Yinan Shi

Jiangtong Zhu, Zhao Yang, Yinan Shi et al.

Online vector map construction based on visual data can bypass the processes of data collection, post-processing, and manual annotation required by traditional map construction, which significantly enhances map-building efficiency. However, existing work treats the online mapping task as a local range perception task, overlooking the spatial scalability required for map construction. We propose IC-Mapper, an instance-centric online mapping framework, which comprises two primary components: 1) Instance-centric temporal association module: For the detection queries of adjacent frames, we measure them in both feature and geometric dimensions to obtain the matching correspondence between instances across frames. 2) Instance-centric spatial fusion module: We perform point sampling on the historical global map from a spatial dimension and integrate it with the detection results of instances corresponding to the current frame to achieve real-time expansion and update of the map. Based on the nuScenes dataset, we evaluate our approach on detection, tracking, and global mapping metrics. Experimental results demonstrate the superiority of IC-Mapper against other state-of-the-art methods. Code will be released on https://github.com/Brickzhuantou/IC-Mapper.

Xingwei Qu, Yiming Liang, Yucheng Wang et al.

Large Language Models (LLMs) exhibit the ability to perform in-context learning (ICL), where they acquire new tasks directly from examples provided in demonstrations. This process is thought to operate through an implicit task selection mechanism that involves extracting and processing task definitions from these demonstrations. However, critical questions remain: Which is more essential -- task extraction or definition? And how can these capabilities be further improved? To address these questions, we propose \textbf{TEGEE} (Task Definition Guided Expert Ensembling), a method that explicitly extracts task definitions and generates responses based on specific tasks. Our framework employs a dual 3B model approach, with each model assigned a distinct role: one focuses on task definition extraction, while the other handles learning from demonstrations. This modular approach supports the hypothesis that extracting task definitions is more vital than processing the task itself. Empirical evaluations show that TEGEE performs comparably to the larger LLaMA2-13B model. By leveraging a modular design, our approach extends traditional ICL from few-shot to many-shot learning, supporting an unlimited number of demonstrations and enhancing continual learning capabilities.