Scanning While Imagining: A Scene-Graph World Model for Robotic Ultrasound Navigation

arXiv:2609.32837 · cs.RO, cs.AI · Submitted 2026-09-26 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-26

Updated: 2026-09-26

Project page: https://noseefood.github.io/us-sonograph-wm

Terminology

• World Model — 24× in this paper · explained in 7 episodes
• Transformer — 5× in this paper · explained in 2 episodes
• Accuracy — 4× in this paper · explained in 1 episode
• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Embeddings — 3× in this paper · explained in 2 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Bayesian Optimization — 2× in this paper · explained in 3 episodes
• Action-Conditioned World Model — 1× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 1× in this paper
• Consistency — 1× in this paper · explained in 3 episodes
• Contrastive Learning — 1× in this paper · explained in 5 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Frozen model — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Imitation Learning (IL) — 1× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 1× in this paper
• Latent Dynamics — 1× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Task Planning — 1× in this paper · explained in 2 episodes

Sources

• DreamReg: Belief-Driven World Model for 2D-3D Ultrasound Registration
• Action-Conditioned World Model for Goal Plane Probe Guidance in Robotic Ultrasound
• CADS: A Comprehensive Anatomical Dataset and Segmentation for Whole-Body Anatomy in Computed Tomography
• SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving