Cross Anything: General Quadruped Robot Navigation through Complex Terrains

The application of vision-language models (VLMs) has achieved impressive success in various robotics tasks, but there are few explorations for foundation models used in quadruped robot navigation. We introduce Cross Anything System (CAS), an innovative system composed of a high-level reasoning module and a low-level control policy, enabling the robot to navigate across complex 3D terrains and reach the goal position. For high-level reasoning and motion planning, we propose a novel algorithmic system taking advantage of a VLM, with a design of task decomposition and a closed-loop sub-task execution mechanism. For low-level locomotion control, we utilize the Probability Annealing Selection (PAS) method to train a control policy by reinforcement learning. Numerous experiments show that our whole system can accurately and robustly navigate across complex 3D terrains, and its strong generalization ability ensures the applications in diverse indoor and outdoor scenarios and terrains. Project page: https://cross-anything.github.io/

AI-based Automatic Segmentation of Prostate on Multi-modality Images: A Review

Prostate cancer represents a major threat to health. Early detection is vital in reducing the mortality rate among prostate cancer patients. One approach involves using multi-modality (CT, MRI, US, etc.) computer-aided diagnosis (CAD) systems for the prostate region. However, prostate segmentation is challenging due to imperfections in the images and the prostate's complex tissue structure. The advent of precision medicine and a significant increase in clinical capacity have spurred the need for various data-driven tasks in the field of medical imaging. Recently, numerous machine learning and data mining tools have been integrated into various medical areas, including image segmentation. This article proposes a new classification method that differentiates supervision types, either in number or kind, during the training phase. Subsequently, we conducted a survey on artificial intelligence (AI)-based automatic prostate segmentation methods, examining the advantages and limitations of each. Additionally, we introduce variants of evaluation metrics for the verification and performance assessment of the segmentation method and summarize the current challenges. Finally, future research directions and development trends are discussed, reflecting the outcomes of our literature survey, suggesting high-precision detection and treatment of prostate cancer as a promising avenue.

Large Trajectory Models are Scalable Motion Predictors and Planners

Motion prediction and planning are vital tasks in autonomous driving, and recent efforts have shifted to machine learning-based approaches. The challenges include understanding diverse road topologies, reasoning traffic dynamics over a long time horizon, interpreting heterogeneous behaviors, and generating policies in a large continuous state space. Inspired by the success of large language models in addressing similar complexities through model scaling, we introduce a scalable trajectory model called State Transformer (STR). STR reformulates the motion prediction and motion planning problems by arranging observations, states, and actions into one unified sequence modeling task. With a simple model design, STR consistently outperforms baseline approaches in both problems. Remarkably, experimental results reveal that large trajectory models (LTMs), such as STR, adhere to the scaling laws by presenting outstanding adaptability and learning efficiency. Qualitative results further demonstrate that LTMs are capable of making plausible predictions in scenarios that diverge significantly from the training data distribution. LTMs also learn to make complex reasonings for long-term planning, without explicit loss designs or costly high-level annotations.