Tingrui Zhang

Katrina Ashton, Chahyon Ku, Shrey Shah et al.

Language-specified mobile manipulation tasks in novel environments simultaneously face challenges interacting with a scene which is only partially observed, grounding semantic information from language instructions to the partially observed scene, and actively updating knowledge of the scene with new observations. To address these challenges, we propose HELIOS, a hierarchical scene representation and associated search objective. We construct 2D maps containing the relevant semantic and occupancy information for navigation while simultaneously actively constructing 3D Gaussian representations of task-relevant objects. We fuse observations across this multi-layered representation while explicitly modeling the multi-view consistency of the detections of each object using the Dirichlet distribution. Planning is formulated as a search problem over our hierarchical representation. We formulate an objective that jointly considers (i) exploration of unobserved or uncertain regions of the environment and (ii) information gathering from additional observations of candidate objects. This objective integrates frontier-based exploration with the expected information gain associated with improving semantic consistency of object detections. We evaluate HELIOS on the OVMM benchmark in the Habitat simulator, a pick and place benchmark in which perception is challenging due to large and complex scenes with comparatively small target objects. HELIOS achieves state-of-the-art results on OVMM. We demonstrate HELIOS performing language specified pick and place in a real world office environment on a Spot robot. Our method leverages pretrained VLMs to achieve these results in simulation and the real world without any task specific training.

Ruitao Liu, Xinyang Tian, Shuo Chen et al.

Pipeline parallelism is a key technique for scaling large-model training, but modern workloads exhibit runtime variability in computation and communication. Existing pipeline systems typically consume static, profiled, or adaptively generated schedules as pre-committed execution orders. When realized task readiness diverges from the pre-committed order, stages may wait for not-yet-ready work even though other executable work is available, creating stage misalignment, idle bubbles, and reduced utilization. We present Runtime-Readiness-First Pipeline (RRFP), a readiness-driven runtime for pipeline-parallel training. RRFP changes how schedules are consumed at runtime: instead of treating a schedule as a sequence that stages must wait to follow, it treats the schedule as a non-binding hint order for ranking currently ready work. To support this model, RRFP combines message-driven asynchronous communication, lightweight tensor-parallel coordination for collective consistency, and ready-set arbitration for low-overhead dispatch. We implement RRFP in a Megatron-based training framework and evaluate it on language-only and multimodal workloads at up to 128 GPUs. RRFP improves over fixed-order pipeline baselines across all settings. Using the BFW hint, RRFP achieves up to 1.77$\times$ speedup on language-only workloads and up to 2.77$\times$ on multimodal workloads. In cross-framework comparisons, RRFP with the default BF hint outperforms the faster available external system by up to 1.84$\times$ while preserving training correctness.

Tingrui Zhang, Honglin Wu, Zekun Jiang et al.

Aimed to develop and validate a CT radiomics-based explainable machine learning model for precise diagnosing malignancy and benignity specifically in endometrial cancer (EC) patients. A total of 83 EC patients from two centers, including 46 with malignant and 37 with benign conditions, were included, with data split into a training set (n=59) and a testing set (n=24). The regions of interest (ROIs) were manually segmented from pre-surgical CT scans, and 1132 radiomic features were extracted from the pre-surgical CT scans using Pyradiomics. Six explainable machine learning (ML) modeling algorithms were implemented respectively, for determining the optimal radiomics pipeline. The diagnostic performance of the radiomic model was evaluated by using sensitivity, specificity, accuracy, precision, F1 score, AUROC, and AUPRC. To enhance clinical understanding and usability, we separately implemented SHAP analysis and feature mapping visualization, and evaluated the calibration curve and decision curve. By comparing six modeling strategies, the Random Forest model emerged as the optimal choice for diagnosing EC, with a training AUROC of 1.00 and a testing AUROC of 0.96. SHAP identified the most important radiomic features, revealing that all selected features were significantly associated with EC (P < 0.05). Radiomics feature maps also provide a feasible assessment tool for clinical applications. Decision Curve Analysis (DCA) indicated a higher net benefit for our model compared to the "All" and "None" strategies, suggesting its clinical utility in identifying high-risk cases and reducing unnecessary interventions. In conclusion, the CT radiomics-based explainable ML model achieved high diagnostic performance, which could be used as an intelligent auxiliary tool for the diagnosis of endometrial cancer.