Closing the Sim-to-Real Gap: An End-to-End Robotic Ultrasound System Leveraging In Vivo Reinforcement Learning and 3D-Prior Guided Hybrid Control
Hui Tang, Chenxi Xie, Boyang Zhou, Yi-Kang Sun, Qi Yan, Dun Xue, Jieyuan Hu, Fangzi Liu, Qinglin Liu, Xinyuan Hu, Li Wu, Yi Wang, Huixiong Xu, Meng Yang
This paper introduces an end-to-end robotic ultrasound system using reinforcement learning and hybrid control to improve scan quality and consistency in abdominal imaging.
bioRxiv · Dec 19, 2025 · PreprintBioengineering