Ruiming Wu | Search arXiv

arXiv2026

Gated Residual Body-Hand Coordination for Whole-Body Humanoid Teleoperation

Whole-body humanoid teleoperation commonly combines a motion-tracking policy with a separate dexterous-hand retargeter. However, independently generated commands do not explicitly preserve body-hand geometric relations, leading to mismatches in relative wrist poses and fingertip positions during bimanual interaction. We present a gated residual coordination framework that keeps both modules frozen and applies bounded corrections to their outputs. A motion-conditioned action gate allocates correction authority across joint groups, while reference-geometry-dependent reward gates emphasize relevant interaction objectives during training. To establish the nominal body controller on Agile One, we introduce multi-pose morphology calibration that jointly estimates triaxial scales and effector-local offsets, together with staged motion dataset curation for training a SONIC-based tracker. The residual policy uses human motion references, initial commands, and robot proprioception without explicit object or contact observations. In simulation, it reduces wrist and fingertip geometry errors by 39.2-56.3% over direct composition on held-out GRAB motions, while preserving whole-body tracking on AMASS, with success rates of 89.03% without residual coordination and 89.29% with it. Ablations characterize the contributions of reward gating, adaptive correction authority, and separate body and hand correction heads.

cs.RO↗

arXiv2025

Pathology-CoT: Learning Visual Chain-of-Thought Agent from Expert Whole Slide Image Diagnosis Behavior

Diagnosing a whole-slide image is an interactive, multi-stage process of changing magnification and moving between fields. Although recent pathology foundation models demonstrated superior performances, practical agentic systems that decide what field to examine next, adjust magnification, and deliver explainable diagnoses are still lacking. Such limitation is largely bottlenecked by data: scalable, clinically aligned supervision of expert viewing behavior that is tacit and experience-based, not documented in textbooks or internet, and therefore absent from LLM training. Here we introduce a framework designed to address this challenge through three key breakthroughs. First, the AI Session Recorder seamlessly integrates with standard whole-slide image viewers to unobtrusively record routine navigation and convert the viewer logs into standardized behavioral commands and bounding boxes. Second, a lightweight human-in-the-loop review turns AI-drafted rationales for behavioral commands into the Pathology-CoT dataset, a form of paired "where to look" and "why it matters", enabling six-fold faster labeling compared to manual constructing such Chain-of-Thought dataset. Using this behavioral data, we build Pathology-o3, a two-stage agent that first proposes important ROIs and then performs behavior-guided reasoning. On the gastrointestinal lymph-node metastasis detection task, our method achieved 100 recall on the internal validation from Stanford Medicine and 97.6 recall on an independent external validation from Sweden, exceeding the state-of-the-art OpenAI o3 model and generalizing across backbones. To our knowledge, Pathology-CoT constitutes one of the first behavior-grounded agentic systems in pathology. Turning everyday viewer logs into scalable, expert-validated supervision, our framework makes agentic pathology practical and establishes a path to human-aligned, upgradeable clinical AI.

cs.CV↗