Adaptive Multi-Scale Integration Unlocks Robust Cell Annotation in Histopathology Images

Identifying cell types and subtypes in routine histopathology is fundamental for understanding disease. Existing tile-based models capture nuclear detail but miss the broader tissue context that influences cell identity. Current human annotations are coarse-grained and uneven across studies, making fine-grained, subtype-level classification difficult. In this study, we build a marker-guided dataset from Xenium spatial transcriptomics with single-cell resolution labels for more than two million cells across eight organs and 16 classes to address the lack of high-quality annotations. Leveraging this data resource, we introduce NuClass, a pathologist workflow inspired framework for cell-wise multi-scale integration of nuclear morphology and microenvironmental context. It combines Path local, which focuses on nuclear morphology from 224x224 pixel crops, and Path global, which models the surrounding 1024x1024 pixel neighborhood, through a learnable gating module that balances local and global information. An uncertainty-guided objective directs the global path to prioritize regions where the local path is uncertain, and we provide calibrated confidence estimates and Grad-CAM maps for interpretability. Evaluated on three fully held-out cohorts, NuClass achieves up to 96 percent F1 for its best-performing class, outperforming strong baselines. Our results demonstrate that multi-scale, uncertainty-aware fusion can bridge the gap between slide-level pathological foundation models and reliable, cell-level phenotype prediction.

Astra: Toward General-Purpose Mobile Robots via Hierarchical Multimodal Learning

Modern robot navigation systems encounter difficulties in diverse and complex indoor environments. Traditional approaches rely on multiple modules with small models or rule-based systems and thus lack adaptability to new environments. To address this, we developed Astra, a comprehensive dual-model architecture, Astra-Global and Astra-Local, for mobile robot navigation. Astra-Global, a multimodal LLM, processes vision and language inputs to perform self and goal localization using a hybrid topological-semantic graph as the global map, and outperforms traditional visual place recognition methods. Astra-Local, a multitask network, handles local path planning and odometry estimation. Its 4D spatial-temporal encoder, trained through self-supervised learning, generates robust 4D features for downstream tasks. The planning head utilizes flow matching and a novel masked ESDF loss to minimize collision risks for generating local trajectories, and the odometry head integrates multi-sensor inputs via a transformer encoder to predict the relative pose of the robot. Deployed on real in-house mobile robots, Astra achieves high end-to-end mission success rate across diverse indoor environments.