RenYuan Peng

Ming Nie, Renyuan Peng, Chunwei Wang et al.

Large vision-language models (VLMs) have garnered increasing interest in autonomous driving areas, due to their advanced capabilities in complex reasoning tasks essential for highly autonomous vehicle behavior. Despite their potential, research in autonomous systems is hindered by the lack of datasets with annotated reasoning chains that explain the decision-making processes in driving. To bridge this gap, we present Reason2Drive, a benchmark dataset with over 600K video-text pairs, aimed at facilitating the study of interpretable reasoning in complex driving environments. We distinctly characterize the autonomous driving process as a sequential combination of perception, prediction, and reasoning steps, and the question-answer pairs are automatically collected from a diverse range of open-source outdoor driving datasets, including nuScenes, Waymo and ONCE. Moreover, we introduce a novel aggregated evaluation metric to assess chain-based reasoning performance in autonomous systems, addressing the semantic ambiguities of existing metrics such as BLEU and CIDEr. Based on the proposed benchmark, we conduct experiments to assess various existing VLMs, revealing insights into their reasoning capabilities. Additionally, we develop an efficient approach to empower VLMs to leverage object-level perceptual elements in both feature extraction and prediction, further enhancing their reasoning accuracy. The code and dataset will be released.

Renyuan Peng, Xinyue Cai, Hang Xu et al.

Understanding road structures is crucial for autonomous driving. Intricate road structures are often depicted using lane graphs, which include centerline curves and connections forming a Directed Acyclic Graph (DAG). Accurate extraction of lane graphs relies on precisely estimating vertex and edge information within the DAG. Recent research highlights Transformer-based language models' impressive sequence prediction abilities, making them effective for learning graph representations when graph data are encoded as sequences. However, existing studies focus mainly on modeling vertices explicitly, leaving edge information simply embedded in the network. Consequently, these approaches fall short in the task of lane graph extraction. To address this, we introduce LaneGraph2Seq, a novel approach for lane graph extraction. It leverages a language model with vertex-edge encoding and connectivity enhancement. Our serialization strategy includes a vertex-centric depth-first traversal and a concise edge-based partition sequence. Additionally, we use classifier-free guidance combined with nucleus sampling to improve lane connectivity. We validate our method on prominent datasets, nuScenes and Argoverse 2, showcasing consistent and compelling results. Our LaneGraph2Seq approach demonstrates superior performance compared to state-of-the-art techniques in lane graph extraction.

Peiran Gu, Teng Yao, Mengshen He et al.

In recent years, artificial intelligence has been increasingly applied in the field of medical imaging. Among these applications, fundus image analysis presents special challenges, including small lesion areas in certain fundus diseases and subtle inter-disease differences, which can lead to reduced prediction accuracy and overfitting in the models. To address these challenges, this paper proposes the Transformer-based model SwinECAT, which combines the Shifted Window (Swin) Attention with the Efficient Channel Attention (ECA) Attention. SwinECAT leverages the Swin Attention mechanism in the Swin Transformer backbone to effectively capture local spatial structures and long-range dependencies within fundus images. The lightweight ECA mechanism is incorporated to guide the SwinECAT's attention toward critical feature channels, enabling more discriminative feature representation. In contrast to previous studies that typically classify fundus images into 4 to 6 categories, this work expands fundus disease classification to 9 distinct types, thereby enhancing the granularity of diagnosis. We evaluate our method on the Eye Disease Image Dataset (EDID) containing 16,140 fundus images for 9-category classification. Experimental results demonstrate that SwinECAT achieves 88.29\% accuracy, with weighted F1-score of 0.88 and macro F1-score of 0.90. The classification results of our proposed model SwinECAT significantly outperform the baseline Swin Transformer and multiple compared baseline models. To our knowledge, this represents the highest reported performance for 9-category classification on this public dataset.