精选论文

CrossScope studies role-asymmetric future prediction for Mother-Child endoscopic retrograde cholangiopancreatography, where two independently moving scopes provide complementary views without calibrated stereo geometry. Its dual-stream world model preserves view-specific experts and routes cross-view evidence according to target-specific spatial requirements, improving visual fidelity, structural preservation, target localization, and motion consistency.

AC-MASAC addresses asymmetric dependencies, sparse rewards, and catastrophic forgetting in heterogeneous UAV swarm coordination. It combines role-aware heterogeneous attention with a structured curriculum strategy, hierarchical knowledge transfer, and stage-proportional experience replay.

Controllable surgical world models can provide a generative foundation for surgical artificial intelligence and simulation by synthesizing realistic instrument-tissue interactions. Surg-UniWorld introduces a Hierarchical Surgical Anchor, Anchor-Relative Modality Experts, and a Multimodal Control Expert to support coherent video generation under arbitrary combinations of edge, depth, and optical-flow controls. Experiments demonstrate improved generation quality, temporal consistency, and multimodal controllability.

EndoWAM is a grounded World-Action Model for generalizable robotic endoscopic navigation. It predicts task-relevant target regions in future observations and couples a lightweight diffusion transformer with a discrete action expert through a shared predictive representation. The model enables real-time control and generalizes to unseen viewpoints, environments, and targets across multiple endoscopic procedures.