Vision-Language Procedural Reasoning for Context-Aware Reward Modeling of Robotic Endovascular Guidewire Navigation

Robotic-assisted endovascular interventions demand accurate, stable, and context-aware guidewire navigation in complex and patient-specific vascular anatomies. Despite recent advances in robotic precision and learning-based control, existing autonomous navigation methods remain limited by their reliance on static reward functions and the lack of explicit procedural reasoning regarding anatomical context and task progression. To address these challenges, this paper proposes a vision-language procedural reasoning (VL-PR) framework for autonomous guidewire navigation. The framework integrates a multimodal large language model (MLLM) as a procedural reasoning module that interprets real-time visual observations to infer high-level navigation contexts. Instead of generating low-level control commands, the inferred procedural insights enable context-aware reward adaptation by dynamically adjusting the importance of reward components across different navigation phases. This approach allows a single policy to resolve competing objectives and handle complex transitions while preserving a consistent global task goal. Experiments on a physical robotic platform across diverse vascular scenarios demonstrate enhanced task reliability and streamlined navigational efficiency, highlighting the advantages over static-reward methods and offering a scalable solution for complex and multi-task robotic endovascular procedures.

UA-PDFL: A Personalized Approach for Decentralized Federated Learning

Federated learning (FL) is a privacy preserving machine learning paradigm designed to collaboratively learn a global model without data leakage. Specifically, in a typical FL system, the central server solely functions as an coordinator to iteratively aggregate the collected local models trained by each client, potentially introducing single-point transmission bottleneck and security threats. To mitigate this issue, decentralized federated learning (DFL) has been proposed, where all participating clients engage in peer-to-peer communication without a central server. Nonetheless, DFL still suffers from training degradation as FL does due to the non-independent and identically distributed (non-IID) nature of client data. And incorporating personalization layers into DFL may be the most effective solutions to alleviate the side effects caused by non-IID data. Therefore, in this paper, we propose a novel unit representation aided personalized decentralized federated learning framework, named UA-PDFL, to deal with the non-IID challenge in DFL. By adaptively adjusting the level of personalization layers through the guidance of the unit representation, UA-PDFL is able to address the varying degrees of data skew. Based on this scheme, client-wise dropout and layer-wise personalization are proposed to further enhance the learning performance of DFL. Extensive experiments empirically prove the effectiveness of our proposed method.

Federated Two Stage Decoupling With Adaptive Personalization Layers

Federated learning has gained significant attention due to its groundbreaking ability to enable distributed learning while maintaining privacy constraints. However, as a consequence of data heterogeneity among decentralized devices, it inherently experiences significant learning degradation and slow convergence speed. Therefore, it is natural to employ the concept of clustering homogeneous clients into the same group, allowing only the model weights within each group to be aggregated. While most existing clustered federated learning methods employ either model gradients or inference outputs as metrics for client partitioning, with the goal of grouping similar devices together, may still have heterogeneity within each cluster. Moreover, there is a scarcity of research exploring the underlying reasons for determining the appropriate timing for clustering, resulting in the common practice of assigning each client to its own individual cluster, particularly in the context of highly non independent and identically distributed (Non-IID) data. In this paper, we introduce a two-stage decoupling federated learning algorithm with adaptive personalization layers named FedTSDP, where client clustering is performed twice according to inference outputs and model weights, respectively. Hopkins amended sampling is adopted to determine the appropriate timing for clustering and the sampling weight of public unlabeled data. In addition, a simple yet effective approach is developed to adaptively adjust the personalization layers based on varying degrees of data skew. Experimental results show that our proposed method has reliable performance on both IID and non-IID scenarios.