نسخة أولية وصول مفتوح
ColoACT: Multi-Cue Action Chunking for Smooth Autonomous Colon Navigation on a Self-Propelled Endoscopic Robot
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 …