Robotics paper index

Towards Grounded GI Endoscopy VQA via Multi-Task Learning on Small VLMs

2026-07-29 · arXiv: 2607.27122

One-line summary

A robotics research paper on Towards Grounded GI Endoscopy VQA via Multi-Task Learning on Small VLMs.

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Gastrointestinal (GI) endoscopic image analysis has shifted from single-label classification toward visual question answering (VQA), where a model must answer free-form clinical questions about an image. While recent vision-language models (VLMs) achieve promising answer accuracy on this task, clinical adoption also requires the model's internal representations to reflect the visual evidence behind its answers. We propose a simple multi-task fine-tuning recipe that constructs auxiliary grounding and description tasks from an existing VQA dataset with minimal additional annotation: expert-annotated polyp masks are reused directly, while a GI-domain pretrained classifier with Grad-CAM localization provides weak supervision for finding categories that lack ground-truth masks. Three small VLM backbones are fine-tuned with low-rank adaptation under matched VQA-only and multi-task recipes on Kvasir-VQA-x1, and we show consistent accuracy gains together with improved implicit alignment between answer tokens and the relevant image region, evaluated on both in-distribution and out-of-distribution data.

5.0Engineering value
7.0Research novelty
4.0Business relevance

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