Haiming Zhang

Haotian Si, Changhua Pei, Zhihan Li et al.

Massive key performance indicators (KPIs) are monitored as multivariate time series data (MTS) to ensure the reliability of the software applications and service system. Accurately detecting the abnormality of MTS is very critical for subsequent fault elimination. The scarcity of anomalies and manual labeling has led to the development of various self-supervised MTS anomaly detection (AD) methods, which optimize an overall objective/loss encompassing all metrics' regression objectives/losses. However, our empirical study uncovers the prevalence of conflicts among metrics' regression objectives, causing MTS models to grapple with different losses. This critical aspect significantly impacts detection performance but has been overlooked in existing approaches. To address this problem, by mimicking the design of multi-gate mixture-of-experts (MMoE), we introduce CAD, a Conflict-aware multivariate KPI Anomaly Detection algorithm. CAD offers an exclusive structure for each metric to mitigate potential conflicts while fostering inter-metric promotions. Upon thorough investigation, we find that the poor performance of vanilla MMoE mainly comes from the input-output misalignment settings of MTS formulation and convergence issues arising from expansive tasks. To address these challenges, we propose a straightforward yet effective task-oriented metric selection and p&s (personalized and shared) gating mechanism, which establishes CAD as the first practicable multi-task learning (MTL) based MTS AD model. Evaluations on multiple public datasets reveal that CAD obtains an average F1-score of 0.943 across three public datasets, notably outperforming state-of-the-art methods. Our code is accessible at https://github.com/dawnvince/MTS_CAD.

Yuhe Liu, Changhua Pei, Longlong Xu et al.

Information Technology (IT) Operations (Ops), particularly Artificial Intelligence for IT Operations (AIOps), is the guarantee for maintaining the orderly and stable operation of existing information systems. According to Gartner's prediction, the use of AI technology for automated IT operations has become a new trend. Large language models (LLMs) that have exhibited remarkable capabilities in NLP-related tasks, are showing great potential in the field of AIOps, such as in aspects of root cause analysis of failures, generation of operations and maintenance scripts, and summarizing of alert information. Nevertheless, the performance of current LLMs in Ops tasks is yet to be determined. In this paper, we present OpsEval, a comprehensive task-oriented Ops benchmark designed for LLMs. For the first time, OpsEval assesses LLMs' proficiency in various crucial scenarios at different ability levels. The benchmark includes 7184 multi-choice questions and 1736 question-answering (QA) formats in English and Chinese. By conducting a comprehensive performance evaluation of the current leading large language models, we show how various LLM techniques can affect the performance of Ops, and discussed findings related to various topics, including model quantification, QA evaluation, and hallucination issues. To ensure the credibility of our evaluation, we invite dozens of domain experts to manually review our questions. At the same time, we have open-sourced 20% of the test QA to assist current researchers in preliminary evaluations of their OpsLLM models. The remaining 80% of the data, which is not disclosed, is used to eliminate the issue of the test set leakage. Additionally, we have constructed an online leaderboard that is updated in real-time and will continue to be updated, ensuring that any newly emerging LLMs will be evaluated promptly. Both our dataset and leaderboard have been made public.

Chaoda Zheng, Xu Yan, Haiming Zhang et al.

3D single object tracking (3D SOT) in LiDAR point clouds plays a crucial role in autonomous driving. Current approaches all follow the Siamese paradigm based on appearance matching. However, LiDAR point clouds are usually textureless and incomplete, which hinders effective appearance matching. Besides, previous methods greatly overlook the critical motion clues among targets. In this work, beyond 3D Siamese tracking, we introduce a motion-centric paradigm to handle 3D SOT from a new perspective. Following this paradigm, we propose a matching-free two-stage tracker M^2-Track. At the 1^st-stage, M^2-Track localizes the target within successive frames via motion transformation. Then it refines the target box through motion-assisted shape completion at the 2^nd-stage. Extensive experiments confirm that M^2-Track significantly outperforms previous state-of-the-arts on three large-scale datasets while running at 57FPS (~8%, ~17%, and ~22%) precision gains on KITTI, NuScenes, and Waymo Open Dataset respectively). Further analysis verifies each component's effectiveness and shows the motion-centric paradigm's promising potential when combined with appearance matching.

Chaoda Zheng, Xu Yan, Haiming Zhang et al.

3D single object tracking in LiDAR point clouds (LiDAR SOT) plays a crucial role in autonomous driving. Current approaches all follow the Siamese paradigm based on appearance matching. However, LiDAR point clouds are usually textureless and incomplete, which hinders effective appearance matching. Besides, previous methods greatly overlook the critical motion clues among targets. In this work, beyond 3D Siamese tracking, we introduce a motion-centric paradigm to handle LiDAR SOT from a new perspective. Following this paradigm, we propose a matching-free two-stage tracker M^2-Track. At the 1st-stage, M^2-Track localizes the target within successive frames via motion transformation. Then it refines the target box through motion-assisted shape completion at the 2nd-stage. Due to the motion-centric nature, our method shows its impressive generalizability with limited training labels and provides good differentiability for end-to-end cycle training. This inspires us to explore semi-supervised LiDAR SOT by incorporating a pseudo-label-based motion augmentation and a self-supervised loss term. Under the fully-supervised setting, extensive experiments confirm that M^2-Track significantly outperforms previous state-of-the-arts on three large-scale datasets while running at 57FPS (~3%, ~11% and ~22% precision gains on KITTI, NuScenes, and Waymo Open Dataset respectively). While under the semi-supervised setting, our method performs on par with or even surpasses its fully-supervised counterpart using fewer than half of the labels from KITTI. Further analysis verifies each component's effectiveness and shows the motion-centric paradigm's promising potential for auto-labeling and unsupervised domain adaptation.

Haiming Zhang, Junfei Zhou, Feng Jiang et al.

Generating high-fidelity and controllable synthetic data is critical for advancing end-to-end autonomous driving, particularly for addressing the long tail of rare safety-critical scenarios. Existing occupancy-guided methods typically rely on shallow conditioning mechanisms and reference-frame-dependent video synthesis, which limits fine-grained controllability from arbitrary BEV layouts and restricts their applicability for scalable simulation. In this paper, we propose AnyScene, a unified occupancy-centric framework for driving scene generation. AnyScene generates semantic occupancy sequences from BEV layouts through a Spatial-Temporal Occupancy Diffusion Transformer that jointly tokenizes BEV and occupancy features in an autoregressive manner. This design enables precise controllability from cross-dataset and user-defined BEV inputs while naturally supporting long-horizon generation. Building upon the generated occupancy, a Geometry-Grounded View Expansion module treats occupancy as the canonical spatial representation and synthesizes temporally consistent multi-view driving videos in a reference-free and autoregressive fashion, supporting flexible camera configurations at inference time. Extensive experiments demonstrate that AnyScene achieves state-of-the-art performance in both occupancy and video generation. It exhibits strong generalization to unseen and customized layouts, and provides measurable benefits for downstream tasks such as sparse-view 3D reconstruction.

Yuzhou Huang, Benjin Zhu, Hengtong Lu et al.

Autonomous driving has progressed from modular pipelines toward end-to-end unification, and Vision-Language-Action (VLA) models are a natural extension of this journey beyond Vision-to-Action (VA). In practice, driving VLAs have often trailed VA on planning quality, suggesting that the difficulty is not simply model scale but the interface through which semantic reasoning, temporal context, and continuous control are combined. We argue that this gap reflects how VLA has been built -- as isolated subtask improvements that fail to compose into coherent driving capabilities -- rather than what VLA is. We present MindVLA-U1, the first unified streaming VLA architecture for autonomous driving. A unified VLM backbone produces autoregressive language tokens and flow-matching continuous action trajectories in a single forward pass over one shared representation, preserving the natural output form of each modality. A streaming design processes the driving video framewise rather than as fixed video-action chunks, while a learned memory channel carries temporal context across frames so planned trajectories evolve smoothly without redundant multi-frame VLM modeling. The unified architecture admits fast/slow execution on dense/sparse Mixture-of-Transformers (MoT) backbones via flexible self-attention context management, and exposes a measurable language-to-action route: a language-predicted driving intent steers action diffusion through classifier-free guidance (CFG), turning language-side intent into a control signal for continuous trajectory generation. On the long-tail WOD-E2E benchmark, MindVLA-U1 surpasses experienced human drivers for the first time (8.20 RFS vs. 8.13 GT RFS) with 2 diffusion steps, achieves state-of-the-art planning ADEs over prior VA/VLA methods by large margins, and matches VA-class throughput (16 FPS vs. RAP-DINO's 18 FPS) while preserving natural-language interfaces.

Xu Yan, Haiming Zhang, Yingjie Cai et al.

The rise of large foundation models, trained on extensive datasets, is revolutionizing the field of AI. Models such as SAM, DALL-E2, and GPT-4 showcase their adaptability by extracting intricate patterns and performing effectively across diverse tasks, thereby serving as potent building blocks for a wide range of AI applications. Autonomous driving, a vibrant front in AI applications, remains challenged by the lack of dedicated vision foundation models (VFMs). The scarcity of comprehensive training data, the need for multi-sensor integration, and the diverse task-specific architectures pose significant obstacles to the development of VFMs in this field. This paper delves into the critical challenge of forging VFMs tailored specifically for autonomous driving, while also outlining future directions. Through a systematic analysis of over 250 papers, we dissect essential techniques for VFM development, including data preparation, pre-training strategies, and downstream task adaptation. Moreover, we explore key advancements such as NeRF, diffusion models, 3D Gaussian Splatting, and world models, presenting a comprehensive roadmap for future research. To empower researchers, we have built and maintained https://github.com/zhanghm1995/Forge_VFM4AD, an open-access repository constantly updated with the latest advancements in forging VFMs for autonomous driving.

Haiming Zhang, Xu Yan, Ying Xue et al.

This technical report summarizes the second-place solution for the Predictive World Model Challenge held at the CVPR-2024 Workshop on Foundation Models for Autonomous Systems. We introduce D$^2$-World, a novel World model that effectively forecasts future point clouds through Decoupled Dynamic flow. Specifically, the past semantic occupancies are obtained via existing occupancy networks (e.g., BEVDet). Following this, the occupancy results serve as the input for a single-stage world model, generating future occupancy in a non-autoregressive manner. To further simplify the task, dynamic voxel decoupling is performed in the world model. The model generates future dynamic voxels by warping the existing observations through voxel flow, while remaining static voxels can be easily obtained through pose transformation. As a result, our approach achieves state-of-the-art performance on the OpenScene Predictive World Model benchmark, securing second place, and trains more than 300% faster than the baseline model. Code is available at https://github.com/zhanghm1995/D2-World.

Zexin Wang, Changhua Pei, Minghua Ma et al.

Time series Anomaly Detection (AD) plays a crucial role for web systems. Various web systems rely on time series data to monitor and identify anomalies in real time, as well as to initiate diagnosis and remediation procedures. Variational Autoencoders (VAEs) have gained popularity in recent decades due to their superior de-noising capabilities, which are useful for anomaly detection. However, our study reveals that VAE-based methods face challenges in capturing long-periodic heterogeneous patterns and detailed short-periodic trends simultaneously. To address these challenges, we propose Frequency-enhanced Conditional Variational Autoencoder (FCVAE), a novel unsupervised AD method for univariate time series. To ensure an accurate AD, FCVAE exploits an innovative approach to concurrently integrate both the global and local frequency features into the condition of Conditional Variational Autoencoder (CVAE) to significantly increase the accuracy of reconstructing the normal data. Together with a carefully designed "target attention" mechanism, our approach allows the model to pick the most useful information from the frequency domain for better short-periodic trend construction. Our FCVAE has been evaluated on public datasets and a large-scale cloud system, and the results demonstrate that it outperforms state-of-the-art methods. This confirms the practical applicability of our approach in addressing the limitations of current VAE-based anomaly detection models.

Haiming Zhang, Xu Yan, Dongfeng Bai et al.

3D occupancy prediction is an emerging task that aims to estimate the occupancy states and semantics of 3D scenes using multi-view images. However, image-based scene perception encounters significant challenges in achieving accurate prediction due to the absence of geometric priors. In this paper, we address this issue by exploring cross-modal knowledge distillation in this task, i.e., we leverage a stronger multi-modal model to guide the visual model during training. In practice, we observe that directly applying features or logits alignment, proposed and widely used in bird's-eyeview (BEV) perception, does not yield satisfactory results. To overcome this problem, we introduce RadOcc, a Rendering assisted distillation paradigm for 3D Occupancy prediction. By employing differentiable volume rendering, we generate depth and semantic maps in perspective views and propose two novel consistency criteria between the rendered outputs of teacher and student models. Specifically, the depth consistency loss aligns the termination distributions of the rendered rays, while the semantic consistency loss mimics the intra-segment similarity guided by vision foundation models (VLMs). Experimental results on the nuScenes dataset demonstrate the effectiveness of our proposed method in improving various 3D occupancy prediction approaches, e.g., our proposed methodology enhances our baseline by 2.2% in the metric of mIoU and achieves 50% in Occ3D benchmark.

Haotian Si, Jianhui Li, Changhua Pei et al.

Time series anomaly detection (TSAD) has gained significant attention due to its real-world applications to improve the stability of modern software systems. However, there is no effective way to verify whether they can meet the requirements for real-world deployment. Firstly, current algorithms typically train a specific model for each time series. Maintaining such many models is impractical in a large-scale system with tens of thousands of curves. The performance of using merely one unified model to detect anomalies remains unknown. Secondly, most TSAD models are trained on the historical part of a time series and are tested on its future segment. In distributed systems, however, there are frequent system deployments and upgrades, with new, previously unseen time series emerging daily. The performance of testing newly incoming unseen time series on current TSAD algorithms remains unknown. Lastly, the assumptions of the evaluation metrics in existing benchmarks are far from practical demands. To solve the above-mentioned problems, we propose an industrial-grade benchmark TimeSeriesBench. We assess the performance of existing algorithms across more than 168 evaluation settings and provide comprehensive analysis for the future design of anomaly detection algorithms. An industrial dataset is also released along with TimeSeriesBench.

Haiming Zhang, Ying Xue, Xu Yan et al.

The field of autonomous driving is experiencing a surge of interest in world models, which aim to predict potential future scenarios based on historical observations. In this paper, we introduce DFIT-OccWorld, an efficient 3D occupancy world model that leverages decoupled dynamic flow and image-assisted training strategy, substantially improving 4D scene forecasting performance. To simplify the training process, we discard the previous two-stage training strategy and innovatively reformulate the occupancy forecasting problem as a decoupled voxels warping process. Our model forecasts future dynamic voxels by warping existing observations using voxel flow, whereas static voxels are easily obtained through pose transformation. Moreover, our method incorporates an image-assisted training paradigm to enhance prediction reliability. Specifically, differentiable volume rendering is adopted to generate rendered depth maps through predicted future volumes, which are adopted in render-based photometric consistency. Experiments demonstrate the effectiveness of our approach, showcasing its state-of-the-art performance on the nuScenes and OpenScene benchmarks for 4D occupancy forecasting, end-to-end motion planning and point cloud forecasting. Concretely, it achieves state-of-the-art performances compared to existing 3D world models while incurring substantially lower computational costs.

Quan Zhou, Changhua Pei, Fei Sun et al.

Time series anomaly detection (TSAD) underpins real-time monitoring in cloud services and web systems, allowing rapid identification of anomalies to prevent costly failures. Most TSAD methods driven by forecasting models tend to overfit by emphasizing minor fluctuations. Our analysis reveals that effective TSAD should focus on modeling "normal" behavior through smooth local patterns. To achieve this, we reformulate time series modeling as approximating the series with smooth univariate functions. The local smoothness of each univariate function ensures that the fitted time series remains resilient against local disturbances. However, a direct KAN implementation proves susceptible to these disturbances due to the inherently localized characteristics of B-spline functions. We thus propose KAN-AD, replacing B-splines with truncated Fourier expansions and introducing a novel lightweight learning mechanism that emphasizes global patterns while staying robust to local disturbances. On four popular TSAD benchmarks, KAN-AD achieves an average 15% improvement in detection accuracy (with peaks exceeding 27%) over state-of-the-art baselines. Remarkably, it requires fewer than 1,000 trainable parameters, resulting in a 50% faster inference speed compared to the original KAN, demonstrating the approach's efficiency and practical viability.

Haiming Zhang, Wending Zhou, Yiyao Zhu et al.

This paper introduces VisionPAD, a novel self-supervised pre-training paradigm designed for vision-centric algorithms in autonomous driving. In contrast to previous approaches that employ neural rendering with explicit depth supervision, VisionPAD utilizes more efficient 3D Gaussian Splatting to reconstruct multi-view representations using only images as supervision. Specifically, we introduce a self-supervised method for voxel velocity estimation. By warping voxels to adjacent frames and supervising the rendered outputs, the model effectively learns motion cues in the sequential data. Furthermore, we adopt a multi-frame photometric consistency approach to enhance geometric perception. It projects adjacent frames to the current frame based on rendered depths and relative poses, boosting the 3D geometric representation through pure image supervision. Extensive experiments on autonomous driving datasets demonstrate that VisionPAD significantly improves performance in 3D object detection, occupancy prediction and map segmentation, surpassing state-of-the-art pre-training strategies by a considerable margin.

Haiming Zhang, Zhihao Yuan, Chaoda Zheng et al.

Although existing speech-driven talking face generation methods achieve significant progress, they are far from real-world application due to the avatar-specific training demand and unstable lip movements. To address the above issues, we propose the GSmoothFace, a novel two-stage generalized talking face generation model guided by a fine-grained 3d face model, which can synthesize smooth lip dynamics while preserving the speaker's identity. Our proposed GSmoothFace model mainly consists of the Audio to Expression Prediction (A2EP) module and the Target Adaptive Face Translation (TAFT) module. Specifically, we first develop the A2EP module to predict expression parameters synchronized with the driven speech. It uses a transformer to capture the long-term audio context and learns the parameters from the fine-grained 3D facial vertices, resulting in accurate and smooth lip-synchronization performance. Afterward, the well-designed TAFT module, empowered by Morphology Augmented Face Blending (MAFB), takes the predicted expression parameters and target video as inputs to modify the facial region of the target video without distorting the background content. The TAFT effectively exploits the identity appearance and background context in the target video, which makes it possible to generalize to different speakers without retraining. Both quantitative and qualitative experiments confirm the superiority of our method in terms of realism, lip synchronization, and visual quality. See the project page for code, data, and request pre-trained models: https://zhanghm1995.github.io/GSmoothFace.

Yiyao Zhu, Ying Xue, Haiming Zhang et al.

Vision-based autonomous driving has gained much attention due to its low costs and excellent performance. Compared with dense BEV (Bird's Eye View) or sparse query models, Gaussian-centric method is a comprehensive yet sparse representation by describing scene with 3D semantic Gaussians. In this paper, we introduce DLWM, a novel paradigm with Dual Latent World Models specifically designed to enable holistic gaussian-centric pre-training in autonomous driving using two stages. In the first stage, DLWM predicts 3D Gaussians from queries by self-supervised reconstructing multi-view semantic and depth images. Equipped with fine-grained contextual features, in the second stage, two latent world models are trained separately for temporal feature learning, including Gaussian-flow-guided latent prediction for downstream occupancy perception and forecasting tasks, and ego-planning-guided latent prediction for motion planning. Extensive experiments in SurroundOcc and nuScenes benchmarks demonstrate that DLWM shows significant performance gains across Gaussian-centric 3D occupancy perception, 4D occupancy forecasting and motion planning tasks.

Haiming Zhang, Yiyao Zhu, Wending Zhou et al.

Sparse Perception Models (SPMs) adopt a query-driven paradigm that forgoes explicit dense BEV or volumetric construction, enabling highly efficient computation and accelerated inference. In this paper, we introduce SQS, a novel query-based splatting pre-training specifically designed to advance SPMs in autonomous driving. SQS introduces a plug-in module that predicts 3D Gaussian representations from sparse queries during pre-training, leveraging self-supervised splatting to learn fine-grained contextual features through the reconstruction of multi-view images and depth maps. During fine-tuning, the pre-trained Gaussian queries are seamlessly integrated into downstream networks via query interaction mechanisms that explicitly connect pre-trained queries with task-specific queries, effectively accommodating the diverse requirements of occupancy prediction and 3D object detection. Extensive experiments on autonomous driving benchmarks demonstrate that SQS delivers considerable performance gains across multiple query-based 3D perception tasks, notably in occupancy prediction and 3D object detection, outperforming prior state-of-the-art pre-training approaches by a significant margin (i.e., +1.3 mIoU on occupancy prediction and +1.0 NDS on 3D detection).

Rui Sun, Andi Zhang, Haiming Zhang et al.

Out-of-distribution (OOD) detection is a crucial task for ensuring the reliability and robustness of machine learning models. Recent works have shown that generative models often assign high confidence scores to OOD samples, indicating that they fail to capture the semantic information of the data. To tackle this problem, we take advantage of sample repairing and propose a novel OOD detection framework, namely SR-OOD. Our framework leverages the idea that repairing an OOD sample can reveal its semantic inconsistency with the in-distribution data. Specifically, our framework consists of two components: a sample repairing module and a detection module. The sample repairing module applies erosion to an input sample and uses a generative adversarial network to repair it. The detection module then determines whether the input sample is OOD using a distance metric. Our framework does not require any additional data or label information for detection, making it applicable to various scenarios. We conduct extensive experiments on three image datasets: CIFAR-10, CelebA, and Pokemon. The results demonstrate that our approach achieves superior performance over the state-of-the-art generative methods in OOD detection.