ForceU-VLA: A Force-Aware Vision-Language-Action Model for Embodied Ultrasound Scanning

[2608.15009] ForceU-VLA: A Force-Aware Vision-Language-Action Model for Embodied Ultrasound Scanning Skip to main content Search Submit Donate Log in Search arXiv Press Enter to search · Advanced search Computer Science > Robotics arXiv:2608.15009 (cs) [Submitted on 15 Aug 2026] Title: ForceU-VLA: A Force-Aware Vision-Language-Action Model for Embodied Ultrasound Scanning Authors: Xingzheng Wu , Cheng Zhang , Guihao Yan , Xifeng Hu , Zhi Liu , Qing Cai View a PDF of the paper titled ForceU-VLA: A Force-Aware Vision-Language-Action Model for Embodied Ultrasound Scanning, by Xingzheng Wu and 5 other authors View PDF HTML (experimental) Abstract: Embodied intelligent ultrasound scanning enables the automation and standardization of the ultrasound examination process by integrating perception, decision-making, and execution capabilities. However, existing methods suffer from loosely coupled modeling between force and ultrasound modalities and lack awareness of scanning stages, which limits their ability to capture dynamic probe-tissue interactions. To address these issues, we propose ForceU-VLA, a force-aware Vision-Language-Action model for autonomous embodied ultrasound scanning, which leverages force signals and ultrasound image feedback throughout the scanning process to enable accurate and high-quality ultrasound acquisition. Firstly, we propose a Force-Ultrasound Synergistic Fusion Module (FUSFM) that synergistically fuses ultrasound visual and force-feedback information to provide stable, reliable guidance for probe motion. Secondly, a Stage-Adaptive Modulation Mechanism (SAMM) is proposed to accommodate the task requirements across different scanning stages by adaptively modulating multimodal features to enhance their representation quality. Additionally, we introduce ForceU-VLA-Data, a real-world, force-aware embodied ultrasound dataset that integrates visual, force, and action signals, including data from two organs across five representative clinical scanning views, and comprising 450 expert-collected trajectories with approximately 100,000 synchronized multimodal frames. Extensive experimental results demonstrate that ForceU-VLA significantly improves contact stability and probe pressure regulation in embodied ultrasound scanning, thereby effectively enhancing task execution quality and overall system reliability. The source code is available at this https URL . Subjects: Robotics (cs.RO) ; Computer Vision and Pattern Recognition (cs.CV) Cite as: arXiv:2608.15009 [cs.RO] (or arXiv:2608.15009v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.15009 Focus to learn more arXiv-issued DOI via DataCite Submission history From: Qing Cai [ view email ] [v1] Sat, 15 Aug 2026 03:39:40 UTC (5,644 KB) Full-text links: Access Paper: View a PDF of the paper titled ForceU-VLA: A Force-Aware Vision-Language-Action Model for Embodied Ultrasound Scanning, by Xingzheng Wu and 5 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO < prev | next > new | recent | 2026-08 Change to browse by: cs cs.CV References & Citations NASA ADS Google Scholar Semantic Scholar export BibTeX citation Loading... BibTeX formatted citation × loading... 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