Jie Li

Lei Han, Qingxu Zhu, Jiapeng Sheng et al.

Knowledge from animals and humans inspires robotic innovations. Numerous efforts have been made to achieve agile locomotion in quadrupedal robots through classical controllers or reinforcement learning approaches. These methods usually rely on physical models or handcrafted rewards to accurately describe the specific system, rather than on a generalized understanding like animals do. Here we propose a hierarchical framework to construct primitive-, environmental- and strategic-level knowledge that are all pre-trainable, reusable and enrichable for legged robots. The primitive module summarizes knowledge from animal motion data, where, inspired by large pre-trained models in language and image understanding, we introduce deep generative models to produce motor control signals stimulating legged robots to act like real animals. Then, we shape various traversing capabilities at a higher level to align with the environment by reusing the primitive module. Finally, a strategic module is trained focusing on complex downstream tasks by reusing the knowledge from previous levels. We apply the trained hierarchical controllers to the MAX robot, a quadrupedal robot developed in-house, to mimic animals, traverse complex obstacles and play in a designed challenging multi-agent chase tag game, where lifelike agility and strategy emerge in the robots.

Zhusi Zhong, Helen Zhang, Fayez H. Fayad et al.

Purpose: Pulmonary embolism (PE) is a significant cause of mortality in the United States. The objective of this study is to implement deep learning (DL) models using Computed Tomography Pulmonary Angiography (CTPA), clinical data, and PE Severity Index (PESI) scores to predict PE mortality. Materials and Methods: 918 patients (median age 64 years, range 13-99 years, 52% female) with 3,978 CTPAs were identified via retrospective review across three institutions. To predict survival, an AI model was used to extract disease-related imaging features from CTPAs. Imaging features and/or clinical variables were then incorporated into DL models to predict survival outcomes. Four models were developed as follows: (1) using CTPA imaging features only; (2) using clinical variables only; (3) multimodal, integrating both CTPA and clinical variables; and (4) multimodal fused with calculated PESI score. Performance and contribution from each modality were evaluated using concordance index (c-index) and Net Reclassification Improvement, respectively. Performance was compared to PESI predictions using the Wilcoxon signed-rank test. Kaplan-Meier analysis was performed to stratify patients into high- and low-risk groups. Additional factor-risk analysis was conducted to account for right ventricular (RV) dysfunction. Results: For both data sets, the PESI-fused and multimodal models achieved higher c-indices than PESI alone. Following stratification of patients into high- and low-risk groups by multimodal and PESI-fused models, mortality outcomes differed significantly (both p<0.001). A strong correlation was found between high-risk grouping and RV dysfunction. Conclusions: Multiomic DL models incorporating CTPA features, clinical data, and PESI achieved higher c-indices than PESI alone for PE survival prediction.