arxivcs.RO2026-07-24
Action-Conditioned World Model for Goal Plane Probe Guidance in Robotic Ultrasound
Siqi Fan, Mingcong Chen, Ran Liu, Zixuan Yang, Xiaoyu Fu, Xiaoqing Gao, et al.
We present an action-conditioned world model framework for goal plane probe guidance in robotic ultrasound, with a focus on neck ultrasound scanning. Autonomous ultrasound tasks often require large numbers of probe-motion trajectories for training, but collecting high-quality dem…