UltraWorld: Learning Interactive Ultrasound World Models from Untracked Clinical Videos with Acoustic Sampling Map

arXiv:2610.09785 · cs.CV, cs.RO · Submitted 2026-10-07 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-10-07

Updated: 2026-10-07

Project page: https://ultraworld-project.github.io

Terminology

• World Model — 45× in this paper · explained in 7 episodes
• Fidelity — 17× in this paper · explained in 2 episodes
• Distillation — 15× in this paper · explained in 2 episodes
• Self-Distillation — 14× in this paper · explained in 7 episodes
• Consistency — 12× in this paper · explained in 3 episodes
• Transformer — 8× in this paper · explained in 2 episodes
• Ablation — 7× in this paper · explained in 1 episode
• Diffusion Model — 6× in this paper · explained in 8 episodes
• Embeddings — 5× in this paper · explained in 2 episodes
• Diffusion Models — 4× in this paper · explained in 6 episodes
• Generative AI — 4× in this paper · explained in 2 episodes
• Action-Conditioned World Model — 3× in this paper · explained in 1 episode
• Adaptation — 3× in this paper · explained in 1 episode
• Calibration — 3× in this paper · explained in 7 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Ablation Studies — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Flow Matching — 2× in this paper · explained in 8 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Action-Conditioned Dynamics — 1× in this paper · explained in 1 episode
• Attention Mechanism — 1× in this paper · explained in 3 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Self-Supervised Learning — 1× in this paper · explained in 8 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Transformer Architecture — 1× in this paper · explained in 2 episodes

Sources

• dWorldEval: Scalable Robotic Policy Evaluation via Discrete Diffusion World Model
• GTA: A Geometry-Aware Attention Mechanism for Multi-View Transformers
• Wan: Open and Advanced Large-Scale Video Generative Models

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