Jian QIn

Ruihao Wang, Jian Qin, Kaiying Li et al.

3D lane detection which plays a crucial role in vehicle routing, has recently been a rapidly developing topic in autonomous driving. Previous works struggle with practicality due to their complicated spatial transformations and inflexible representations of 3D lanes. Faced with the issues, our work proposes an efficient and robust monocular 3D lane detection called BEV-LaneDet with three main contributions. First, we introduce the Virtual Camera that unifies the in/extrinsic parameters of cameras mounted on different vehicles to guarantee the consistency of the spatial relationship among cameras. It can effectively promote the learning procedure due to the unified visual space. We secondly propose a simple but efficient 3D lane representation called Key-Points Representation. This module is more suitable to represent the complicated and diverse 3D lane structures. At last, we present a light-weight and chip-friendly spatial transformation module named Spatial Transformation Pyramid to transform multiscale front-view features into BEV features. Experimental results demonstrate that our work outperforms the state-of-the-art approaches in terms of F-Score, being 10.6% higher on the OpenLane dataset and 5.9% higher on the Apollo 3D synthetic dataset, with a speed of 185 FPS. The source code will released at https://github.com/gigo-team/bev_lane_det.

Pengcheng Dai, He Wang, Dongming Wang et al.

We study a networked multi-agent reinforcement learning (NMARL) problem with human feedback in an infinite-horizon setting, where agents interact over an underlying network with localized state dependencies and aim to collaboratively maximize the average discounted return. Existing approaches with preference feedback are primarily developed for single-agent settings and rely on centralized training, which limits their scalability and applicability to large-scale networked multi-agent systems. To address this, we introduce a novel human feedback mechanism based on spatiotemporally truncated trajectories, defined as $H$-horizon trajectory pairs aggregated over each agent's $κ$-hop neighborhood. Building on this, we develop a distributed zeroth-order policy gradient algorithm, where each agent estimates its local policy gradient using human preference feedback generated from both the current joint policy and a perturbed joint policy drawn from zero-mean Gaussian distribution. Specifically, the algorithm is fully distributed, as the feedback received by each agent depends solely on the state-action information within its $κ$-hop neighborhood and does not require explicit reward signals or centralized control. We further rigorously establish that the proposed algorithm converges to an $ε$-stationary point with polynomial sample complexity. Finally, simulation results in a stochastic GridWorld environment and a predator-prey environment further demonstrate that the effectiveness and scalability of the proposed algorithm in achieving collaborative optimization based solely on human preference feedback.

Lanlan Kang, Jian Wang, Jian QIn et al.

The ThinPrep Cytologic Test (TCT) is the most widely used method for cervical cancer screening, and the sample quality directly impacts the accuracy of the diagnosis. Traditional manual evaluation methods rely on the observation of pathologist under microscopes. These methods exhibit high subjectivity, high cost, long duration, and low reliability. With the development of computer-aided diagnosis (CAD), an automated quality assessment system that performs at the level of a professional pathologist is necessary. To address this need, we propose a fully automated quality assessment method for Cervical Cytopathology Whole Slide Images (WSIs) based on The Bethesda System (TBS) diagnostic standards, artificial intelligence algorithms, and the characteristics of clinical data. The method analysis the context of WSIs to quantify quality evaluation metrics which are focused by TBS such as staining quality, cell counts and cell mass proportion through multiple models including object detection, classification and segmentation. Subsequently, the XGBoost model is used to mine the attention paid by pathologists to different quality evaluation metrics when evaluating samples, thereby obtaining a comprehensive WSI sample score calculation model. Experimental results on 100 WSIs demonstrate that the proposed evaluation method has significant advantages in terms of speed and consistency.