ColoACT: Multi-Cue Action Chunking for Smooth Autonomous Colon Navigation on a Self-Propelled Endoscopic Robot
ColoACT is an autonomous navigation system for endoscopic robots that solves challenges in colon navigation using multi-cue perception and action chunking. It integrates RGB-D and a gradient elevation map to guide a Transformer policy, which predicts future movement chunks. This approach enables smooth, continuous control on complex colonic anatomy, achieving high success rates in both straight and curved paths.