🤖 Projects
Project pages with videos, figures and full results live on the Endoscopic Autonomy site — my work on end-to-end autonomous control of flexible robotic endoscopes, in IMMlab at CUHK.
EndoVLA
Dual-phase vision-language-action model. One policy tracks polyps, abnormal mucosa and circumferential cutting markers from a surgeon's prompt.
CAN
Contact-aided navigation. Force feedback turns the deformable stomach wall into guidance rather than an obstacle, learned with PPO in an FEM simulation.
EndoLIFT
Language-disambiguated latent-conditioned rectified flow. The same view can demand opposite axial actions — an instruction selects forward navigation or urgent retraction.
Also: JEDP-RL — Jacobian exploratory dual-phase RL for dynamic endoluminal
navigation of deformable continuum robots (IROS 2025, oral) ·
arXiv. Related lab page:
EndoWAM.