StenoVLA-3D: 3D-Aware Reasoning VLA for Navigation Through Gastrointestinal Stenoses

Abstract:Autonomous endoscopic navigation requires the policy model to predict actions from texture-poor monocular observations, make safe control decisions, and retain evidence of lesions after they leave the field of view. Existing vision-language-action (VLA) models primarily rely on visual appearance and short-term context, limiting geometric grounding and episode-level reporting. We introduce StenoVLA-3D, a 3D-aware VLA framework for navigating through stenotic regions. We integrate point-maps into the Cosmos-Reason 2 backbone through learned geometry-gated fusion, and also propose a temporal state branch to model traversal progress. Our reasoning-and-action backbone predicts grounded reasoning with actions, while dedicated heads estimate stenosis shape and generate the final lesion report. We further introduce EndoCausal, an episode-level dataset with lesion annotations, actions, and temporally grounded reasoning. On 40 held-out recorded test episodes, StenoVLA-3D reaches 95.2\% semantic accuracy and 83.4\% action accuracy. On the physical 3-DoF endoscope, it attains 88.9\% and 77.8\% task success in esophageal and colonic phantoms (36 trials each), substantially outperforming the evaluated baselines.

8 pages, 4 figures. Submitted to ICRA 2027

Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)

arXiv:2609.24187 [cs.RO]

(or arXiv:2609.24187v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.24187 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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