Lin Luo

Tao Ma, Chao Zhang, Min Lu et al.

Renal pathology, as the gold standard of kidney disease diagnosis, requires doctors to analyze a series of tissue slices stained by H&E staining and special staining like Masson, PASM, and PAS, respectively. These special staining methods are costly, time-consuming, and hard to standardize for wide use especially in primary hospitals. Advances of supervised learning methods have enabled the virtually conversion of H&E images into special staining images, but achieving pixel-to-pixel alignment for training remains challenging. In contrast, unsupervised learning methods regarding different stains as different style transfer domains can utilize unpaired data, but they ignore the spatial inter-domain correlations and thus decrease the trustworthiness of structural details for diagnosis. In this paper, we propose a novel virtual staining framework AGMDT to translate images into other domains by avoiding pixel-level alignment and meanwhile utilizing the correlations among adjacent tissue slices. We first build a high-quality multi-domain renal histological dataset where each specimen case comprises a series of slices stained in various ways. Based on it, the proposed framework AGMDT discovers patch-level aligned pairs across the serial slices of multi-domains through glomerulus detection and bipartite graph matching, and utilizes such correlations to supervise the end-to-end model for multi-domain staining transformation. Experimental results show that the proposed AGMDT achieves a good balance between the precise pixel-level alignment and unpaired domain transfer by exploiting correlations across multi-domain serial pathological slices, and outperforms the state-of-the-art methods in both quantitative measure and morphological details.

Qixiu Li, Yu Deng, Yaobo Liang et al.

This paper presents a novel approach for pretraining robotic manipulation Vision-Language-Action (VLA) models using a large corpus of unscripted real-life video recordings of human hand activities. Treating human hand as dexterous robot end-effector, we show that "in-the-wild" egocentric human videos without any annotations can be transformed into data formats fully aligned with existing robotic V-L-A training data in terms of task granularity and labels. This is achieved by the development of a fully-automated holistic human activity analysis approach for arbitrary human hand videos. This approach can generate atomic-level hand activity segments and their language descriptions, each accompanied with framewise 3D hand motion and camera motion. We process a large volume of egocentric videos and create a hand-VLA training dataset containing 1M episodes and 26M frames. This training data covers a wide range of objects and concepts, dexterous manipulation tasks, and environment variations in real life, vastly exceeding the coverage of existing robot data. We design a dexterous hand VLA model architecture and pretrain the model on this dataset. The model exhibits strong zero-shot capabilities on completely unseen real-world observations. Additionally, fine-tuning it on a small amount of real robot action data significantly improves task success rates and generalization to novel objects in real robotic experiments. We also demonstrate the appealing scaling behavior of the model's task performance with respect to pretraining data scale. We believe this work lays a solid foundation for scalable VLA pretraining, advancing robots toward truly generalizable embodied intelligence.