Hao Jing

Hao Jing, Anhong Wang, Lijun Zhao et al.

In autonomous driving, LiDAR sensors are vital for acquiring 3D point clouds, providing reliable geometric information. However, traditional sampling methods of preprocessing often ignore semantic features, leading to detail loss and ground point interference in 3D object detection. To address this, we propose a multi-branch two-stage 3D object detection framework using a Semantic-aware Multi-branch Sampling (SMS) module and multi-view consistency constraints. The SMS module includes random sampling, Density Equalization Sampling (DES) for enhancing distant objects, and Ground Abandonment Sampling (GAS) to focus on non-ground points. The sampled multi-view points are processed through a Consistent KeyPoint Selection (CKPS) module to generate consistent keypoint masks for efficient proposal sampling. The first-stage detector uses multi-branch parallel learning with multi-view consistency loss for feature aggregation, while the second-stage detector fuses multi-view data through a Multi-View Fusion Pooling (MVFP) module to precisely predict 3D objects. The experimental results on the KITTI dataset and Waymo Open Dataset show that our method achieves excellent detection performance improvement for a variety of backbones, especially for low-performance backbones with the simple network structures.

Hao Jing, Anhong Wang, Yifan Zhang et al.

Regarding intelligent transportation systems, low-bitrate transmission via lossy point cloud compression is vital for facilitating real-time collaborative perception among connected agents, such as vehicles and infrastructures, under restricted bandwidth. In existing compression transmission systems, the sender lossily compresses point coordinates and reflectance to generate a transmission code stream, which faces transmission burdens from reflectance encoding and limited detection robustness due to information loss. To address these issues, this paper proposes a 3D object detection framework with reflectance prediction-based knowledge distillation (RPKD). We compress point coordinates while discarding reflectance during low-bitrate transmission, and feed the decoded non-reflectance compressed point clouds into a student detector. The discarded reflectance is then reconstructed by a geometry-based reflectance prediction (RP) module within the student detector for precise detection. A teacher detector with the same structure as the student detector is designed for performing reflectance knowledge distillation (RKD) and detection knowledge distillation (DKD) from raw to compressed point clouds. Our cross-source distillation training strategy (CDTS) equips the student detector with robustness to low-quality compressed data while preserving the accuracy benefits of raw data through transferred distillation knowledge. Experimental results on the KITTI and DAIR-V2X-V datasets demonstrate that our method can boost detection accuracy for compressed point clouds across multiple code rates. We will release the code publicly at https://github.com/HaoJing-SX/RPKD.

Sa Xiao, Hao Jing, Honglu Sun et al.

This paper presents TorchNWP, a compilation library tool for the efficient coupling of artificial intelligence components and traditional numerical models. It aims to address the issues of poor cross-language compatibility, insufficient coupling flexibility, and low data transfer efficiency between operational numerical models developed in Fortran and Python-based deep learning frameworks. Based on LibTorch, it optimizes and designs a unified application-layer calling interface, converts deep learning models under the PyTorch framework into a static binary format, and provides C/C++ interfaces. Then, using hybrid Fortran/C/C++ programming, it enables the deployment of deep learning models within numerical models. Integrating TorchNWP into a numerical model only requires compiling it into a callable link library and linking it during the compilation and linking phase to generate the executable. On this basis, tangent linear and adjoint model based on neural networks are implemented at the C/C++ level, which can shield the internal structure of neural network models and simplify the construction process of four-dimensional variational data assimilation systems. Meanwhile, it supports deployment on heterogeneous platforms, is compatible with mainstream neural network models, and enables mapping of different parallel granularities and efficient parallel execution. Using this tool requires minimal code modifications to the original numerical model, thus reducing coupling costs. It can be efficiently integrated into numerical weather prediction models such as CMA-GFS and MCV, and has been applied to the coupling of deep learning-based physical parameterization schemes (e.g., radiation, non-orographic gravity wave drag) and the development of their tangent linear and adjoint models, significantly improving the accuracy and efficiency of numerical weather prediction.

Haoyu Ma, Yushu Chen, Wenlai Zhao et al. · tsinghua

Time series foundation models have demonstrated strong performance in zero-shot learning, making them well-suited for predicting rapidly evolving patterns in real-world applications where relevant training data are scarce. However, most of these models rely on the Transformer architecture, which incurs quadratic complexity as input length increases. To address this, we introduce TSMamba, a linear-complexity foundation model for time series forecasting built on the Mamba architecture. The model captures temporal dependencies through both forward and backward Mamba encoders, achieving high prediction accuracy. To reduce reliance on large datasets and lower training costs, TSMamba employs a two-stage transfer learning process that leverages pretrained Mamba LLMs, allowing effective time series modeling with a moderate training set. In the first stage, the forward and backward backbones are optimized via patch-wise autoregressive prediction; in the second stage, the model trains a prediction head and refines other components for long-term forecasting. While the backbone assumes channel independence to manage varying channel numbers across datasets, a channel-wise compressed attention module is introduced to capture cross-channel dependencies during fine-tuning on specific multivariate datasets. Experiments show that TSMamba's zero-shot performance is comparable to state-of-the-art time series foundation models, despite using significantly less training data. It also achieves competitive or superior full-shot performance compared to task-specific prediction models. The code will be made publicly available.

Hamed Haghighi, Xiaomeng Wang, Hao Jing et al.

Perception sensors, particularly camera and Lidar, are key elements of Autonomous Driving Systems (ADS) that enable them to comprehend their surroundings to informed driving and control decisions. Therefore, developing realistic simulation models for these sensors is essential for conducting effective simulation-based testing of ADS. Moreover, the rise of deep learning-based perception models has increased the utility of sensor simulation models for synthesising diverse training datasets. The traditional sensor simulation models rely on computationally expensive physics-based algorithms, specifically in complex systems such as ADS. Hence, the current potential resides in data-driven approaches, fuelled by the exceptional performance of deep generative models in capturing high-dimensional data distribution and volume renderers in accurately representing scenes. This paper reviews the current state-of-the-art data-driven camera and Lidar simulation models and their evaluation methods. It explores a spectrum of models from the novel perspective of generative models and volume renderers. Generative models are discussed in terms of their input-output types, while volume renderers are categorised based on their input encoding. Finally, the paper illustrates commonly used evaluation techniques for assessing sensor simulation models and highlights the existing research gaps in the area.

Hao Jing, Sa Xiao, Haoyu Li et al.

Radiation is typically the most time-consuming physical process in numerical models. One solution is to use machine learning methods to simulate the radiation process to improve computational efficiency. From an operational standpoint, this study investigates critical limitations inherent to hybrid forecasting frameworks that embed deep neural networks into numerical prediction models, with a specific focus on two fundamental bottlenecks: coupling compatibility and long-term integration stability. A residual convolutional neural network is employed to approximate the Rapid Radiative Transfer Model for General Circulation Models (RRTMG) within the global operational system of China Meteorological Administration. We adopted an offline training and online coupling approach. First, a comprehensive dataset is generated through model simulations, encompassing all atmospheric columns both with and without cloud cover. To ensure the stability of the hybrid model, the dataset is enhanced via experience replay, and additional output constraints based on physical significance are imposed. Meanwhile, a LibTorch-based coupling method is utilized, which is more suitable for real-time operational computations. The hybrid model is capable of performing ten-day integrated forecasts as required. A two-month operational reforecast experiment demonstrates that the machine learning emulator achieves accuracy comparable to that of the traditional physical scheme, while accelerating the computation speed by approximately eightfold.

Honglu Sun, Hao Jing, Zhixiang Dai et al.

A fundamental challenge in numerical weather prediction is to efficiently produce high-resolution forecasts. A common solution is applying downscaling methods, which include dynamical downscaling and statistical downscaling, to the outputs of global models. This work focuses on statistical downscaling, which establishes statistical relationships between low-resolution and high-resolution historical data using statistical models. Deep learning has emerged as a powerful tool for this task, giving rise to various high-performance super-resolution models, which can be directly applied for downscaling, such as diffusion models and Generative Adversarial Networks. This work relies on a diffusion-based downscaling framework named CorrDiff. In contrast to the original work of CorrDiff, the region considered in this work is nearly 40 times larger, and we not only consider surface variables as in the original work, but also encounter high-level variables (six pressure levels) as target downscaling variables. In addition, a global residual connection is added to improve accuracy. In order to generate the 3km forecasts for the China region, we apply our trained models to the 25km global grid forecasts of CMA-GFS, an operational global model of the China Meteorological Administration (CMA), and SFF, a data-driven deep learning-based weather model developed from Spherical Fourier Neural Operators (SFNO). CMA-MESO, a high-resolution regional model, is chosen as the baseline model. The experimental results demonstrate that the forecasts downscaled by our method generally outperform the direct forecasts of CMA-MESO in terms of MAE for the target variables. Our forecasts of radar composite reflectivity show that CorrDiff, as a generative model, can generate fine-scale details that lead to more realistic predictions compared to the corresponding deterministic regression models.

Yushu Chen, Shengzhuo Liu, Jinzhe Yang et al.

In order to enhance the performance of Transformer models for long-term multivariate forecasting while minimizing computational demands, this paper introduces the Joint Time-Frequency Domain Transformer (JTFT). JTFT combines time and frequency domain representations to make predictions. The frequency domain representation efficiently extracts multi-scale dependencies while maintaining sparsity by utilizing a small number of learnable frequencies. Simultaneously, the time domain (TD) representation is derived from a fixed number of the most recent data points, strengthening the modeling of local relationships and mitigating the effects of non-stationarity. Importantly, the length of the representation remains independent of the input sequence length, enabling JTFT to achieve linear computational complexity. Furthermore, a low-rank attention layer is proposed to efficiently capture cross-dimensional dependencies, thus preventing performance degradation resulting from the entanglement of temporal and channel-wise modeling. Experimental results on six real-world datasets demonstrate that JTFT outperforms state-of-the-art baselines in predictive performance.

Yushu Chen, Hao Jing, Wenlai Zhao et al.

We present the remote stochastic gradient (RSG) method, which computes the gradients at configurable remote observation points, in order to improve the convergence rate and suppress gradient noise at the same time for different curvatures. RSG is further combined with adaptive methods to construct ARSG for acceleration. The method is efficient in computation and memory, and is straightforward to implement. We analyze the convergence properties by modeling the training process as a dynamic system, which provides a guideline to select the configurable observation factor without grid search. ARSG yields $O(1/\sqrt{T})$ convergence rate in non-convex settings, that can be further improved to $O(\log(T)/T)$ in strongly convex settings. Numerical experiments demonstrate that ARSG achieves both faster convergence and better generalization, compared with popular adaptive methods, such as ADAM, NADAM, AMSGRAD, and RANGER for the tested problems. In particular, for training ResNet-50 on ImageNet, ARSG outperforms ADAM in convergence speed and meanwhile it surpasses SGD in generalization.

Hao Wu, Jing Chen, Hao Jing et al.

This paper introduces the auxiliary function method (AFM), a novel, fast and simple approach for waveform based earthquake location. From any initial hypocenter and origin time, we can construct the auxiliary function, whose zero set contains the real earthquake hypocenter and the origin time. In most of situations, there are very few elements in this set. The overall computational cost of the AFM is significantly less than that of the iterative methods. According to our numerical tests, even for large noise, the method can still achieve good location results. These allow us to determine the earthquake hypocenter and the origin time extremely fast and accurate.