Nan Song

Zeyu Yang, Nan Song, Wei Li et al.

Existing top-performance autonomous driving systems typically rely on the multi-modal fusion strategy for reliable scene understanding. This design is however fundamentally restricted due to overlooking the modality-specific strengths and finally hampering the model performance. To address this limitation, in this work, we introduce a novel modality interaction strategy that allows individual per-modality representations to be learned and maintained throughout, enabling their unique characteristics to be exploited during the whole perception pipeline. To demonstrate the effectiveness of the proposed strategy, we design DeepInteraction++, a multi-modal interaction framework characterized by a multi-modal representational interaction encoder and a multi-modal predictive interaction decoder. Specifically, the encoder is implemented as a dual-stream Transformer with specialized attention operation for information exchange and integration between separate modality-specific representations. Our multi-modal representational learning incorporates both object-centric, precise sampling-based feature alignment and global dense information spreading, essential for the more challenging planning task. The decoder is designed to iteratively refine the predictions by alternately aggregating information from separate representations in a unified modality-agnostic manner, realizing multi-modal predictive interaction. Extensive experiments demonstrate the superior performance of the proposed framework on both 3D object detection and end-to-end autonomous driving tasks. Our code is available at https://github.com/fudan-zvg/DeepInteraction.

Nan Song, Chi Zhang, Guosheng Lin

Few-shot open-set recognition aims to classify both seen and novel images given only limited training data of seen classes. The challenge of this task is that the model is required not only to learn a discriminative classifier to classify the pre-defined classes with few training data but also to reject inputs from unseen classes that never appear at training time. In this paper, we propose to solve the problem from two novel aspects. First, instead of learning the decision boundaries between seen classes, as is done in standard close-set classification, we reserve space for unseen classes, such that images located in these areas are recognized as the unseen classes. Second, to effectively learn such decision boundaries, we propose to utilize the background features from seen classes. As these background regions do not significantly contribute to the decision of close-set classification, it is natural to use them as the pseudo unseen classes for classifier learning. Our extensive experiments show that our proposed method not only outperforms multiple baselines but also sets new state-of-the-art results on three popular benchmarks, namely tieredImageNet, miniImageNet, and Caltech-USCD Birds-200-2011 (CUB).

Nan Song, Bozhou Zhang, Xiatian Zhu et al.

Large vision-language models (VLMs) have shown promising capabilities in scene understanding, enhancing the explainability of driving behaviors and interactivity with users. Existing methods primarily fine-tune VLMs on on-board multi-view images and scene reasoning text, but this approach often lacks the holistic and nuanced scene recognition and powerful spatial awareness required for autonomous driving, especially in complex situations. To address this gap, we propose a novel vision-language framework tailored for autonomous driving, called LMAD. Our framework emulates modern end-to-end driving paradigms by incorporating comprehensive scene understanding and a task-specialized structure with VLMs. In particular, we introduce preliminary scene interaction and specialized expert adapters within the same driving task structure, which better align VLMs with autonomous driving scenarios. Furthermore, our approach is designed to be fully compatible with existing VLMs while seamlessly integrating with planning-oriented driving systems. Extensive experiments on the DriveLM and nuScenes-QA datasets demonstrate that LMAD significantly boosts the performance of existing VLMs on driving reasoning tasks,setting a new standard in explainable autonomous driving.