Junjie Bai

Yan Wang, Wenjie Luo, Junjie Bai et al. · nvidia

End-to-end architectures trained via imitation learning have advanced autonomous driving by scaling model size and data, yet performance remains brittle in safety-critical long-tail scenarios where supervision is sparse and causal understanding is limited. To address this, we introduce Alpamayo-R1 (AR1), a vision-language-action model (VLA) that integrates Chain of Causation reasoning with trajectory planning to enhance decision-making in complex driving scenarios. Our approach features three key innovations: (1) the Chain of Causation (CoC) dataset, built through a hybrid auto-labeling and human-in-the-loop pipeline producing decision-grounded, causally linked reasoning traces aligned with driving behaviors; (2) a modular VLA architecture combining Cosmos-Reason, a Vision-Language Model pre-trained for Physical AI applications, with a diffusion-based trajectory decoder that generates dynamically feasible plans in real time; (3) a multi-stage training strategy using supervised fine-tuning to elicit reasoning and reinforcement learning (RL) to optimize reasoning quality via large reasoning model feedback and enforce reasoning-action consistency. Evaluation shows AR1 achieves up to a 12% improvement in planning accuracy on challenging cases compared to a trajectory-only baseline, with a 35% reduction in off-road rate and 25% reduction in close encounter rate in closed-loop simulation. RL post-training improves reasoning quality by 45% as measured by a large reasoning model critic and reasoning-action consistency by 37%. Model scaling from 0.5B to 7B parameters shows consistent improvements. On-vehicle road tests confirm real-time performance (99 ms latency) and successful urban deployment. By bridging interpretable reasoning with precise control, AR1 demonstrates a practical path towards Level 4 autonomous driving. We plan to release AR1 models and a subset of the CoC in a future update.

Eric Wu, Bin Kong, Xin Wang et al.

Computerized automatic methods have been employed to boost the productivity as well as objectiveness of hand bone age assessment. These approaches make predictions according to the whole X-ray images, which include other objects that may introduce distractions. Instead, our framework is inspired by the clinical workflow (Tanner-Whitehouse) of hand bone age assessment, which focuses on the key components of the hand. The proposed framework is composed of two components: a Mask R-CNN subnet of pixelwise hand segmentation and a residual attention network for hand bone age assessment. The Mask R-CNN subnet segments the hands from X-ray images to avoid the distractions of other objects (e.g., X-ray tags). The hierarchical attention components of the residual attention subnet force our network to focus on the key components of the X-ray images and generate the final predictions as well as the associated visual supports, which is similar to the assessment procedure of clinicians. We evaluate the performance of the proposed pipeline on the RSNA pediatric bone age dataset and the results demonstrate its superiority over the previous methods.