Imitation Learning for Robot Assistance in Open Surgery: A Multi-Policy Evaluation on Suture Following

This study presents the first evaluation of general-purpose imitation learning for surgeon-robot collaborative assistance in open surgery, targeting suture following: the grab-pull-release motion an assistant performs at every stitch. We collect 160 teleoperated demonstrations (32,374 frames) on an open-source robot arm, benchmark four architecturally diverse imitation learning policies (ACT, Diffusion Policy, SmolVLA, $π_0$) across 28 trained models evaluated in 32 configurations along three clinically motivated dimensions: dataset size, camera viewpoint, and background variation. Our results demonstrate that under ideal conditions, the four policies achieve $50$-$75\%$ task success, with depth error as the dominant failure mode across all architectures. Among all policies, $π_0$ achieves the strongest results with a pretrained vision-language backbone, demonstrating superior data efficiency, greater robustness to background variation, and smoother trajectories compatible with surgical workflow. When deployed in a surgeon-robot suturing trial, $π_0$ yields a $92\%$ stitch completion rate. These findings establish collaborative robotic assistance in open surgery as a feasible target for imitation learning and highlight depth perception and end-effector design as key priorities for clinical translation.

A systematic evaluation of vision-language models for observational astronomical reasoning tasks

Vision-language models (VLMs) are increasingly proposed as general-purpose tools for scientific data interpretation, yet their reliability on real astronomical observations across diverse modalities remains untested. We present AstroVLBench, a comprehensive benchmark comprising over 4,100 expert-verified instances across five tasks spanning optical imaging, radio interferometry, multi-wavelength photometry, time-domain light curves, and optical spectroscopy. Evaluating six frontier models, we find that performance is strongly modality-dependent: while one model (Gemini 3 Pro) emerges as the most consistently capable across tasks, task-specific strengths vary, and all models substantially underperform domain-specialized methods. Mechanistic ablations reveal that performance depends not only on directing attention to salient visual features but also on grounding those features in physical knowledge. Phenomenological prompts describing what to look for improve accuracy by sharpening model focus, but physical prompts explaining why those features matter perform better overall and yield more balanced classifications with reduced class-specific bias. Consistent with this picture, presenting the underlying one-dimensional measurements directly as numerical tables instead of rendered plots yields up to 13 percentage points improvement. Reasoning quality analysis further demonstrates that, without explicit physical grounding, models may reach correct predictions from phenomenologically plausible cues while providing physically imprecise justifications, establishing that accuracy alone is insufficient for trustworthy scientific deployment. These findings provide the first systematic, multi-modal baselines for VLMs in observational astronomy and identify the specific representation, grounding, and reasoning bottlenecks where current models fail.

ReXSonoVQA: A Video QA Benchmark for Procedure-Centric Ultrasound Understanding

Ultrasound acquisition requires skilled probe manipulation and real-time adjustments. Vision-language models (VLMs) could enable autonomous ultrasound systems, but existing benchmarks evaluate only static images, not dynamic procedural understanding. We introduce ReXSonoVQA, a video QA benchmark with 514 video clips and 514 questions (249 MCQ, 265 free-response) targeting three competencies: Action-Goal Reasoning, Artifact Resolution & Optimization, and Procedure Context & Planning. Zero-shot evaluation of Gemini 3 Pro, Qwen3.5-397B, LLaVA-Video-72B, and Seed 2.0 Pro shows VLMs can extract some procedural information, but troubleshooting questions remain challenging with minimal gains over text-only baselines, exposing limitations in causal reasoning. ReXSonoVQA enables developing perception systems for ultrasound training, guidance, and robotic automation.

ReXInTheWild: A Unified Benchmark for Medical Photograph Understanding

Everyday photographs taken with ordinary cameras are already widely used in telemedicine and other online health conversations, yet no comprehensive benchmark evaluates whether vision-language models can interpret their medical content. Analyzing these images requires both fine-grained natural image understanding and domain-specific medical reasoning, a combination that challenges both general-purpose and specialized models. We introduce ReXInTheWild, a benchmark of 955 clinician-verified multiple-choice questions spanning seven clinical topics across 484 photographs sourced from the biomedical literature. When evaluated on ReXInTheWild, leading multimodal large language models show substantial performance variation: Gemini-3 achieves 78% accuracy, followed by Claude Opus 4.5 (72%) and GPT-5 (68%), while the medical specialist model MedGemma reaches only 37%. A systematic error analysis also reveals four categories of common errors, ranging from low-level geometric errors to high-level reasoning failures and requiring different mitigation strategies. ReXInTheWild provides a challenging, clinically grounded benchmark at the intersection of natural image understanding and medical reasoning. The dataset is available on HuggingFace.

ReX-MLE: The Autonomous Agent Benchmark for Medical Imaging Challenges

Autonomous coding agents built on large language models (LLMs) can now solve many general software and machine learning tasks, but they remain ineffective on complex, domain-specific scientific problems. Medical imaging is a particularly demanding domain, requiring long training cycles, high-dimensional data handling, and specialized preprocessing and validation pipelines, capabilities not fully measured in existing agent benchmarks. To address this gap, we introduce ReX-MLE, a benchmark of 20 challenges derived from high-impact medical imaging competitions spanning diverse modalities and task types. Unlike prior ML-agent benchmarks, ReX-MLE evaluates full end-to-end workflows, requiring agents to independently manage data preprocessing, model training, and submission under realistic compute and time constraints. Evaluating state-of-the-art agents (AIDE, ML-Master, R&D-Agent) with different LLM backends (GPT-5, Gemini, Claude), we observe a severe performance gap: most submissions rank in the 0th percentile compared to human experts. Failures stem from domain-knowledge and engineering limitations. ReX-MLE exposes these bottlenecks and provides a foundation for developing domain-aware autonomous AI systems.

ReXGroundingCT: A 3D Chest CT Dataset for Segmentation of Findings from Free-Text Reports

We present ReXGroundingCT, the first publicly available dataset to link free-text radiology findings with pixel-level segmentations in 3D chest CT scans that is manually annotated. While prior datasets have relied on structured labels or predefined categories, ReXGroundingCT captures the full expressiveness of clinical language represented in free text and grounds it to spatially localized 3D segmentation annotations in volumetric imaging. This addresses a critical gap in medical AI: the ability to connect complex, descriptive text, such as "3 mm nodule in the left lower lobe", to its precise anatomical location in three-dimensional space, a capability essential for grounded radiology report generation systems. The dataset comprises 3,142 non-contrast chest CT scans paired with standardized radiology reports from the CT-RATE dataset. Using a systematic three-stage pipeline, GPT-4 was used to extract positive lung and pleural findings, which were then manually segmented by expert annotators. A total of 8,028 findings across 16,301 entities were annotated, with quality control performed by board-certified radiologists. Approximately 79% of findings are focal abnormalities, while 21% are non-focal. The training set includes up to three representative segmentations per finding, while the validation and test sets contain exhaustive labels for each finding entity. ReXGroundingCT establishes a new benchmark for developing and evaluating sentence-level grounding and free-text medical segmentation models in chest CT. The dataset can be accessed at https://huggingface.co/datasets/rajpurkarlab/ReXGroundingCT.

ReXVQA: A Large-scale Visual Question Answering Benchmark for Generalist Chest X-ray Understanding

We present ReXVQA, the largest and most comprehensive benchmark for visual question answering (VQA) in chest radiology, comprising approximately 696,000 questions paired with 160,000 chest X-rays studies across training, validation, and test sets. Unlike prior efforts that rely heavily on template based queries, ReXVQA introduces a diverse and clinically authentic task suite reflecting five core radiological reasoning skills: presence assessment, location analysis, negation detection, differential diagnosis, and geometric reasoning. We evaluate eight state-of-the-art multimodal large language models, including MedGemma-4B-it, Qwen2.5-VL, Janus-Pro-7B, and Eagle2-9B. The best-performing model (MedGemma) achieves 83.24% overall accuracy. To bridge the gap between AI performance and clinical expertise, we conducted a comprehensive human reader study involving 3 radiology residents on 200 randomly sampled cases. Our evaluation demonstrates that MedGemma achieved superior performance (83.84% accuracy) compared to human readers (best radiology resident: 77.27%), representing a significant milestone where AI performance exceeds expert human evaluation on chest X-ray interpretation. The reader study reveals distinct performance patterns between AI models and human experts, with strong inter-reader agreement among radiologists while showing more variable agreement patterns between human readers and AI models. ReXVQA establishes a new standard for evaluating generalist radiological AI systems, offering public leaderboards, fine-grained evaluation splits, structured explanations, and category-level breakdowns. This benchmark lays the foundation for next-generation AI systems capable of mimicking expert-level clinical reasoning beyond narrow pathology classification. Our dataset will be open-sourced at https://huggingface.co/datasets/rajpurkarlab/ReXVQA

ReXGradient-160K: A Large-Scale Publicly Available Dataset of Chest Radiographs with Free-text Reports

We present ReXGradient-160K, representing the largest publicly available chest X-ray dataset to date in terms of the number of patients. This dataset contains 160,000 chest X-ray studies with paired radiological reports from 109,487 unique patients across 3 U.S. health systems (79 medical sites). This comprehensive dataset includes multiple images per study and detailed radiology reports, making it particularly valuable for the development and evaluation of AI systems for medical imaging and automated report generation models. The dataset is divided into training (140,000 studies), validation (10,000 studies), and public test (10,000 studies) sets, with an additional private test set (10,000 studies) reserved for model evaluation on the ReXrank benchmark. By providing this extensive dataset, we aim to accelerate research in medical imaging AI and advance the state-of-the-art in automated radiological analysis. Our dataset will be open-sourced at https://huggingface.co/datasets/rajpurkarlab/ReXGradient-160K.

FactCheXcker: Mitigating Measurement Hallucinations in Chest X-ray Report Generation Models

Medical vision-language model models often struggle with generating accurate quantitative measurements in radiology reports, leading to hallucinations that undermine clinical reliability. We introduce FactCheXcker, a modular framework that de-hallucinates radiology report measurements by leveraging an improved query-code-update paradigm. Specifically, FactCheXcker employs specialized modules and the code generation capabilities of large language models to solve measurement queries generated based on the original report. After extracting measurable findings, the results are incorporated into an updated report. We evaluate FactCheXcker on endotracheal tube placement, which accounts for an average of 78% of report measurements, using the MIMIC-CXR dataset and 11 medical report-generation models. Our results show that FactCheXcker significantly reduces hallucinations, improves measurement precision, and maintains the quality of the original reports. Specifically, FactCheXcker improves the performance of all 11 models and achieves an average improvement of 94.0% in reducing measurement hallucinations measured by mean absolute error.

ReXrank: A Public Leaderboard for AI-Powered Radiology Report Generation

AI-driven models have demonstrated significant potential in automating radiology report generation for chest X-rays. However, there is no standardized benchmark for objectively evaluating their performance. To address this, we present ReXrank, https://rexrank.ai, a public leaderboard and challenge for assessing AI-powered radiology report generation. Our framework incorporates ReXGradient, the largest test dataset consisting of 10,000 studies, and three public datasets (MIMIC-CXR, IU-Xray, CheXpert Plus) for report generation assessment. ReXrank employs 8 evaluation metrics and separately assesses models capable of generating only findings sections and those providing both findings and impressions sections. By providing this standardized evaluation framework, ReXrank enables meaningful comparisons of model performance and offers crucial insights into their robustness across diverse clinical settings. Beyond its current focus on chest X-rays, ReXrank's framework sets the stage for comprehensive evaluation of automated reporting across the full spectrum of medical imaging.