SurgVIL: Scaling Surgical Robot Imitation Learning with Open-source Surgical Videos

arXiv:2608.16058 · cs.RO · Submitted 2026-08-17 · Read on arXiv

cs.RO

Submitted: 2026-08-17

Updated: 2026-09-27

Terminology

• Generalization — 17× in this paper · explained in 13 episodes
• Transformer — 7× in this paper · explained in 2 episodes
• Accuracy — 6× in this paper · explained in 1 episode
• Adam — 6× in this paper · explained in 2 episodes
• Consistency — 4× in this paper · explained in 3 episodes
• Calibration — 3× in this paper · explained in 7 episodes
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Foundation Model — 3× in this paper · explained in 3 episodes
• Segmentation Masks — 3× in this paper · explained in 2 episodes
• Action Chunking — 2× in this paper · explained in 1 episode
• Action Chunking Transformer — 2× in this paper
• Action Chunking Transformer (ACT) — 2× in this paper · explained in 1 episode
• Surgical Robot Transformer — 2× in this paper
• Temporal consistency — 2× in this paper · explained in 2 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Downstream Tasks — 1× in this paper · explained in 2 episodes
• Flow Matching — 1× in this paper · explained in 8 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Hierarchical Framework — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Loss Function — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• Cosmos-H-Surgical: Learning Surgical Robot Policies from Videos via World Modeling
• OpenVLA: An Open-Source Vision-Language-Action Model
• Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
• SAR-RARP50: Segmentation of surgical instrumentation and Action Recognition on Robot-Assisted Radical Prostatectomy Challenge
• Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
• Surgical Visual Understanding (SurgVU) Dataset

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