Rong Yin

Xiaoshuai Hao, Ruikai Li, Hui Zhang et al.

Online high-definition (HD) map construction is an important and challenging task in autonomous driving. Recently, there has been a growing interest in cost-effective multi-view camera-based methods without relying on other sensors like LiDAR. However, these methods suffer from a lack of explicit depth information, necessitating the use of large models to achieve satisfactory performance. To address this, we employ the Knowledge Distillation (KD) idea for efficient HD map construction for the first time and introduce a novel KD-based approach called MapDistill to transfer knowledge from a high-performance camera-LiDAR fusion model to a lightweight camera-only model. Specifically, we adopt the teacher-student architecture, i.e., a camera-LiDAR fusion model as the teacher and a lightweight camera model as the student, and devise a dual BEV transform module to facilitate cross-modal knowledge distillation while maintaining cost-effective camera-only deployment. Additionally, we present a comprehensive distillation scheme encompassing cross-modal relation distillation, dual-level feature distillation, and map head distillation. This approach alleviates knowledge transfer challenges between modalities, enabling the student model to learn improved feature representations for HD map construction. Experimental results on the challenging nuScenes dataset demonstrate the effectiveness of MapDistill, surpassing existing competitors by over 7.7 mAP or 4.5X speedup.

Jipeng Liu, Haichao Shi, Siyu Xing et al.

While Vision-Language Models (VLMs) like CLIP have emerged as a dominant paradigm for generalizable deepfake detection, a representational disconnect remains: their semantic-centric pre-training is ill-suited for capturing non-semantic artifacts inherent to hyper-realistic synthesis. In this work, we identify a failure mode termed Optimization Collapse, where detectors trained with Sharpness-Aware Minimization (SAM) degenerate to random guessing on non-semantic forgeries once the perturbation radius exceeds a narrow threshold. To theoretically formalize this collapse, we propose the Critical Optimization Radius (COR) to quantify the geometric stability of the optimization landscape, and leverage the Gradient Signal-to-Noise Ratio (GSNR) to measure generalization potential. We establish a theorem proving that COR increases monotonically with GSNR, thereby revealing that the geometric instability of SAM optimization originates from degraded intrinsic generalization potential. This result identifies the layer-wise attenuation of GSNR as the root cause of Optimization Collapse in detecting non-semantic forgeries. Although naively reducing perturbation radius yields stable convergence under SAM, it merely treats the symptom without mitigating the intrinsic generalization degradation, necessitating enhanced gradient fidelity. Building on this insight, we propose the Contrastive Regional Injection Transformer (CoRIT), which integrates a computationally efficient Contrastive Gradient Proxy (CGP) with three training-free strategies: Region Refinement Mask to suppress CGP variance, Regional Signal Injection to preserve CGP magnitude, and Hierarchical Representation Integration to attain more generalizable representations. Extensive experiments demonstrate that CoRIT mitigates optimization collapse and achieves state-of-the-art generalization across cross-domain and universal forgery benchmarks.

Jinhui Pang, Changqing Lin, Xiaoshuai Hao et al.

Continual graph learning (CGL) is an important and challenging task that aims to extend static GNNs to dynamic task flow scenarios. As one of the mainstream CGL methods, the experience replay (ER) method receives widespread attention due to its superior performance. However, existing ER methods focus on identifying samples by feature significance or topological relevance, which limits their utilization of comprehensive graph data. In addition, the topology-based ER methods only consider local topological information and add neighboring nodes to the buffer, which ignores the global topological information and increases memory overhead. To bridge these gaps, we propose a novel method called Feature-Topology Fusion-based Experience Replay (FTF-ER) to effectively mitigate the catastrophic forgetting issue with enhanced efficiency. Specifically, from an overall perspective to maximize the utilization of the entire graph data, we propose a highly complementary approach including both feature and global topological information, which can significantly improve the effectiveness of the sampled nodes. Moreover, to further utilize global topological information, we propose Hodge Potential Score (HPS) as a novel module to calculate the topological importance of nodes. HPS derives a global node ranking via Hodge decomposition on graphs, providing more accurate global topological information compared to neighbor sampling. By excluding neighbor sampling, HPS significantly reduces buffer storage costs for acquiring topological information and simultaneously decreases training time. Compared with state-of-the-art methods, FTF-ER achieves a significant improvement of 3.6% in AA and 7.1% in AF on the OGB-Arxiv dataset, demonstrating its superior performance in the class-incremental learning setting.

Xiaoshuai Hao, Yunfeng Diao, Mengchuan Wei et al.

Map construction task plays a vital role in providing precise and comprehensive static environmental information essential for autonomous driving systems. Primary sensors include cameras and LiDAR, with configurations varying between camera-only, LiDAR-only, or camera-LiDAR fusion, based on cost-performance considerations. While fusion-based methods typically perform best, existing approaches often neglect modality interaction and rely on simple fusion strategies, which suffer from the problems of misalignment and information loss. To address these issues, we propose MapFusion, a novel multi-modal Bird's-Eye View (BEV) feature fusion method for map construction. Specifically, to solve the semantic misalignment problem between camera and LiDAR BEV features, we introduce the Cross-modal Interaction Transform (CIT) module, enabling interaction between two BEV feature spaces and enhancing feature representation through a self-attention mechanism. Additionally, we propose an effective Dual Dynamic Fusion (DDF) module to adaptively select valuable information from different modalities, which can take full advantage of the inherent information between different modalities. Moreover, MapFusion is designed to be simple and plug-and-play, easily integrated into existing pipelines. We evaluate MapFusion on two map construction tasks, including High-definition (HD) map and BEV map segmentation, to show its versatility and effectiveness. Compared with the state-of-the-art methods, MapFusion achieves 3.6% and 6.2% absolute improvements on the HD map construction and BEV map segmentation tasks on the nuScenes dataset, respectively, demonstrating the superiority of our approach.

Xiaoshuai Hao, Yuting Zhao, Yuheng Ji et al.

High-definition (HD) map construction methods are crucial for providing precise and comprehensive static environmental information, which is essential for autonomous driving systems. While Camera-LiDAR fusion techniques have shown promising results by integrating data from both modalities, existing approaches primarily focus on improving model accuracy and often neglect the robustness of perception models, which is a critical aspect for real-world applications. In this paper, we explore strategies to enhance the robustness of multi-modal fusion methods for HD map construction while maintaining high accuracy. We propose three key components: data augmentation, a novel multi-modal fusion module, and a modality dropout training strategy. These components are evaluated on a challenging dataset containing 10 days of NuScenes data. Our experimental results demonstrate that our proposed methods significantly enhance the robustness of baseline methods. Furthermore, our approach achieves state-of-the-art performance on the clean validation set of the NuScenes dataset. Our findings provide valuable insights for developing more robust and reliable HD map construction models, advancing their applicability in real-world autonomous driving scenarios. Project website: https://robomap-123.github.io.

Rong Yin, Ruyue Liu, Xiaoshuai Hao et al.

Accurate extraction of molecular representations is a critical step in the drug discovery process. In recent years, significant progress has been made in molecular representation learning methods, among which multi-modal molecular representation methods based on images, and 2D/3D topologies have become increasingly mainstream. However, existing these multi-modal approaches often directly fuse information from different modalities, overlooking the potential of intermodal interactions and failing to adequately capture the complex higher-order relationships and invariant features between molecules. To overcome these challenges, we propose a structure-awareness-based multi-modal self-supervised molecular representation pre-training framework (MMSA) designed to enhance molecular graph representations by leveraging invariant knowledge between molecules. The framework consists of two main modules: the multi-modal molecular representation learning module and the structure-awareness module. The multi-modal molecular representation learning module collaboratively processes information from different modalities of the same molecule to overcome intermodal differences and generate a unified molecular embedding. Subsequently, the structure-awareness module enhances the molecular representation by constructing a hypergraph structure to model higher-order correlations between molecules. This module also introduces a memory mechanism for storing typical molecular representations, aligning them with memory anchors in the memory bank to integrate invariant knowledge, thereby improving the model generalization ability. Extensive experiments have demonstrated the effectiveness of MMSA, which achieves state-of-the-art performance on the MoleculeNet benchmark, with average ROC-AUC improvements ranging from 1.8% to 9.6% over baseline methods.