Contact-Adaptive Robotic Ultrasound Probe Control for Tissue Exploration and Continuous Task-Relevant Visualization Using Robot-Free Image-Motion Demonstration

arXiv:2609.37456 · cs.RO · Submitted 2026-09-27 · Read on arXiv

cs.RO

Submitted: 2026-09-27

Updated: 2026-09-27

Code: https://github.com/suung23/FR5-for-RUS

Terminology

• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Adaptation — 4× in this paper · explained in 1 episode
• Calibration — 4× in this paper · explained in 7 episodes
• Adaptive Monitoring — 2× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Hysteresis — 2× in this paper · explained in 3 episodes
• Self-consistency — 2× in this paper · explained in 2 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Adaptive Safety — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper

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