Seldinger Neurocathsim Policy

--- license: other library_name: neurocathsim tags: - robotics - medical-imaging - reinforcement-learning - endovascular - dsa pipeline_tag: reinforcement-learning --- # Seldinger NeuroCathSim Policy This repository contains a Seldinger NeuroCathSim command-conditioned policy checkpoint for anterior-circulation simulated endovascular navigation through the repository's CathSim navigation sweep harness. The released checkpoint is image-conditioned: at inference it consumes the grounded command plus DSA-like rendered image observations rather than graph-only simulator state features. It is a non-clinical research artifact. It must not be used for patient care, autonomous clinical navigation, procedural advice, or medical device selection. ## Artifact - Hugging Face repo: `txmedai/seldinger-neurocathsim-policy` - Checkpoint: `rl_policy.json` - Source commit: `d333dff717ced6d1912adb6b33021f60d58b2929` - Policy model type: `command_conditioned_image_linear_bc` - Observation mode: `image` - Feature mode: `image` - Feature count: 27 - Training source: `oracle_rollouts` - Target count: 12 - Success rate: 1.000 - Mean path efficiency: 1.000 - Wrong-branch count: 0.0 - Wall-contact proxy count: 0.0 - Failure cases: 0 ## Intended Use The policy is intended for reproducible research in the open NeuroCathSim/CathSim integration path. It maps a grounded anterior-circulation command and simulator observation to support-catheter, microcatheter, and microwire/guidewire actions, then is evaluated by commanding the simulator to each anterior-circulation target in closed loop. ## Limitations The current release is a command-conditioned research policy artifact, not a validated clinical simulator or robot controller. The CathSim dependency is the public GitHub project at `https://github.com/airvlab/cathsim`; this repository adapts it through an anterior-circulation navigation sweep harness while richer neurovascular phantom physics, anatomy diversity, device-specific mechanics, and external validation remain active work. ## Citation See the Seldinger repository manuscript package for the evolving preprint source.