{"id":"https://openalex.org/W7147543222","doi":"https://doi.org/10.48550/arxiv.2603.26814","title":"arg-VU: Affordance Reasoning with Physics-Aware 3D Geometry for Visual Understanding in Robotic Surgery","display_name":"arg-VU: Affordance Reasoning with Physics-Aware 3D Geometry for Visual Understanding in Robotic Surgery","publication_year":2026,"publication_date":"2026-03-26","ids":{"openalex":"https://openalex.org/W7147543222","doi":"https://doi.org/10.48550/arxiv.2603.26814"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.26814","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.26814","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.26814","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5132574028","display_name":"Nan Xiao","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Xiao, Nan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132648860","display_name":"Yunxin Fan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fan, Yunxin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023647218","display_name":"Farong Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Farong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5132570335","display_name":"Fei Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Fei","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5132574028"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.3917999863624573,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.3917999863624573,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.3441999852657318,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.08869999647140503,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.8434000015258789},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5916000008583069},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5644999742507935},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5361999869346619},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.4896000027656555},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.44369998574256897},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.3977999985218048},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.36070001125335693},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.35679998993873596}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.8434000015258789},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6212999820709229},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5916000008583069},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5913000106811523},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5748000144958496},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5644999742507935},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5361999869346619},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.4896000027656555},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.44369998574256897},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.3977999985218048},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.36070001125335693},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.35679998993873596},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35580000281333923},{"id":"https://openalex.org/C14961307","wikidata":"https://www.wikidata.org/wiki/Q5377176","display_name":"Energy minimization","level":2,"score":0.32519999146461487},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3158000111579895},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.30799999833106995},{"id":"https://openalex.org/C157202957","wikidata":"https://www.wikidata.org/wiki/Q1659609","display_name":"Image warping","level":2,"score":0.3070000112056732},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.30250000953674316},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29820001125335693},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.2957000136375427},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2906000018119812},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.28189998865127563},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.2809999883174896},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.27379998564720154},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.2702000141143799},{"id":"https://openalex.org/C2777508537","wikidata":"https://www.wikidata.org/wiki/Q7936620","display_name":"Visual reasoning","level":2,"score":0.26989999413490295},{"id":"https://openalex.org/C95020103","wikidata":"https://www.wikidata.org/wiki/Q1813492","display_name":"Match moving","level":3,"score":0.25450000166893005}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.26814","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.26814","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.26814","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.26814","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Affordance":[0],"reasoning":[1,34,171],"provides":[2],"a":[3,31,62,114,129],"principled":[4],"link":[5],"between":[6],"perception":[7],"and":[8,22,59,75,128,154,176],"action,":[9],"yet":[10],"remains":[11],"underexplored":[12],"in":[13,96],"surgical":[14,47,143,174],"robotics,":[15],"where":[16],"tissues":[17],"are":[18,52,98],"highly":[19],"deformable,":[20],"compliant,":[21],"dynamically":[23],"coupled":[24],"with":[25,42,122],"tool":[26,94],"motion.":[27],"We":[28],"present":[29],"arg-VU,":[30],"physics-aware":[32,115,165],"affordance":[33,156,170],"framework":[35],"that":[36,118,133,147,164],"integrates":[37],"temporally":[38,63],"consistent":[39],"geometry":[40,78],"tracking":[41],"constraint-induced":[43],"mechanical":[44,120],"modeling":[45],"for":[46,172],"visual":[48],"understanding.":[49],"Surgical":[50],"scenes":[51],"reconstructed":[53],"using":[54],"3D":[55],"Gaussian":[56],"Splatting":[57],"(3DGS)":[58],"converted":[60],"into":[61],"tracked":[64],"surface":[65],"representation.":[66],"Extended":[67],"Position-Based":[68],"Dynamics":[69],"(XPBD)":[70],"embeds":[71],"local":[72,90,125],"deformation":[73,126],"constraints":[74],"produces":[76],"representative":[77],"points":[79],"(RGPs)":[80],"whose":[81],"constraint":[82],"sensitivities":[83],"define":[84],"anisotropic":[85],"stiffness":[86],"metrics":[87],"capturing":[88],"the":[89],"constraint-manifold":[91],"geometry.":[92],"Robotic":[93],"poses":[95],"SE(3)":[97],"incorporated":[99],"to":[100,124],"compute":[101],"rigidly":[102],"induced":[103],"displacements":[104],"at":[105],"RGPs,":[106],"from":[107],"which":[108],"we":[109],"derive":[110],"two":[111],"complementary":[112],"measures:":[113],"compliance":[116],"energy":[117],"evaluates":[119],"feasibility":[121],"respect":[123],"constraints,":[127],"positional":[130],"agreement":[131],"score":[132],"captures":[134],"motion":[135,139],"alignment":[136],"(as":[137],"kinematic":[138,159],"baseline).":[140],"Experiments":[141],"on":[142],"video":[144],"datasets":[145],"show":[146],"arg-VU":[148],"yields":[149],"more":[150],"stable,":[151],"physically":[152],"consistent,":[153],"interpretable":[155],"predictions":[157],"than":[158],"baselines.":[160],"These":[161],"results":[162],"demonstrate":[163],"geometric":[166],"representations":[167],"enable":[168],"reliable":[169],"deformable":[173],"environments":[175],"support":[177],"embodied":[178],"robotic":[179],"interaction.":[180]},"counts_by_year":[],"updated_date":"2026-04-02T13:53:19.096889","created_date":"2026-04-02T00:00:00"}
