mlsanityData to 14 Oct 2026

SurgiCLAW: An Interpretable Atomic-Skill Agent for Precision Robotic Micromanipulation

arXiv 2610.15766 ↗First posted 11 Oct 2026cs.RO cs.AIcited by 0

On the map: Multimodal LLMs / vision-language models → Embodied and 3D vision-language models

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Abstract (arXiv)

Recent multimodal large language models (MLLMs) and vision--language--action models have provided robots with new capabilities for long-horizon task understanding and planning. In surgical robotics, however, end-to-end prediction of low-level actions remains limited by insufficient precision, opaque decisions, and scarce data. This paper presents SurgiCLAW, a hierarchical skill-based framework for precision surgical manipulation. SurgiCLAW confines an MLLM to intraoperative visual understanding, structured explanation, and atomic surgical-skill selection, while delegating physical execution to verifiable deterministic control programs. For brain--machine-interface implantation, a representative high-precision surgical task, we construct a state-to-skill invocation dataset and expand it through visual and state perturbations. The model first learns structured skill invocation through supervised fine-tuning and is then optimized using three rewards for action correctness, operation prerequisites, and format validity, improving action selection, operational safety, and output parseability. We evaluate subtask success, offline model comparison, real-robot performance, and ablations. On a fixed test set, SurgiCLAW achieves 94.6% skill-selection accuracy and 93.0% macro-averaged F1 (Macro-F1). Across 50 closed-loop real-robot implantation trials, it achieves an 88.0% task success rate.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Placed in Embodied and 3D vision-language models, one of 16 directions in Multimodal LLMs / vision-language models. Builds on 18 of its 25 references that are in the map. First posted on arXiv 11 Oct 2026.

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18 of 25 references.

Closest ancestors · 2

Same direction, newest first

  1. 2025Vision-Language-Action Models for Robotics: A Review Towards Real-World Applications8 Oct
  2. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control28 Jul

Other references · 16

  1. 2021LoRA: Low-Rank Adaptation of Large Language Modelscited by 14,380
  2. 2025Qwen2.5-VL Technical Reportcited by 5,587
  3. 2024OpenVLA: An Open-Source Vision-Language-Action Modelcited by 2,887
  4. 2025Qwen3-VL Technical Reportcited by 2,793
  5. 2022Do As I Can, Not As I Say: Grounding Language in Robotic Affordancescited by 2,348
  6. 2025π0.5: a Vision-Language-Action Model with Open-World Generalizationcited by 1,761
  7. 2025InternVL3.5: Advancing Open-Source Multimodal Models in Versatility, Reasoning, and Efficiencycited by 1,510
  8. 2024MiniCPM-V: A GPT-4V Level MLLM on Your Phonecited by 1,079
  9. 2023PyTorch FSDP: Experiences on Scaling Fully Sharded Data Parallelcited by 660
  10. 2024DeepSeek-VL2: Mixture-of-Experts Vision-Language Models for Advanced Multimodal Understandingcited by 572
  11. 2026GDPO: Group reward-Decoupled Normalization Policy Optimization for Multi-reward RL Optimizationcited by 193
  12. 2024Surgical Robot Transformer (SRT): Imitation Learning for Surgical Taskscited by 40
4 more
  1. 2025SurgVLM: A Large Vision-Language Model and Systematic Evaluation Benchmark for Surgical Intelligencecited by 31
  2. 2025SRT-H: A Hierarchical Framework for Autonomous Surgery via Language Conditioned Imitation Learningcited by 26
  3. 2024SuFIA: Language-Guided Augmented Dexterity for Robotic Surgical Assistantscited by 4
  4. 2025Surgical Action Planning with Large Language Modelscited by 4

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  1. 2026SurgVLA-Bench: Towards Evaluating Vision-Language-Action Models for Laparoscopic Surgical Robotics
  2. 2024SurgicAI: A Hierarchical Platform for Fine-Grained Surgical Policy Learning and Benchmarking
  3. 2026MedVLA: A Hierarchical Vision-Language-Action Framework for Closed-Loop Precision Medical Robot Manipulation
  4. 2026CARE: Experience-Guided Atomic Corrective Execution for Vision-Language-Action Policies
  5. 2026AtomVLA: Scalable Post-Training for Robotic Manipulation via Predictive Latent World Models
  6. 2026Move-Then-Operate: Behavioral Phasing for Human-Like Robotic Manipulation
  7. 2025SurgXBench: Explainable Vision-Language Model Benchmark for Surgery
  8. 2025SurgRAW: Multi-Agent Workflow with Chain of Thought Reasoning for Robotic Surgical Video Analysis