StenoVLA-3D: 3D-Aware Reasoning VLA for Navigation Through Gastrointestinal Stenoses

arXiv:2609.24187 · cs.RO, cs.CV · Submitted 2026-09-21 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-21

Updated: 2026-09-22

Terminology

• Alignment — 5× in this paper · explained in 1 episode
• Steering — 5× in this paper · explained in 2 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Accuracy — 4× in this paper · explained in 1 episode
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Trace — 3× in this paper · explained in 2 episodes
• Action Space — 2× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Domain Shift — 2× in this paper · explained in 4 episodes
• EMMA — 2× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• LoRA Adapters — 2× in this paper · explained in 3 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Quantization — 1× in this paper · explained in 12 episodes
• Reasoning Traces — 1× in this paper · explained in 3 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Structured Reasoning — 1× in this paper · explained in 3 episodes
• Temporal consistency — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes
• Zero-Shot Generalization — 1× in this paper · explained in 5 episodes

Sources

• EndoVLA: Dual-Phase Vision-Language-Action Model for Autonomous Tracking in Endoscopy
• Global Prior Meets Local Consistency: Dual-Memory Augmented Vision-Language-Action Model for Efficient Robotic Manipulation
• Memory Retrieval in Visuomotor Policies for Long-Horizon Robot Control
• Depth Anything 3: Recovering the Visual Space from Any Views
• Qwen3-VL Technical Report
• LoRA: Low-Rank Adaptation of Large Language Models

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