-on-a-self-propelled-endoscopic-robot.
فانكوفر
Hu J, He S, Chang L, Li Z, Huang D, Shi C, et al. ColoACT: Multi-Cue Action Chunking for Smooth Autonomous Colon Navigation on a Self-Propelled Endoscopic Robot. https://omanscience.com/ar/articles/coloact-multi-cue-action-chunking-for-smooth-autonomous-colon-navigation-on-a-self-propelled-endoscopic-robot
IEEE
J. Hu, S. He, L. Chang, Z. Li, D. Huang, C. Shi, and C. Hu, "ColoACT: Multi-Cue Action Chunking for Smooth Autonomous Colon Navigation on a Self-Propelled Endoscopic Robot," https://omanscience.com/ar/articles/coloact-multi-cue-action-chunking-for-smooth-autonomous-colon-navigation-on-a-self-propelled-endoscopic-robot.