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Our approach combines state-of-the-art RL techniques, specifically deep Q-networks (DQN) with memory buffers and a binary classifier for deciding when to terminate the task. Our method is trained and evaluated on an in-house collected data-set of 34 volunteers and when compared to pure RL and supervised learning (SL) techniques, it performs substantially better, which highlights the suitability of RL navigation for US-guided procedures. When testing our proposed model, we obtained a 82.91% chance of navigating correctly to the sacrum from 165 different starting positions on 5 different unseen simulated environments.","url_abs":"https://arxiv.org/abs/2003.13321v2","url_pdf":"https://arxiv.org/pdf/2003.13321v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"ultrasound-guided-robotic-navigation-with","repo_url":"https://github.com/hhase/spinal-navigation-rl","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"tf","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"ultrasound-guided-robotic-navigation-with","repo_url":"https://github.com/hhase/sacrum_data-set","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"ultrasound-guided-robotic-navigation-with","repo_url":"https://github.com/hhase/sacrum_dataset","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"deep-reinforcement-learning","task_name":"Deep Reinforcement Learning"},{"task_slug":"reinforcement-learning","task_name":"Reinforcement Learning"},{"task_slug":"reinforcement-learning-1","task_name":"Reinforcement Learning (RL)"},{"task_slug":"reinforcement-learning-2","task_name":"reinforcement-learning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2003.13321","atlas_url":"https://app.syntology.ai/?focus=2003.13321","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2003.13321"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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