EchoWorld: Learning Motion-Aware World Models for Echocardiography Probe Guidance

Echocardiography is crucial for cardiovascular disease detection but relies heavily on experienced sonographers. Echocardiography probe guidance systems, which provide real-time movement instructions for acquiring standard plane images, offer a promising solution for AI-assisted or fully autonomous scanning. However, developing effective machine learning models for this task remains challenging, as they must grasp heart anatomy and the intricate interplay between probe motion and visual signals. To address this, we present EchoWorld, a motion-aware world modeling framework for probe guidance that encodes anatomical knowledge and motion-induced visual dynamics, while effectively leveraging past visual-motion sequences to enhance guidance precision. EchoWorld employs a pre-training strategy inspired by world modeling principles, where the model predicts masked anatomical regions and simulates the visual outcomes of probe adjustments. Built upon this pre-trained model, we introduce a motion-aware attention mechanism in the fine-tuning stage that effectively integrates historical visual-motion data, enabling precise and adaptive probe guidance. Trained on more than one million ultrasound images from over 200 routine scans, EchoWorld effectively captures key echocardiographic knowledge, as validated by qualitative analysis. Moreover, our method significantly reduces guidance errors compared to existing visual backbones and guidance frameworks, excelling in both single-frame and sequential evaluation protocols. Code is available at https://github.com/LeapLabTHU/EchoWorld.

Sequence-aware Pre-training for Echocardiography Probe Guidance

Cardiac ultrasound probe guidance aims to help novices adjust the 6-DOF probe pose to obtain high-quality sectional images. Cardiac ultrasound faces two major challenges: (1) the inherently complex structure of the heart, and (2) significant individual variations. Previous works have only learned the population-averaged 2D and 3D structures of the heart rather than personalized cardiac structural features, leading to a performance bottleneck. Clinically, we observed that sonographers adjust their understanding of a patient's cardiac structure based on prior scanning sequences, thereby modifying their scanning strategies. Inspired by this, we propose a sequence-aware self-supervised pre-training method. Specifically, our approach learns personalized 2D and 3D cardiac structural features by predicting the masked-out images and actions in a scanning sequence. We hypothesize that if the model can predict the missing content it has acquired a good understanding of the personalized cardiac structure. In the downstream probe guidance task, we also introduced a sequence modeling approach that models individual cardiac structural information based on the images and actions from historical scan data, enabling more accurate navigation decisions. Experiments on a large-scale dataset with 1.36 million samples demonstrated that our proposed sequence-aware paradigm can significantly reduce navigation errors, with translation errors decreasing by 15.90% to 36.87% and rotation errors decreasing by 11.13% to 20.77%, compared to state-of-the-art methods.

Structure-aware World Model for Probe Guidance via Large-scale Self-supervised Pre-train

The complex structure of the heart leads to significant challenges in echocardiography, especially in acquisition cardiac ultrasound images. Successful echocardiography requires a thorough understanding of the structures on the two-dimensional plane and the spatial relationships between planes in three-dimensional space. In this paper, we innovatively propose a large-scale self-supervised pre-training method to acquire a cardiac structure-aware world model. The core innovation lies in constructing a self-supervised task that requires structural inference by predicting masked structures on a 2D plane and imagining another plane based on pose transformation in 3D space. To support large-scale pre-training, we collected over 1.36 million echocardiograms from ten standard views, along with their 3D spatial poses. In the downstream probe guidance task, we demonstrate that our pre-trained model consistently reduces guidance errors across the ten most common standard views on the test set with 0.29 million samples from 74 routine clinical scans, indicating that structure-aware pre-training benefits the scanning.

Cardiac Copilot: Automatic Probe Guidance for Echocardiography with World Model

Echocardiography is the only technique capable of real-time imaging of the heart and is vital for diagnosing the majority of cardiac diseases. However, there is a severe shortage of experienced cardiac sonographers, due to the heart's complex structure and significant operational challenges. To mitigate this situation, we present a Cardiac Copilot system capable of providing real-time probe movement guidance to assist less experienced sonographers in conducting freehand echocardiography. This system can enable non-experts, especially in primary departments and medically underserved areas, to perform cardiac ultrasound examinations, potentially improving global healthcare delivery. The core innovation lies in proposing a data-driven world model, named Cardiac Dreamer, for representing cardiac spatial structures. This world model can provide structure features of any cardiac planes around the current probe position in the latent space, serving as an precise navigation map for autonomous plane localization. We train our model with real-world ultrasound data and corresponding probe motion from 110 routine clinical scans with 151K sample pairs by three certified sonographers. Evaluations on three standard planes with 37K sample pairs demonstrate that the world model can reduce navigation errors by up to 33\% and exhibit more stable performance.

LocalGCL: Local-aware Contrastive Learning for Graphs

Graph representation learning (GRL) makes considerable progress recently, which encodes graphs with topological structures into low-dimensional embeddings. Meanwhile, the time-consuming and costly process of annotating graph labels manually prompts the growth of self-supervised learning (SSL) techniques. As a dominant approach of SSL, Contrastive learning (CL) learns discriminative representations by differentiating between positive and negative samples. However, when applied to graph data, it overemphasizes global patterns while neglecting local structures. To tackle the above issue, we propose \underline{Local}-aware \underline{G}raph \underline{C}ontrastive \underline{L}earning (\textbf{\methnametrim}), a self-supervised learning framework that supplementarily captures local graph information with masking-based modeling compared with vanilla contrastive learning. Extensive experiments validate the superiority of \methname against state-of-the-art methods, demonstrating its promise as a comprehensive graph representation learner.

Joint Representation Learning for Text and 3D Point Cloud

Recent advancements in vision-language pre-training (e.g. CLIP) have shown that vision models can benefit from language supervision. While many models using language modality have achieved great success on 2D vision tasks, the joint representation learning of 3D point cloud with text remains under-explored due to the difficulty of 3D-Text data pair acquisition and the irregularity of 3D data structure. In this paper, we propose a novel Text4Point framework to construct language-guided 3D point cloud models. The key idea is utilizing 2D images as a bridge to connect the point cloud and the language modalities. The proposed Text4Point follows the pre-training and fine-tuning paradigm. During the pre-training stage, we establish the correspondence of images and point clouds based on the readily available RGB-D data and use contrastive learning to align the image and point cloud representations. Together with the well-aligned image and text features achieved by CLIP, the point cloud features are implicitly aligned with the text embeddings. Further, we propose a Text Querying Module to integrate language information into 3D representation learning by querying text embeddings with point cloud features. For fine-tuning, the model learns task-specific 3D representations under informative language guidance from the label set without 2D images. Extensive experiments demonstrate that our model shows consistent improvement on various downstream tasks, such as point cloud semantic segmentation, instance segmentation, and object detection. The code will be available here: https://github.com/LeapLabTHU/Text4Point

Deep Model Assembling

Large deep learning models have achieved remarkable success in many scenarios. However, training large models is usually challenging, e.g., due to the high computational cost, the unstable and painfully slow optimization procedure, and the vulnerability to overfitting. To alleviate these problems, this work studies a divide-and-conquer strategy, i.e., dividing a large model into smaller modules, training them independently, and reassembling the trained modules to obtain the target model. This approach is promising since it avoids directly training large models from scratch. Nevertheless, implementing this idea is non-trivial, as it is difficult to ensure the compatibility of the independently trained modules. In this paper, we present an elegant solution to address this issue, i.e., we introduce a global, shared meta model to implicitly link all the modules together. This enables us to train highly compatible modules that collaborate effectively when they are assembled together. We further propose a module incubation mechanism that enables the meta model to be designed as an extremely shallow network. As a result, the additional overhead introduced by the meta model is minimalized. Though conceptually simple, our method significantly outperforms end-to-end (E2E) training in terms of both final accuracy and training efficiency. For example, on top of ViT-Huge, it improves the accuracy by 2.7% compared to the E2E baseline on ImageNet-1K, while saving the training cost by 43% in the meantime. Code is available at https://github.com/LeapLabTHU/Model-Assembling.

Cross-Modal Adapter for Text-Video Retrieval

Text-video retrieval is an important multi-modal learning task, where the goal is to retrieve the most relevant video for a given text query. Recently, pre-trained models, e.g., CLIP, show great potential on this task. However, as pre-trained models are scaling up, fully fine-tuning them on text-video retrieval datasets has a high risk of overfitting. Moreover, in practice, it would be costly to train and store a large model for each task. To overcome the above issues, we present a novel $\textbf{Cross-Modal Adapter}$ for parameter-efficient fine-tuning. Inspired by adapter-based methods, we adjust the pre-trained model with a few parameterization layers. However, there are two notable differences. First, our method is designed for the multi-modal domain. Secondly, it allows early cross-modal interactions between CLIP's two encoders. Although surprisingly simple, our approach has three notable benefits: (1) reduces $\textbf{99.6}\%$ of fine-tuned parameters, and alleviates the problem of overfitting, (2) saves approximately 30% of training time, and (3) allows all the pre-trained parameters to be fixed, enabling the pre-trained model to be shared across datasets. Extensive experiments demonstrate that, without bells and whistles, it achieves superior or comparable performance compared to fully fine-tuned methods on MSR-VTT, MSVD, VATEX, ActivityNet, and DiDeMo datasets. The code will be available at \url{https://github.com/LeapLabTHU/Cross-Modal-Adapter}.

Pseudo-Q: Generating Pseudo Language Queries for Visual Grounding

Visual grounding, i.e., localizing objects in images according to natural language queries, is an important topic in visual language understanding. The most effective approaches for this task are based on deep learning, which generally require expensive manually labeled image-query or patch-query pairs. To eliminate the heavy dependence on human annotations, we present a novel method, named Pseudo-Q, to automatically generate pseudo language queries for supervised training. Our method leverages an off-the-shelf object detector to identify visual objects from unlabeled images, and then language queries for these objects are obtained in an unsupervised fashion with a pseudo-query generation module. Then, we design a task-related query prompt module to specifically tailor generated pseudo language queries for visual grounding tasks. Further, in order to fully capture the contextual relationships between images and language queries, we develop a visual-language model equipped with multi-level cross-modality attention mechanism. Extensive experimental results demonstrate that our method has two notable benefits: (1) it can reduce human annotation costs significantly, e.g., 31% on RefCOCO without degrading original model's performance under the fully supervised setting, and (2) without bells and whistles, it achieves superior or comparable performance compared to state-of-the-art weakly-supervised visual grounding methods on all the five datasets we have experimented. Code is available at https://github.com/LeapLabTHU/Pseudo-Q.

Glance and Focus Networks for Dynamic Visual Recognition

Spatial redundancy widely exists in visual recognition tasks, i.e., discriminative features in an image or video frame usually correspond to only a subset of pixels, while the remaining regions are irrelevant to the task at hand. Therefore, static models which process all the pixels with an equal amount of computation result in considerable redundancy in terms of time and space consumption. In this paper, we formulate the image recognition problem as a sequential coarse-to-fine feature learning process, mimicking the human visual system. Specifically, the proposed Glance and Focus Network (GFNet) first extracts a quick global representation of the input image at a low resolution scale, and then strategically attends to a series of salient (small) regions to learn finer features. The sequential process naturally facilitates adaptive inference at test time, as it can be terminated once the model is sufficiently confident about its prediction, avoiding further redundant computation. It is worth noting that the problem of locating discriminant regions in our model is formulated as a reinforcement learning task, thus requiring no additional manual annotations other than classification labels. GFNet is general and flexible as it is compatible with any off-the-shelf backbone models (such as MobileNets, EfficientNets and TSM), which can be conveniently deployed as the feature extractor. Extensive experiments on a variety of image classification and video recognition tasks and with various backbone models demonstrate the remarkable efficiency of our method. For example, it reduces the average latency of the highly efficient MobileNet-V3 on an iPhone XS Max by 1.3x without sacrificing accuracy. Code and pre-trained models are available at https://github.com/blackfeather-wang/GFNet-Pytorch.