Task-Relevant Feature-Dynamics Fidelity Enables Zero-Shot Sim-to-Real Transfer for Robotic Ultrasound Scanning

Abstract:Robotic ultrasound policies operating directly on B-mode images require extensive interaction data, whereas real-robot data collection is costly and safety-constrained. Simulation provides a scalable alternative, but zero-shot transfer depends not only on single-frame realism but also on whether simulated observations reproduce task-relevant feature changes induced by probe motion. We term this cross-domain consistency task-relevant feature-dynamics fidelity (TR-FDF). Under local regularity assumptions, our contraction analysis shows that greater sensitivity of TR-FDF mismatch to probe motion reduces the effective closed-loop contraction margin, whereas motion-independent errors primarily enlarge the residual error bound. Guided by this analysis, we develop a TR-FDF-oriented ultrasound simulator that combines a shared structural intermediate domain, trajectory-level fixed noise, and few-step conditional flow generation. In phantom experiments, a policy trained exclusively in simulation succeeded in 390 of 400 zero-shot deployments across four target planes. The simulator achieved an FID of 29.66 and generated observations at 67.1 Hz. Controlled interventions, ablations, and baseline comparisons showed that TR-FDF sensitivity complements single-frame realism in predicting zero-shot transfer performance.

Robotics (cs.RO)

arXiv:2608.29516 [cs.RO]

(or arXiv:2608.29516v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2608.29516 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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