Insufficient annotated data and minor lung lesions pose big challenges for computed tomography (CT)-aided automatic COVID-19 diagnosis at an early outbreak stage. To address this issue, we propose a Semi-Supervised Tri-Branch Network (SS-TBN). First, we develop a joint TBN model for dual-task application scenarios of image segmentation and classification such as CT-based COVID-19 diagnosis, in which pixel-level lesion segmentation and slice-level infection classification branches are simultaneously trained via lesion attention, and individual-level diagnosis branch aggregates slice-level outputs for COVID-19 screening. Second, we propose a novel hybrid semi-supervised learning method to make full use of unlabeled data, combining a new double-threshold pseudo labeling method specifically designed to the joint model and a new inter-slice consistency regularization method specifically tailored to CT images. Besides two publicly available external datasets, we collect internal and our own external datasets including 210,395 images (1,420 cases versus 498 controls) from ten hospitals. Experimental results show that the proposed method achieves state-of-the-art performance in COVID-19 classification with limited annotated data even if lesions are subtle, and that segmentation results promote interpretability for diagnosis, suggesting the potential of the SS-TBN in early screening in insufficient labeled data situations at the early stage of a pandemic outbreak like COVID-19.

During the past decade, Rapidly-exploring Random Tree (RRT) and its variants are shown to be powerful sampling based single query path planning approaches for robots in high-dimensional configuration space. However, the performance of such tree-based planners that rely on uniform sampling strategy degrades significantly when narrow passages are contained in the configuration space. Given the assumption that computation resources should be allocated in proportion the geometric complexity of local region, we present a novel single-query Multi-RRTs path planning framework that employs an improved Bridge Test algorithm to identify global important roadmaps in narrow passages. Multiple trees can grown from these sampled roadmaps to explore sub-regions which are difficult to reach. The probability of selecting one particular tree for expansion and connection, which can dynamically updated by on-line learning algorithm based on the historic results of exploration, guides the tree through narrow passage rapidly. Experimental results show that the proposed approach gives substantial improvement in planning efficiency over a wide range of single-query path planning problems.