Hongwu Wang

Chenhao Yu, Hongwu Wang, Youhao Hu et al.

High-quality data collection is a fundamental cornerstone for training humanoid whole-body visuomotor policies. Current data acquisition paradigms predominantly rely on robot teleoperation, which is often hindered by limited hardware accessibility and low operational efficiency. Inspired by the Universal Manipulation Interface (UMI), we propose BifrostUMI, a portable, efficient, and robot-free data collection framework tailored for humanoid robots. BifrostUMI leverages lightweight VR devices to capture human demonstrations as sparse keypoint trajectories while simultaneously recording wrist-mounted visual data. These multimodal data are subsequently utilized to train a high-level policy network that predicts future keypoint trajectories conditioned on the captured visual features. Through a robust keypoint retargeting pipeline, keypoint trajectories are precisely mapped onto the robot's morphology and executed via a whole-body controller. This approach enables the seamless transfer of diverse and agile behaviors from natural human demonstrations to humanoid embodiments. We demonstrate the efficacy and versatility of the proposed framework across two distinct experimental scenarios.

Xiaorui Wang, Hongwu Wang, Yue Fan et al.

This paper investigates goal-directed tracking control of underactuated blimps with center-of-mass (CoM) reconfiguration. Unlike conventional overactuated blimp designs that rely on redundant actuation for simplified control, this paper focuses on a compact architecture consisting of two thrusters and a movable internal slider, aiming to improve energy efficiency and payload capacity. This hardware-efficient configuration introduces significant underactuation and strong nonlinear coupling between CoM dynamics and vehicle motion. To address these challenges, this paper proposes a bi-level reinforcement learning framework that explicitly decouples task-level CoM planning from continuous thrust control. The outer policy determines a target-dependent CoM configuration prior to flight, while the inner policy generates thrust commands to track straight-line references. To ensure stable learning, this paper introduces a two-stage learning strategy, supported by a convergence analysis of the resulting bi-level process. Extensive simulations and real-world experiments on a 27-goal evaluation set demonstrate that the proposed method consistently outperforms fixed-CoM baselines and PID-based controllers, achieving higher tracking accuracy, enhanced robustness, and reliable sim-to-real transfer.

Ellery Wulczyn, David F. Steiner, Zhaoyang Xu et al.

Prognostic information at diagnosis has important implications for cancer treatment and monitoring. Although cancer staging, histopathological assessment, molecular features, and clinical variables can provide useful prognostic insights, improving risk stratification remains an active research area. We developed a deep learning system (DLS) to predict disease specific survival across 10 cancer types from The Cancer Genome Atlas (TCGA). We used a weakly-supervised approach without pixel-level annotations, and tested three different survival loss functions. The DLS was developed using 9,086 slides from 3,664 cases and evaluated using 3,009 slides from 1,216 cases. In multivariable Cox regression analysis of the combined cohort including all 10 cancers, the DLS was significantly associated with disease specific survival (hazard ratio of 1.58, 95% CI 1.28-1.70, p<0.0001) after adjusting for cancer type, stage, age, and sex. In a per-cancer adjusted subanalysis, the DLS remained a significant predictor of survival in 5 of 10 cancer types. Compared to a baseline model including stage, age, and sex, the c-index of the model demonstrated an absolute 3.7% improvement (95% CI 1.0-6.5) in the combined cohort. Additionally, our models stratified patients within individual cancer stages, particularly stage II (p=0.025) and stage III (p<0.001). By developing and evaluating prognostic models across multiple cancer types, this work represents one of the most comprehensive studies exploring the direct prediction of clinical outcomes using deep learning and histopathology images. Our analysis demonstrates the potential for this approach to provide prognostic information in multiple cancer types, and even within specific pathologic stages. However, given the relatively small number of clinical events, we observed wide confidence intervals, suggesting that future work will benefit from larger datasets.