BiliVLA applies scene-aware VLA with grounding-enhanced SFT and GRPO to achieve 91.96% action precision and 84.85% success rate across three ERCP subtasks in phantom experiments.
Contact-aided navigation of flexible robotic endoscope using deep reinforcement learning in dynamic stomach,
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BiliVLA: Scene-Aware Vision-Language-Action Model with Reinforcement Learning for Autonomous Biliary Endoscopic Navigation
BiliVLA applies scene-aware VLA with grounding-enhanced SFT and GRPO to achieve 91.96% action precision and 84.85% success rate across three ERCP subtasks in phantom experiments.