arg-VU: Affordance Reasoning with Physics-Aware 3D Geometry for Visual Understanding in Robotic Surgery
Affordance reasoning provides a principled link between perception and action, yet remains underexplored in surgical robotics, where tissues are highly deformable, compliant, and dynamically coupled with tool motion. We present arg-VU, a physics-aware affordance reasoning framework that integrates temporally consistent geometry tracking with constraint-induced mechanical modeling for surgical visual understanding. Surgical scenes are reconstructed using 3D Gaussian Splatting (3DGS) and converted into a temporally tracked surface representation. Extended Position-Based Dynamics (XPBD) embeds local deformation constraints and produces representative geometry points (RGPs) whose constraint s...
| Authors | Nan Xiao, Yunxin Fan, Farong Wang et al. |
|---|---|
| Primary category | cs.CV |
| Published | 26 March 2026 |
| Last updated at source | 26 March 2026 |
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