A controllable surgical world model that fuses a first-frame and hierarchical-mask anchor with edge, depth, and flow expert increments, and outperforms existing baselines on a new Cholec80-based benchmark.
Sim-to-real transfer for visual rein- forcement learning of deformable object manipulation for robot-assisted surgery,
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Surg-UniWorld: A Unified Surgical World Model with Multimodal Control Experts
A controllable surgical world model that fuses a first-frame and hierarchical-mask anchor with edge, depth, and flow expert increments, and outperforms existing baselines on a new Cholec80-based benchmark.