Shi‐Yi Wang

Shiyi Wang, Yang Nan, Sheng Zhang et al.

In pulmonary tracheal segmentation, the scarcity of annotated data is a prevalent issue in medical segmentation. Additionally, Deep Learning (DL) methods face challenges: the opacity of 'black box' models and the need for performance enhancement. Our Human-Computer Interaction (HCI) based models (RS_UNet, LC_UNet, UUNet, and WD_UNet) address these challenges by combining diverse query strategies with various DL models. We train four HCI models and repeat these steps: (1) Query Strategy: The HCI models select samples that provide the most additional representative information when labeled in each iteration and identify unlabeled samples with the greatest predictive disparity using Wasserstein Distance, Least Confidence, Entropy Sampling, and Random Sampling. (2) Central line correction: Selected samples are used for expert correction of system-generated tracheal central lines in each training round. (3) Update training dataset: Experts update the training dataset after each DL model's training epoch, enhancing the trustworthiness and performance of the models. (4) Model training: The HCI model is trained using the updated dataset and an enhanced UNet version. Experimental results confirm the effectiveness of these HCI-based approaches, showing that WD-UNet, LC-UNet, UUNet, and RS-UNet achieve comparable or superior performance to state-of-the-art DL models. Notably, WD-UNet achieves this with only 15%-35% of the training data, reducing physician annotation time by 65%-85%.

Shiyi Wang, Guang Yang

Medical image classification and segmentation based on deep learning (DL) are emergency research topics for diagnosing variant viruses of the current COVID-19 situation. In COVID-19 computed tomography (CT) images of the lungs, ground glass turbidity is the most common finding that requires specialist diagnosis. Based on this situation, some researchers propose the relevant DL models which can replace professional diagnostic specialists in clinics when lacking expertise. However, although DL methods have a stunning performance in medical image processing, the limited datasets can be a challenge in developing the accuracy of diagnosis at the human level. In addition, deep learning algorithms face the challenge of classifying and segmenting medical images in three or even multiple dimensions and maintaining high accuracy rates. Consequently, with a guaranteed high level of accuracy, our model can classify the patients' CT images into three types: Normal, Pneumonia and COVID. Subsequently, two datasets are used for segmentation, one of the datasets even has only a limited amount of data (20 cases). Our system combined the classification model and the segmentation model together, a fully integrated diagnostic model was built on the basis of ResNet50 and 3D U-Net algorithm. By feeding with different datasets, the COVID image segmentation of the infected area will be carried out according to classification results. Our model achieves 94.52% accuracy in the classification of lung lesions by 3 types: COVID, Pneumonia and Normal. For future medical use, embedding the model into the medical facilities might be an efficient way of assisting or substituting doctors with diagnoses, therefore, a broader range of the problem of variant viruses in the COVID-19 situation may also be successfully solved.

Shiyi Wang, Yang Nan, Simon Walsh et al.

We propose a novel Deep Active Learning (DeepAL) model-3D Wasserstein Discriminative UNet (WD-UNet) for reducing the annotation effort of medical 3D Computed Tomography (CT) segmentation. The proposed WD-UNet learns in a semi-supervised way and accelerates learning convergence to meet or exceed the prediction metrics of supervised learning models. Our method can be embedded with different Active Learning (AL) strategies and different network structures. The model is evaluated on 3D lung airway CT scans for medical segmentation and show that the use of uncertainty metric, which is parametrized as an input of query strategy, leads to more accurate prediction results than some state-of-the-art Deep Learning (DL) supervised models, e.g.,3DUNet and 3D CEUNet. Compared to the above supervised DL methods, our WD-UNet not only saves the cost of annotation for radiologists but also saves computational resources. WD-UNet uses a limited amount of annotated data (35% of the total) to achieve better predictive metrics with a more efficient deep learning model algorithm.

Yingying Fang, Xiaodan Xing, Shiyi Wang et al.

Since the onset of the COVID-19 pandemic in 2019, there has been a concerted effort to develop cost-effective, non-invasive, and rapid AI-based tools. These tools were intended to alleviate the burden on healthcare systems, control the rapid spread of the virus, and enhance intervention outcomes, all in response to this unprecedented global crisis. As we transition into a post-COVID era, we retrospectively evaluate these proposed studies and offer a review of the techniques employed in AI diagnostic models, with a focus on the solutions proposed for different challenges. This review endeavors to provide insights into the diverse solutions designed to address the multifaceted challenges that arose during the pandemic. By doing so, we aim to prepare the AI community for the development of AI tools tailored to address public health emergencies effectively.

Shiyi Wang, Yang Nan, Felder Federico N et al.

Each medical segmentation task should be considered with a specific AI algorithm based on its scenario so that the most accurate prediction model can be obtained. The most popular algorithms in medical segmentation, 3D U-Net and its variants, can directly implement the task of lung trachea segmentation, but its failure to consider the special tree-like structure of the trachea suggests that there is much room for improvement in its segmentation accuracy. Therefore, a research gap exists because a great amount of state-of-the-art DL algorithms are vanilla 3D U-Net structures, which do not introduce the various performance-enhancing modules that come with special natural image modality in lung airway segmentation. In this paper, we proposed two different network structures Branch-Level U-Net (B-UNet) and Branch-Level CE-UNet (B-CE-UNet) which are based on U-Net structure and compared the prediction results with the same dataset. Specially, both of the two networks add branch loss and central line loss to learn the feature of fine branch endings of the airways. Uncertainty estimation algorithms are also included to attain confident predictions and thereby, increase the overall trustworthiness of our whole model. In addition, predictions of the lung trachea based on the maximum connectivity rate were calculated and extracted during post-processing for segmentation refinement and pruning.

Shiyi Wang, Wenbo Li, Yiteng Chen et al.

Developing a general robot manipulation system capable of performing a wide range of tasks in complex, dynamic, and unstructured real-world environments has long been a challenging task. It is widely recognized that achieving human-like efficiency and robustness manipulation requires the robotic brain to integrate a comprehensive set of functions, such as task planning, policy generation, anomaly monitoring and handling, and long-term memory, achieving high-efficiency operation across all functions. Vision-Language Models (VLMs), pretrained on massive multimodal data, have acquired rich world knowledge, exhibiting exceptional scene understanding and multimodal reasoning capabilities. However, existing methods typically focus on realizing only a single function or a subset of functions within the robotic brain, without integrating them into a unified cognitive architecture. Inspired by a divide-and-conquer strategy and the architecture of the human brain, we propose FrankenBot, a VLM-driven, brain-morphic robotic manipulation framework that achieves both comprehensive functionality and high operational efficiency. Our framework includes a suite of components, decoupling a part of key functions from frequent VLM calls, striking an optimal balance between functional completeness and system efficiency. Specifically, we map task planning, policy generation, memory management, and low-level interfacing to the cortex, cerebellum, temporal lobe-hippocampus complex, and brainstem, respectively, and design efficient coordination mechanisms for the modules. We conducted comprehensive experiments in both simulation and real-world robotic environments, demonstrating that our method offers significant advantages in anomaly detection and handling, long-term memory, operational efficiency, and stability -- all without requiring any fine-tuning or retraining.

Wenbo Li, Shiyi Wang, Yiteng Chen et al.

Vision-Language Models (VLMs) encode knowledge and reasoning capabilities for robotic manipulation within high-dimensional representation spaces. However, current approaches often project them into compressed intermediate representations, discarding important task-specific information such as fine-grained spatial or semantic details. To address this, we propose AntiGrounding, a new framework that reverses the instruction grounding process. It lifts candidate actions directly into the VLM representation space, renders trajectories from multiple views, and uses structured visual question answering for instruction-based decision making. This enables zero-shot synthesis of optimal closed-loop robot trajectories for new tasks. We also propose an offline policy refinement module that leverages past experience to enhance long-term performance. Experiments in both simulation and real-world environments show that our method outperforms baselines across diverse robotic manipulation tasks.