Hao Li

Han Liu, Zhoubing Xu, Riqiang Gao et al.

Deep learning models have demonstrated remarkable success in multi-organ segmentation but typically require large-scale datasets with all organs of interest annotated. However, medical image datasets are often low in sample size and only partially labeled, i.e., only a subset of organs are annotated. Therefore, it is crucial to investigate how to learn a unified model on the available partially labeled datasets to leverage their synergistic potential. In this paper, we systematically investigate the partial-label segmentation problem with theoretical and empirical analyses on the prior techniques. We revisit the problem from a perspective of partial label supervision signals and identify two signals derived from ground truth and one from pseudo labels. We propose a novel two-stage framework termed COSST, which effectively and efficiently integrates comprehensive supervision signals with self-training. Concretely, we first train an initial unified model using two ground truth-based signals and then iteratively incorporate the pseudo label signal to the initial model using self-training. To mitigate performance degradation caused by unreliable pseudo labels, we assess the reliability of pseudo labels via outlier detection in latent space and exclude the most unreliable pseudo labels from each self-training iteration. Extensive experiments are conducted on one public and three private partial-label segmentation tasks over 12 CT datasets. Experimental results show that our proposed COSST achieves significant improvement over the baseline method, i.e., individual networks trained on each partially labeled dataset. Compared to the state-of-the-art partial-label segmentation methods, COSST demonstrates consistent superior performance on various segmentation tasks and with different training data sizes.

Hao Li, Han Liu, Heinrich von Busch et al.

Our hypothesis is that UDA using diffusion-weighted images, generated with a unified model, offers a promising and reliable strategy for enhancing the performance of supervised learning models in multi-site prostate lesion detection, especially when various b-values are present. This retrospective study included data from 5,150 patients (14,191 samples) collected across nine different imaging centers. A novel UDA method using a unified generative model was developed for multi-site PCa detection. This method translates diffusion-weighted imaging (DWI) acquisitions, including apparent diffusion coefficient (ADC) and individual DW images acquired using various b-values, to align with the style of images acquired using b-values recommended by Prostate Imaging Reporting and Data System (PI-RADS) guidelines. The generated ADC and DW images replace the original images for PCa detection. An independent set of 1,692 test cases (2,393 samples) was used for evaluation. The area under the receiver operating characteristic curve (AUC) was used as the primary metric, and statistical analysis was performed via bootstrapping. For all test cases, the AUC values for baseline SL and UDA methods were 0.73 and 0.79 (p<.001), respectively, for PI-RADS>=3, and 0.77 and 0.80 (p<.001) for PI-RADS>=4 PCa lesions. In the 361 test cases under the most unfavorable image acquisition setting, the AUC values for baseline SL and UDA were 0.49 and 0.76 (p<.001) for PI-RADS>=3, and 0.50 and 0.77 (p<.001) for PI-RADS>=4 PCa lesions. The results indicate the proposed UDA with generated images improved the performance of SL methods in multi-site PCa lesion detection across datasets with various b values, especially for images acquired with significant deviations from the PI-RADS recommended DWI protocol (e.g. with an extremely high b-value).

Xinyi Chen, Yilun Chen, Yanwei Fu et al.

We introduce InternVLA-M1, a unified framework for spatial grounding and robot control that advances instruction-following robots toward scalable, general-purpose intelligence. Its core idea is spatially guided vision-language-action training, where spatial grounding serves as the critical link between instructions and robot actions. InternVLA-M1 employs a two-stage pipeline: (i) spatial grounding pre-training on over 2.3M spatial reasoning data to determine ``where to act'' by aligning instructions with visual, embodiment-agnostic positions, and (ii) spatially guided action post-training to decide ``how to act'' by generating embodiment-aware actions through plug-and-play spatial prompting. This spatially guided training recipe yields consistent gains: InternVLA-M1 outperforms its variant without spatial guidance by +14.6% on SimplerEnv Google Robot, +17% on WidowX, and +4.3% on LIBERO Franka, while demonstrating stronger spatial reasoning capability in box, point, and trace prediction. To further scale instruction following, we built a simulation engine to collect 244K generalizable pick-and-place episodes, enabling a 6.2% average improvement across 200 tasks and 3K+ objects. In real-world clustered pick-and-place, InternVLA-M1 improved by 7.3%, and with synthetic co-training, achieved +20.6% on unseen objects and novel configurations. Moreover, in long-horizon reasoning-intensive scenarios, it surpassed existing works by over 10%. These results highlight spatially guided training as a unifying principle for scalable and resilient generalist robots. Code and models are available at https://github.com/InternRobotics/InternVLA-M1.