Task-Relevant Feature-Dynamics Fidelity Enables Zero-Shot Sim-to-Real Transfer for Robotic Ultrasound Scanning
技术动态
来源：arXiv cs.RO发布时间待核实
arXiv:2608.29516v1 Announce Type: new 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.