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ForceU-VLA: A Force-Aware Vision-Language-Action Model for Embodied Ultrasound Scanning — arXiv:2608.15009

Source: arXiv (en)
Original: https://arxiv.org/abs/2608.15009
License (as archived): CC0-1.0
Archived: 2026-10-18T23:03:26.722Z
SHA-256 of the archived text: 92eae0682c95faecdad6b4c7fec981e6a06ce85da51139e434b844dd80b43683
Stable URL of this page: https://metraipolis.com/documento/dc_ea75ec94115f

How to cite

ForceU-VLA: A Force-Aware Vision-Language-Action Model for Embodied Ultrasound Scanning — arXiv:2608.15009 — arXiv (en), https://arxiv.org/abs/2608.15009 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_ea75ec94115f (Metraipolis archive dc_ea75ec94115f, sha256 92eae0682c95faecdad6b4c7fec981e6a06ce85da51139e434b844dd80b43683)

BibTeX

@misc{dcea75ec94115f,
  title = {ForceU-VLA: A Force-Aware Vision-Language-Action Model for Embodied Ultrasound Scanning — arXiv:2608.15009},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2608.15009},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_ea75ec94115f; sha256 92eae0682c95faecdad6b4c7fec981e6a06ce85da51139e434b844dd80b43683},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2608.15009. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Embodied intelligent ultrasound scanning enables the automation and standardization of the ultrasound examination process by integrating perception, decision-making, and execution capabilities. However, existing methods suffer from loosely coupled modeling between force and ultrasound modalities and lack awareness of scanning stages, which limits their ability to capture dynamic probe-tissue interactions. To address these issues, we propose ForceU-VLA, a force-aware Vision-Language-Action model for autonomous embodied ultrasound scanning, which leverages force signals and ultrasound image feedback throughout the scanning process to enable accurate and high-quality ultrasound acquisition. Firstly, we propose a Force-Ultrasound Synergistic Fusion Module (FUSFM) that synergistically fuses ultrasound visual and force-feedback information to provide stable, reliable guidance for probe motion. Secondly, a Stage-Adaptive Modulation Mechanism (SAMM) is proposed to accommodate the task requirements across different scanning stages by adaptively modulating multimodal features to enhance their representation quality. Additionally, we introduce ForceU-VLA-Data, a real-world, force-aware embodied ultrasound dataset that integrates visual, force, and action signals, including data from two organs across five representative clinical scanning views, and comprising 450 expert-collected trajectories with approximately 100,000 synchronized multimodal frames. Extensive experimental results demonstrate that ForceU-VLA significantly improves contact stability and probe pressure regulation in embodied ultrasound scanning, thereby effectively enhancing task execution quality and overall system reliability. The source code is available at this https URL .

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-08-18 in cs.RO).
Categorie arXiv: Robotics (cs.RO) ; Computer Vision and Pattern Recognition (cs.CV).
Pagina del lavoro: https://arxiv.org/abs/2608.15009 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-18T23:01:50.343Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-08-18?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).