Yuchen Zhang

Yuchen Zhang, Yanda Meng, Yalin Zheng

Atrial fibrillation (AF) is the most common cardiac arrhythmia. Accurate segmentation of the left atrial (LA) and LA scars can provide valuable information to predict treatment outcomes in AF. In this paper, we proposed to automatically segment LA cavity and quantify LA scars with late gadolinium enhancement Magnetic Resonance Imagings (LGE-MRIs). We adopted nnU-Net as the baseline model and exploited the importance of LA boundary characteristics with the TopK loss as the loss function. Specifically, a focus on LA boundary pixels is achieved during training, which provides a more accurate boundary prediction. On the other hand, a distance map transformation of the predicted LA boundary is regarded as an additional input for the LA scar prediction, which provides marginal constraint on scar locations. We further designed a novel uncertainty-aware module (UAM) to produce better results for predictions with high uncertainty. Experiments on the LAScarQS 2022 dataset demonstrated our model's superior performance on the LA cavity and LA scar segmentation. Specifically, we achieved 88.98\% and 64.08\% Dice coefficient for LA cavity and scar segmentation, respectively. We will make our implementation code public available at https://github.com/level6626/Boundary-focused-nnU-Net.

Yuan Gao, Mattia Piccinini, Yuchen Zhang et al.

For autonomous vehicles, safe navigation in complex environments depends on handling a broad range of diverse and rare driving scenarios. Simulation- and scenario-based testing have emerged as key approaches to development and validation of autonomous driving systems. Traditional scenario generation relies on rule-based systems, knowledge-driven models, and data-driven synthesis, often producing limited diversity and unrealistic safety-critical cases. With the emergence of foundation models, which represent a new generation of pre-trained, general-purpose AI models, developers can process heterogeneous inputs (e.g., natural language, sensor data, HD maps, and control actions), enabling the synthesis and interpretation of complex driving scenarios. In this paper, we conduct a survey about the application of foundation models for scenario generation and scenario analysis in autonomous driving (as of May 2025). Our survey presents a unified taxonomy that includes large language models, vision-language models, multimodal large language models, diffusion models, and world models for the generation and analysis of autonomous driving scenarios. In addition, we review the methodologies, open-source datasets, simulation platforms, and benchmark challenges, and we examine the evaluation metrics tailored explicitly to scenario generation and analysis. Finally, the survey concludes by highlighting the open challenges and research questions, and outlining promising future research directions. All reviewed papers are listed in a continuously maintained repository, which contains supplementary materials and is available at https://github.com/TUM-AVS/FM-for-Scenario-Generation-Analysis.

Xiaoshuai Hao, Lei Zhou, Zhijian Huang et al.

We open-source MiMo-Embodied, the first cross-embodied foundation model to successfully integrate and achieve state-of-the-art performance in both Autonomous Driving and Embodied AI. MiMo-Embodied sets new records across 17 embodied AI benchmarks in Task Planning, Affordance Prediction and Spatial Understanding, while also excelling in 12 autonomous driving benchmarks across Environmental Perception, Status Prediction, and Driving Planning. Across these tasks, MiMo-Embodied significantly outperforms existing open-source, closed-source, and specialized baselines. Our results indicate that through multi-stage learning, curated data construction, and CoT/RL fine-tuning, these two domains exhibit strong positive transfer and mutually reinforce one another. We provide a detailed analysis of our model design and training methodologies to facilitate further research. Code and models are available at https://github.com/XiaomiMiMo/MiMo-Embodied.