Xiaoan Zhang

Jiajun Cao, Qizhe Zhang, Peidong Jia et al.

Vision-Language-Action (VLA) models have demonstrated significant potential in complex scene understanding and action reasoning, leading to their increasing adoption in end-to-end autonomous driving systems. However, the long visual tokens of VLA models greatly increase computational costs. Current visual token pruning methods in Vision-Language Models (VLM) rely on either visual token similarity or visual-text attention, but both have shown poor performance in autonomous driving scenarios. Given that human drivers concentrate on relevant foreground areas while driving, we assert that retaining visual tokens containing this foreground information is essential for effective decision-making. Inspired by this, we propose FastDriveVLA, a novel reconstruction-based vision token pruning framework designed specifically for autonomous driving. FastDriveVLA includes a plug-and-play visual token pruner called ReconPruner, which prioritizes foreground information through MAE-style pixel reconstruction. A novel adversarial foreground-background reconstruction strategy is designed to train ReconPruner for the visual encoder of VLA models. Once trained, ReconPruner can be seamlessly applied to different VLA models with the same visual encoder without retraining. To train ReconPruner, we also introduce a large-scale dataset called nuScenes-FG, consisting of 241K image-mask pairs with annotated foreground regions. Our approach achieves state-of-the-art results on the nuScenes open-loop planning benchmark across different pruning ratios.

Yutao Ma, Tao Xu, Xiaolei Huang et al.

Objective: Ultrahigh-resolution optical coherence microscopy (OCM) has recently demonstrated its potential for accurate diagnosis of human cervical diseases. One major challenge for clinical adoption, however, is the steep learning curve clinicians need to overcome to interpret OCM images. Developing an intelligent technique for computer-aided diagnosis (CADx) to accurately interpret OCM images will facilitate clinical adoption of the technology and improve patient care. Methods: 497 high-resolution 3-D OCM volumes (600 cross-sectional images each) were collected from 159 ex vivo specimens of 92 female patients. OCM image features were extracted using a convolutional neural network (CNN) model, concatenated with patient information (e.g., age, HPV results), and classified using a support vector machine classifier. Ten-fold cross-validations were utilized to test the performance of the CADx method in a five-class classification task and a binary classification task. Results: An 88.3 plus or minus 4.9% classification accuracy was achieved for five fine-grained classes of cervical tissue, namely normal, ectropion, low-grade and high-grade squamous intraepithelial lesions (LSIL and HSIL), and cancer. In the binary classification task (low-risk [normal, ectropion and LSIL] vs. high-risk [HSIL and cancer]), the CADx method achieved an area-under-the-curve (AUC) value of 0.959 with an 86.7 plus or minus 11.4% sensitivity and 93.5 plus or minus 3.8% specificity. Conclusion: The proposed deep-learning based CADx method outperformed three human experts. It was also able to identify morphological characteristics in OCM images that were consistent with histopathological interpretations. Significance: Label-free OCM imaging, combined with deep-learning based CADx methods, hold a great promise to be used in clinical settings for the effective screening and diagnosis of cervical diseases.