AI RESEARCH
arg-VU: Affordance Reasoning with Physics-Aware 3D Geometry for Visual Understanding in Robotic Surgery
arXiv CS.CV
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ArXi:2603.26814v1 Announce Type: new 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.