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Language-Conditioned Behavior Cloning for Autonomous Endoscopic Guidance

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Ariel Rodriguez and co-authors propose using language-conditioned behavior cloning for autonomous endoscopic guidance, defining 6 clinically relevant guidance behaviors and collecting 235 subtask demonstrations. In preliminary phantom experiments, a single visuomotor policy achieved a 100% success rate on three behaviors—focusing, panoramic view, and stopping—80% on tip search and tip following, and 50% on horizontal alignment. The authors state that the observed failure modes indicate that more complex guidance tasks require the introduction of temporal context.

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  1. Language-conditioned behavioral cloning for autonomous endoscope guidance

    The study proposes language-conditioned behavioral cloning for autonomous endoscope guidance, defining 6 clinically relevant guidance behaviors and collecting 235 subtask demonstrations. In preliminary phantom experiments, a single visuomotor policy achieved 100% success on focus, overview, and stop, 80% on search-tip and follow-tip, and 50% on horizon leveling. The authors note that the failure modes indicate more complex guidance tasks require temporal context.

    arXiv cs.RO ·

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Grasping and manipulationRobot models and learningResearch papers

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