Patrick Yin Chiang

Sifan Zhou, Zhi Tian, Xiangxiang Chu et al.

The deployment of 3D detectors strikes one of the major challenges in real-world self-driving scenarios. Existing BEV-based (i.e., Bird Eye View) detectors favor sparse convolutions (known as SPConv) to speed up training and inference, which puts a hard barrier for deployment, especially for on-device applications. In this paper, to tackle the challenge of efficient 3D object detection from an industry perspective, we devise a deployment-friendly pillar-based 3D detector, termed FastPillars. First, we introduce a novel lightweight Max-and-Attention Pillar Encoding (MAPE) module specially for enhancing small 3D objects. Second, we propose a simple yet effective principle for designing a backbone in pillar-based 3D detection. We construct FastPillars based on these designs, achieving high performance and low latency without SPConv. Extensive experiments on two large-scale datasets demonstrate the effectiveness and efficiency of FastPillars for on-device 3D detection regarding both performance and speed. Specifically, FastPillars delivers state-of-the-art accuracy on Waymo Open Dataset with 1.8X speed up and 3.8 mAPH/L2 improvement over CenterPoint (SPConv-based). Our code is publicly available at: https://github.com/StiphyJay/FastPillars.

Jian Qian, Miao Sun, Ashley Lee et al.

Depth completion aims to predict dense depth maps with sparse depth measurements from a depth sensor. Currently, Convolutional Neural Network (CNN) based models are the most popular methods applied to depth completion tasks. However, despite the excellent high-end performance, they suffer from a limited representation area. To overcome the drawbacks of CNNs, a more effective and powerful method has been presented: the Transformer, which is an adaptive self-attention setting sequence-to-sequence model. While the standard Transformer quadratically increases the computational cost from the key-query dot-product of input resolution which improperly employs depth completion tasks. In this work, we propose a different window-based Transformer architecture for depth completion tasks named Sparse-to-Dense Transformer (SDformer). The network consists of an input module for the depth map and RGB image features extraction and concatenation, a U-shaped encoder-decoder Transformer for extracting deep features, and a refinement module. Specifically, we first concatenate the depth map features with the RGB image features through the input model. Then, instead of calculating self-attention with the whole feature maps, we apply different window sizes to extract the long-range depth dependencies. Finally, we refine the predicted features from the input module and the U-shaped encoder-decoder Transformer module to get the enriching depth features and employ a convolution layer to obtain the dense depth map. In practice, the SDformer obtains state-of-the-art results against the CNN-based depth completion models with lower computing loads and parameters on the NYU Depth V2 and KITTI DC datasets.

Jian Qian, Bingyu Xie, Biao Wan et al.

Time series generation is a crucial research topic in the area of decision-making systems, which can be particularly important in domains like autonomous driving, healthcare, and, notably, robotics. Recent approaches focus on learning in the data space to model time series information. However, the data space often contains limited observations and noisy features. In this paper, we propose TimeLDM, a novel latent diffusion model for high-quality time series generation. TimeLDM is composed of a variational autoencoder that encodes time series into an informative and smoothed latent content and a latent diffusion model operating in the latent space to generate latent information. We evaluate the ability of our method to generate synthetic time series with simulated and real-world datasets and benchmark the performance against existing state-of-the-art methods. Qualitatively and quantitatively, we find that the proposed TimeLDM persistently delivers high-quality generated time series. For example, TimeLDM achieves new state-of-the-art results on the simulated benchmarks and an average improvement of 55% in Discriminative score with all benchmarks. Further studies demonstrate that our method yields more robust outcomes across various lengths of time series data generation. Especially, for the Context-FID score and Discriminative score, TimeLDM realizes significant improvements of 80% and 50%, respectively. The code will be released after publication.

Jian Qian, Teck Lun Goh, Bingyu Xie et al.

Biological signals, such as electroencephalograms (EEGs) and electrocardiograms (ECGs), play a pivotal role in numerous clinical practices, such as diagnosing brain and cardiac arrhythmic diseases. Existing methods for biosignal classification rely on Attention-based frameworks with dense Feed Forward layers, which lead to inefficient learning, high computational overhead, and suboptimal performance. In this work, we introduce BioMamba, a Spectro-Temporal Embedding strategy applied to the Bidirectional Mamba framework with Sparse Feed Forward layers to enable effective learning of biosignal sequences. By integrating these three key components, BioMamba effectively addresses the limitations of existing methods. Extensive experiments demonstrate that BioMamba significantly outperforms state-of-the-art methods with marked improvement in classification performance. The advantages of the proposed BioMamba include (1) Reliability: BioMamba consistently delivers robust results, confirmed across six evaluation metrics. (2) Efficiency: We assess both model and training efficiency, the BioMamba demonstrates computational effectiveness by reducing model size and resource consumption compared to existing approaches. (3) Generality: With the capacity to effectively classify a diverse set of tasks, BioMamba demonstrates adaptability and effectiveness across various domains and applications.