{"id":"https://openalex.org/W7167099194","doi":"https://doi.org/10.48550/arxiv.2607.00066","title":"Learning Expert Strategy for Autonomous Robotic Endovascular Intervention via Decoupled Procedural Execution","display_name":"Learning Expert Strategy for Autonomous Robotic Endovascular Intervention via Decoupled Procedural Execution","publication_year":2026,"publication_date":"2026-06-30","ids":{"openalex":"https://openalex.org/W7167099194","doi":"https://doi.org/10.48550/arxiv.2607.00066"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.00066","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.00066","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2607.00066","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139936447","display_name":"Yanxi Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yanxi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139870753","display_name":"Tianliang Yao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yao, Tianliang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020439990","display_name":"Shaolong Tang","orcid":"https://orcid.org/0000-0002-6705-3209"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Shaolong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126817800","display_name":"Jiyuan Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Jiyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139921610","display_name":"Hengyu Hu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Hengyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139918315","display_name":"Zhaoxing Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Zhaoxing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139427818","display_name":"Antonio J. S\u00e1nchez Egea","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Egea, Antonio J. S\u00e1nchez","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139873028","display_name":"Peng Qi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qi, Peng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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/T10868","display_name":"Soft Robotics and Applications","score":0.8683000206947327,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.8683000206947327,"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/T11486","display_name":"Micro and Nano Robotics","score":0.05869999900460243,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.011500000022351742,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5552999973297119},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.4794999957084656},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4537000060081482},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4478999972343445},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4399000108242035},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.42899999022483826},{"id":"https://openalex.org/keywords/endovascular-surgery","display_name":"Endovascular surgery","score":0.4108000099658966},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.4090999960899353},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.375900000333786}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5874999761581421},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5552999973297119},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.4794999957084656},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4537000060081482},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4478999972343445},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4399000108242035},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.42899999022483826},{"id":"https://openalex.org/C2777160999","wikidata":"https://www.wikidata.org/wiki/Q1498222","display_name":"Endovascular surgery","level":2,"score":0.4108000099658966},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.4090999960899353},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4081000089645386},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.375900000333786},{"id":"https://openalex.org/C34585555","wikidata":"https://www.wikidata.org/wiki/Q1368723","display_name":"Learning curve","level":2,"score":0.3578999936580658},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.3564000129699707},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33480000495910645},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.3206999897956848},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.30889999866485596},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.30869999527931213},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.30709999799728394},{"id":"https://openalex.org/C44616089","wikidata":"https://www.wikidata.org/wiki/Q30158686","display_name":"Constraint satisfaction","level":3,"score":0.30059999227523804},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.29100000858306885},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.28630000352859497},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.28060001134872437},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.27790001034736633},{"id":"https://openalex.org/C2780665704","wikidata":"https://www.wikidata.org/wiki/Q959298","display_name":"Intervention (counseling)","level":2,"score":0.2718999981880188},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.27059999108314514},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.26980000734329224},{"id":"https://openalex.org/C195094911","wikidata":"https://www.wikidata.org/wiki/Q14167904","display_name":"Process management","level":1,"score":0.2614000141620636},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.25839999318122864},{"id":"https://openalex.org/C103203806","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Robotic surgery","level":2,"score":0.2578999996185303},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2565000057220459},{"id":"https://openalex.org/C207685749","wikidata":"https://www.wikidata.org/wiki/Q2088941","display_name":"Domain knowledge","level":2,"score":0.25429999828338623}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.00066","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.00066","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2607.00066","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.00066","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.5767219066619873,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Endovascular":[0],"interventions":[1],"are":[2,103],"high-stakes":[3],"procedures":[4],"requiring":[5],"precise":[6],"device":[7],"operation":[8],"within":[9],"complex":[10],"and":[11,25,55,126,136,167,180,212],"tortuous":[12],"vascular":[13],"anatomies.":[14],"Autonomous":[15],"endovascular":[16,46,73,216],"navigation":[17,100,162],"has":[18],"the":[19,27,89,143,209],"potential":[20,206],"to":[21,119,176,207],"standardize":[22],"procedural":[23,69,83,193],"quality":[24],"reduce":[26],"performance":[28],"variability":[29],"inherent":[30],"in":[31,42,45,71,171,188],"manual":[32],"operation.":[33],"Although":[34],"Reinforcement":[35],"Learning":[36],"(RL)":[37],"approaches":[38],"have":[39],"demonstrated":[40],"promise":[41],"enabling":[43],"autonomy":[44],"intervention,":[47],"they":[48],"often":[49],"struggle":[50],"with":[51,198],"explicit":[52],"constraint":[53],"satisfaction":[54],"safety":[56,128],"guarantees.":[57],"To":[58],"address":[59],"these":[60],"challenges,":[61],"a":[62,94,137,160,168,185],"learning-based":[63],"expert":[64,90,120],"strategy":[65],"is":[66],"introduced,":[67],"enhancing":[68],"consistency":[70,213],"autonomous":[72,196],"intervention":[74],"by":[75],"explicitly":[76],"decoupling":[77],"high-level":[78],"strategic":[79,95],"decision-making":[80,92],"from":[81],"low-level":[82],"execution.":[84],"The":[85,157],"proposed":[86,144],"framework":[87,145,158],"replicates":[88,154],"clinical":[91,200],"process:":[93],"RL":[96],"policy":[97],"generates":[98],"global":[99],"intents,":[101],"which":[102,174],"subsequently":[104],"refined":[105],"through":[106],"an":[107],"expert-informed":[108],"execution":[109],"module.":[110],"This":[111],"module":[112],"ensures":[113],"that":[114,142],"robot":[115],"movements":[116],"strictly":[117],"adhere":[118],"operational":[121,172],"norms,":[122],"real-time":[123],"kinematic":[124],"limits,":[125],"vessel":[127],"constraints.":[129],"Experimental":[130],"evaluation":[131],"across":[132],"high-fidelity":[133],"3D":[134],"simulations":[135],"real-world":[138],"robotic":[139,215],"platform":[140],"demonstrates":[141],"not":[146],"only":[147],"outperforms":[148],"baseline":[149],"policies":[150],"but":[151],"also":[152],"effectively":[153],"expert-level":[155],"proficiency.":[156],"achieves":[159],"high":[161],"success":[163],"rate":[164],"(>":[165],"96%)":[166],"29.3%":[169],"reduction":[170,187],"steps,":[173],"translates":[175],"enhanced":[177],"operative":[178],"efficiency":[179],"minimized":[181],"device-vessel":[182],"interaction.":[183],"Furthermore,":[184],"13%":[186],"trajectory":[189],"variance":[190],"indicates":[191],"superior":[192],"standardization,":[194],"aligning":[195],"behavior":[197],"established":[199],"norms.":[201],"These":[202],"results":[203],"underscore":[204],"its":[205],"enhance":[208],"predictability,":[210],"safety,":[211],"of":[214],"interventions.":[217]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-03T00:00:00"}