Jian Sun

Tong Nie, Yuewen Mei, Yihong Tang et al.

Generating safety-critical scenarios is essential for validating and improving autonomous driving systems, yet it inherently requires maximizing adversariality to expose failures while preserving realism. Existing methods usually manage this trade-off with handcrafted heuristics, confining generation to known priors and overlooking underexplored patterns. While recent open-ended agentic evolution can push this limit, unconstrained general agents lack strict simulator grounding and tend to collapse the multi-objective tension into single-scalar maximization. Here we present EvoDrive, the first automated, LLM-based agentic evolution framework for multi-objective scenario generation. EvoDrive employs a simulator-grounded actor-critic architecture where a memory-driven actor iteratively proposes improvements to the generators and critics filter out implausible candidates, and a self-evolving world evaluator routes promising proposals to optimize simulation budgets. EvoDrive further maintains a Pareto archive of evaluated candidates to preserve diverse attack-realism trade-offs and guide future evolution via simulation feedback. Benchmark results on MetaDrive and CARLA show that EvoDrive not only significantly expands the Pareto frontier across various generators, but also produces valuable scenarios for policy training.

Liangyu Chen, Xiaojie Chu, Xiangyu Zhang et al.

Although there have been significant advances in the field of image restoration recently, the system complexity of the state-of-the-art (SOTA) methods is increasing as well, which may hinder the convenient analysis and comparison of methods. In this paper, we propose a simple baseline that exceeds the SOTA methods and is computationally efficient. To further simplify the baseline, we reveal that the nonlinear activation functions, e.g. Sigmoid, ReLU, GELU, Softmax, etc. are not necessary: they could be replaced by multiplication or removed. Thus, we derive a Nonlinear Activation Free Network, namely NAFNet, from the baseline. SOTA results are achieved on various challenging benchmarks, e.g. 33.69 dB PSNR on GoPro (for image deblurring), exceeding the previous SOTA 0.38 dB with only 8.4% of its computational costs; 40.30 dB PSNR on SIDD (for image denoising), exceeding the previous SOTA 0.28 dB with less than half of its computational costs. The code and the pre-trained models are released at https://github.com/megvii-research/NAFNet.

Yingfei Liu, Tiancai Wang, Xiangyu Zhang et al.

In this paper, we develop position embedding transformation (PETR) for multi-view 3D object detection. PETR encodes the position information of 3D coordinates into image features, producing the 3D position-aware features. Object query can perceive the 3D position-aware features and perform end-to-end object detection. PETR achieves state-of-the-art performance (50.4% NDS and 44.1% mAP) on standard nuScenes dataset and ranks 1st place on the benchmark. It can serve as a simple yet strong baseline for future research. Code is available at \url{https://github.com/megvii-research/PETR}.

Xiaohan Ding, Xiangyu Zhang, Yizhuang Zhou et al.

We revisit large kernel design in modern convolutional neural networks (CNNs). Inspired by recent advances in vision transformers (ViTs), in this paper, we demonstrate that using a few large convolutional kernels instead of a stack of small kernels could be a more powerful paradigm. We suggested five guidelines, e.g., applying re-parameterized large depth-wise convolutions, to design efficient high-performance large-kernel CNNs. Following the guidelines, we propose RepLKNet, a pure CNN architecture whose kernel size is as large as 31x31, in contrast to commonly used 3x3. RepLKNet greatly closes the performance gap between CNNs and ViTs, e.g., achieving comparable or superior results than Swin Transformer on ImageNet and a few typical downstream tasks, with lower latency. RepLKNet also shows nice scalability to big data and large models, obtaining 87.8% top-1 accuracy on ImageNet and 56.0% mIoU on ADE20K, which is very competitive among the state-of-the-arts with similar model sizes. Our study further reveals that, in contrast to small-kernel CNNs, large-kernel CNNs have much larger effective receptive fields and higher shape bias rather than texture bias. Code & models at https://github.com/megvii-research/RepLKNet.

Yanwei Li, Yilun Chen, Xiaojuan Qi et al.

In this work, we present a unified framework for multi-modality 3D object detection, named UVTR. The proposed method aims to unify multi-modality representations in the voxel space for accurate and robust single- or cross-modality 3D detection. To this end, the modality-specific space is first designed to represent different inputs in the voxel feature space. Different from previous work, our approach preserves the voxel space without height compression to alleviate semantic ambiguity and enable spatial connections. To make full use of the inputs from different sensors, the cross-modality interaction is then proposed, including knowledge transfer and modality fusion. In this way, geometry-aware expressions in point clouds and context-rich features in images are well utilized for better performance and robustness. The transformer decoder is applied to efficiently sample features from the unified space with learnable positions, which facilitates object-level interactions. In general, UVTR presents an early attempt to represent different modalities in a unified framework. It surpasses previous work in single- or multi-modality entries. The proposed method achieves leading performance in the nuScenes test set for both object detection and the following object tracking task. Code is made publicly available at https://github.com/dvlab-research/UVTR.

Yingfei Liu, Junjie Yan, Fan Jia et al.

In this paper, we propose PETRv2, a unified framework for 3D perception from multi-view images. Based on PETR, PETRv2 explores the effectiveness of temporal modeling, which utilizes the temporal information of previous frames to boost 3D object detection. More specifically, we extend the 3D position embedding (3D PE) in PETR for temporal modeling. The 3D PE achieves the temporal alignment on object position of different frames. A feature-guided position encoder is further introduced to improve the data adaptability of 3D PE. To support for multi-task learning (e.g., BEV segmentation and 3D lane detection), PETRv2 provides a simple yet effective solution by introducing task-specific queries, which are initialized under different spaces. PETRv2 achieves state-of-the-art performance on 3D object detection, BEV segmentation and 3D lane detection. Detailed robustness analysis is also conducted on PETR framework. We hope PETRv2 can serve as a strong baseline for 3D perception. Code is available at \url{https://github.com/megvii-research/PETR}.

Yukang Chen, Yanwei Li, Xiangyu Zhang et al.

Non-uniformed 3D sparse data, e.g., point clouds or voxels in different spatial positions, make contribution to the task of 3D object detection in different ways. Existing basic components in sparse convolutional networks (Sparse CNNs) process all sparse data, regardless of regular or submanifold sparse convolution. In this paper, we introduce two new modules to enhance the capability of Sparse CNNs, both are based on making feature sparsity learnable with position-wise importance prediction. They are focal sparse convolution (Focals Conv) and its multi-modal variant of focal sparse convolution with fusion, or Focals Conv-F for short. The new modules can readily substitute their plain counterparts in existing Sparse CNNs and be jointly trained in an end-to-end fashion. For the first time, we show that spatially learnable sparsity in sparse convolution is essential for sophisticated 3D object detection. Extensive experiments on the KITTI, nuScenes and Waymo benchmarks validate the effectiveness of our approach. Without bells and whistles, our results outperform all existing single-model entries on the nuScenes test benchmark at the paper submission time. Code and models are at https://github.com/dvlab-research/FocalsConv.

Yanwei Li, Xiaojuan Qi, Yukang Chen et al.

In this work, we present a conceptually simple yet effective framework for cross-modality 3D object detection, named voxel field fusion. The proposed approach aims to maintain cross-modality consistency by representing and fusing augmented image features as a ray in the voxel field. To this end, the learnable sampler is first designed to sample vital features from the image plane that are projected to the voxel grid in a point-to-ray manner, which maintains the consistency in feature representation with spatial context. In addition, ray-wise fusion is conducted to fuse features with the supplemental context in the constructed voxel field. We further develop mixed augmentor to align feature-variant transformations, which bridges the modality gap in data augmentation. The proposed framework is demonstrated to achieve consistent gains in various benchmarks and outperforms previous fusion-based methods on KITTI and nuScenes datasets. Code is made available at https://github.com/dvlab-research/VFF.

Shihan Liu, Junlin Zha, Jian Sun et al.

This paper proposes an efficient, low-complexity and anchor-free object detector based on the state-of-the-art YOLO framework, which can be implemented in real time on edge computing platforms. We develop an enhanced data augmentation method to effectively suppress overfitting during training, and design a hybrid random loss function to improve the detection accuracy of small objects. Inspired by FCOS, a lighter and more efficient decoupled head is proposed, and its inference speed can be improved with little loss of precision. Our baseline model can reach the accuracy of 50.6% AP50:95 and 69.8% AP50 in MS COCO2017 dataset, 26.4% AP50:95 and 44.8% AP50 in VisDrone2019-DET dataset, and it meets real-time requirements (FPS>=30) on edge-computing device Nvidia Jetson AGX Xavier. We also designed lighter models with less parameters for edge computing devices with lower computing power, which also show better performances. Our source code, hyper-parameters and model weights are all available at https://github.com/LSH9832/edgeyolo.

Zhiyuan Liang, Tiancai Wang, Xiangyu Zhang et al.

Sparsely annotated semantic segmentation (SASS) aims to train a segmentation network with coarse-grained (i.e., point-, scribble-, and block-wise) supervisions, where only a small proportion of pixels are labeled in each image. In this paper, we propose a novel tree energy loss for SASS by providing semantic guidance for unlabeled pixels. The tree energy loss represents images as minimum spanning trees to model both low-level and high-level pair-wise affinities. By sequentially applying these affinities to the network prediction, soft pseudo labels for unlabeled pixels are generated in a coarse-to-fine manner, achieving dynamic online self-training. The tree energy loss is effective and easy to be incorporated into existing frameworks by combining it with a traditional segmentation loss. Compared with previous SASS methods, our method requires no multistage training strategies, alternating optimization procedures, additional supervised data, or time-consuming post-processing while outperforming them in all SASS settings. Code is available at https://github.com/megvii-research/TreeEnergyLoss.

Anlin Zheng, Yuang Zhang, Xiangyu Zhang et al.

In this paper, we propose a new query-based detection framework for crowd detection. Previous query-based detectors suffer from two drawbacks: first, multiple predictions will be inferred for a single object, typically in crowded scenes; second, the performance saturates as the depth of the decoding stage increases. Benefiting from the nature of the one-to-one label assignment rule, we propose a progressive predicting method to address the above issues. Specifically, we first select accepted queries prone to generate true positive predictions, then refine the rest noisy queries according to the previously accepted predictions. Experiments show that our method can significantly boost the performance of query-based detectors in crowded scenes. Equipped with our approach, Sparse RCNN achieves 92.0\% $\text{AP}$, 41.4\% $\text{MR}^{-2}$ and 83.2\% $\text{JI}$ on the challenging CrowdHuman \cite{shao2018crowdhuman} dataset, outperforming the box-based method MIP \cite{chu2020detection} that specifies in handling crowded scenarios. Moreover, the proposed method, robust to crowdedness, can still obtain consistent improvements on moderately and slightly crowded datasets like CityPersons \cite{zhang2017citypersons} and COCO \cite{lin2014microsoft}. Code will be made publicly available at https://github.com/megvii-model/Iter-E2EDET.

Angtian Wang, Peng Wang, Jian Sun et al.

The Gaussian reconstruction kernels have been proposed by Westover (1990) and studied by the computer graphics community back in the 90s, which gives an alternative representation of object 3D geometry from meshes and point clouds. On the other hand, current state-of-the-art (SoTA) differentiable renderers, Liu et al. (2019), use rasterization to collect triangles or points on each image pixel and blend them based on the viewing distance. In this paper, we propose VoGE, which utilizes the volumetric Gaussian reconstruction kernels as geometric primitives. The VoGE rendering pipeline uses ray tracing to capture the nearest primitives and blends them as mixtures based on their volume density distributions along the rays. To efficiently render via VoGE, we propose an approximate closeform solution for the volume density aggregation and a coarse-to-fine rendering strategy. Finally, we provide a CUDA implementation of VoGE, which enables real-time level rendering with a competitive rendering speed in comparison to PyTorch3D. Quantitative and qualitative experiment results show VoGE outperforms SoTA counterparts when applied to various vision tasks, e.g., object pose estimation, shape/texture fitting, and occlusion reasoning. The VoGE library and demos are available at: https://github.com/Angtian/VoGE.

Yawei Li, Kai Zhang, Radu Timofte et al. · eth-zurich, tencent-ai

This paper reviews the NTIRE 2022 challenge on efficient single image super-resolution with focus on the proposed solutions and results. The task of the challenge was to super-resolve an input image with a magnification factor of $\times$4 based on pairs of low and corresponding high resolution images. The aim was to design a network for single image super-resolution that achieved improvement of efficiency measured according to several metrics including runtime, parameters, FLOPs, activations, and memory consumption while at least maintaining the PSNR of 29.00dB on DIV2K validation set. IMDN is set as the baseline for efficiency measurement. The challenge had 3 tracks including the main track (runtime), sub-track one (model complexity), and sub-track two (overall performance). In the main track, the practical runtime performance of the submissions was evaluated. The rank of the teams were determined directly by the absolute value of the average runtime on the validation set and test set. In sub-track one, the number of parameters and FLOPs were considered. And the individual rankings of the two metrics were summed up to determine a final ranking in this track. In sub-track two, all of the five metrics mentioned in the description of the challenge including runtime, parameter count, FLOPs, activations, and memory consumption were considered. Similar to sub-track one, the rankings of five metrics were summed up to determine a final ranking. The challenge had 303 registered participants, and 43 teams made valid submissions. They gauge the state-of-the-art in efficient single image super-resolution.

Zhisheng Zhong, Jiequan Cui, Zeming Li et al.

Deep neural networks perform poorly on heavily class-imbalanced datasets. Given the promising performance of contrastive learning, we propose Rebalanced Siamese Contrastive Mining (ResCom) to tackle imbalanced recognition. Based on the mathematical analysis and simulation results, we claim that supervised contrastive learning suffers a dual class-imbalance problem at both the original batch and Siamese batch levels, which is more serious than long-tailed classification learning. In this paper, at the original batch level, we introduce a class-balanced supervised contrastive loss to assign adaptive weights for different classes. At the Siamese batch level, we present a class-balanced queue, which maintains the same number of keys for all classes. Furthermore, we note that the imbalanced contrastive loss gradient with respect to the contrastive logits can be decoupled into the positives and negatives, and easy positives and easy negatives will make the contrastive gradient vanish. We propose supervised hard positive and negative pairs mining to pick up informative pairs for contrastive computation and improve representation learning. Finally, to approximately maximize the mutual information between the two views, we propose Siamese Balanced Softmax and joint it with the contrastive loss for one-stage training. Extensive experiments demonstrate that ResCom outperforms the previous methods by large margins on multiple long-tailed recognition benchmarks. Our code and models are made publicly available at: https://github.com/dvlab-research/ResCom.

Jinrong Yang, Songtao Liu, Zeming Li et al.

Autonomous driving requires the model to perceive the environment and (re)act within a low latency for safety. While past works ignore the inevitable changes in the environment after processing, streaming perception is proposed to jointly evaluate the latency and accuracy into a single metric for video online perception. In this paper, instead of searching trade-offs between accuracy and speed like previous works, we point out that endowing real-time models with the ability to predict the future is the key to dealing with this problem. We build a simple and effective framework for streaming perception. It equips a novel DualFlow Perception module (DFP), which includes dynamic and static flows to capture the moving trend and basic detection feature for streaming prediction. Further, we introduce a Trend-Aware Loss (TAL) combined with a trend factor to generate adaptive weights for objects with different moving speeds. Our simple method achieves competitive performance on Argoverse-HD dataset and improves the AP by 4.9% compared to the strong baseline, validating its effectiveness. Our code will be made available at https://github.com/yancie-yjr/StreamYOLO.

Guocheng Qian, Xuanyang Zhang, Guohao Li et al.

The key challenge in neural architecture search (NAS) is designing how to explore wisely in the huge search space. We propose a new NAS method called TNAS (NAS with trees), which improves search efficiency by exploring only a small number of architectures while also achieving a higher search accuracy. TNAS introduces an architecture tree and a binary operation tree, to factorize the search space and substantially reduce the exploration size. TNAS performs a modified bi-level Breadth-First Search in the proposed trees to discover a high-performance architecture. Impressively, TNAS finds the global optimal architecture on CIFAR-10 with test accuracy of 94.37\% in four GPU hours in NAS-Bench-201. The average test accuracy is 94.35\%, which outperforms the state-of-the-art. Code is available at: \url{https://github.com/guochengqian/TNAS}.

Lin Song, Songyang Zhang, Songtao Liu et al.

Transformers, the de-facto standard for language modeling, have been recently applied for vision tasks. This paper introduces sparse queries for vision transformers to exploit the intrinsic spatial redundancy of natural images and save computational costs. Specifically, we propose a Dynamic Grained Encoder for vision transformers, which can adaptively assign a suitable number of queries to each spatial region. Thus it achieves a fine-grained representation in discriminative regions while keeping high efficiency. Besides, the dynamic grained encoder is compatible with most vision transformer frameworks. Without bells and whistles, our encoder allows the state-of-the-art vision transformers to reduce computational complexity by 40%-60% while maintaining comparable performance on image classification. Extensive experiments on object detection and segmentation further demonstrate the generalizability of our approach. Code is available at https://github.com/StevenGrove/vtpack.

Qiuling Yang, Gang Wang, Alireza Sadeghi et al.

Modern distribution grids are currently being challenged by frequent and sizable voltage fluctuations, due mainly to the increasing deployment of electric vehicles and renewable generators. Existing approaches to maintaining bus voltage magnitudes within the desired region can cope with either traditional utility-owned devices (e.g., shunt capacitors), or contemporary smart inverters that come with distributed generation units (e.g., photovoltaic plants). The discrete on-off commitment of capacitor units is often configured on an hourly or daily basis, yet smart inverters can be controlled within milliseconds, thus challenging joint control of these two types of assets. In this context, a novel two-timescale voltage regulation scheme is developed for distribution grids by judiciously coupling data-driven with physicsbased optimization. On a faster timescale, say every second, the optimal setpoints of smart inverters are obtained by minimizing instantaneous bus voltage deviations from their nominal values, based on either the exact alternating current power flow model or a linear approximant of it; whereas, on the slower timescale (e.g., every hour), shunt capacitors are configured to minimize the longterm discounted voltage deviations using a deep reinforcement learning algorithm. Extensive numerical tests on a real-world 47- bus distribution network as well as the IEEE 123-bus test feeder using real data corroborate the effectiveness of the novel scheme.

Jinrong Yang, Lin Song, Songtao Liu et al.

Many point-based 3D detectors adopt point-feature sampling strategies to drop some points for efficient inference. These strategies are typically based on fixed and handcrafted rules, making it difficult to handle complicated scenes. Different from them, we propose a Dynamic Ball Query (DBQ) network to adaptively select a subset of input points according to the input features, and assign the feature transform with a suitable receptive field for each selected point. It can be embedded into some state-of-the-art 3D detectors and trained in an end-to-end manner, which significantly reduces the computational cost. Extensive experiments demonstrate that our method can increase the inference speed by 30%-100% on KITTI, Waymo, and ONCE datasets. Specifically, the inference speed of our detector can reach 162 FPS on KITTI scene, and 30 FPS on Waymo and ONCE scenes without performance degradation. Due to skipping the redundant points, some evaluation metrics show significant improvements. Codes will be released at https://github.com/yancie-yjr/DBQ-SSD.

Cuican Yu, Guansong Lu, Yihan Zeng et al. · tsinghua

Generating 3D faces from textual descriptions has a multitude of applications, such as gaming, movie, and robotics. Recent progresses have demonstrated the success of unconditional 3D face generation and text-to-3D shape generation. However, due to the limited text-3D face data pairs, text-driven 3D face generation remains an open problem. In this paper, we propose a text-guided 3D faces generation method, refer as TG-3DFace, for generating realistic 3D faces using text guidance. Specifically, we adopt an unconditional 3D face generation framework and equip it with text conditions, which learns the text-guided 3D face generation with only text-2D face data. On top of that, we propose two text-to-face cross-modal alignment techniques, including the global contrastive learning and the fine-grained alignment module, to facilitate high semantic consistency between generated 3D faces and input texts. Besides, we present directional classifier guidance during the inference process, which encourages creativity for out-of-domain generations. Compared to the existing methods, TG-3DFace creates more realistic and aesthetically pleasing 3D faces, boosting 9% multi-view consistency (MVIC) over Latent3D. The rendered face images generated by TG-3DFace achieve higher FID and CLIP score than text-to-2D face/image generation models, demonstrating our superiority in generating realistic and semantic-consistent textures.

Sai Zhang, Yuwei Hu, Yuchuan Wu et al.

A slot value might be provided segment by segment over multiple-turn interactions in a dialog, especially for some important information such as phone numbers and names. It is a common phenomenon in daily life, but little attention has been paid to it in previous work. To fill the gap, this paper defines a new task named Sub-Slot based Task-Oriented Dialog (SSTOD) and builds a Chinese dialog dataset SSD for boosting research on SSTOD. The dataset includes a total of 40K dialogs and 500K utterances from four different domains: Chinese names, phone numbers, ID numbers and license plate numbers. The data is well annotated with sub-slot values, slot values, dialog states and actions. We find some new linguistic phenomena and interactive manners in SSTOD which raise critical challenges of building dialog agents for the task. We test three state-of-the-art dialog models on SSTOD and find they cannot handle the task well on any of the four domains. We also investigate an improved model by involving slot knowledge in a plug-in manner. More work should be done to meet the new challenges raised from SSTOD which widely exists in real-life applications. The dataset and code are publicly available via https://github.com/shunjiu/SSTOD.

Xinhong Zhang, Runqing Wang, Yunfan Ren et al.

Agile quadrotor flight in cluttered scenes requires more than a reactive mapping from a depth image to a control command: the vehicle must remember which regions have been observed, infer nearby occupied space, and act under partial visibility and tight latency. In this paper, we present Mapping-Aware Dreamer (MAD), a geometry-aware world model for vision-based quadrotor flight. Instead of using raw-image reconstruction as the main self-supervised objective, MAD learns recurrent latent dynamics that reconstruct robocentric occupancy and visibility grid maps together with proprioceptive states. This design forces the latent state to encode local geometry, visibility history, and ego-motion in a form that is directly relevant to collision avoidance. MAD is trained in DiffAero using a GPU-parallel map-construction module that provides high-throughput supervision for occupancy and visibility. The learned representation is used in three policy-learning modes: imagination-based MAD-Dreamer and feature-extractor variants based on PPO and SHAC. Across visual navigation and racing tasks, MAD-based agents achieve higher success rates, faster flight, and better cross-task transfer than corresponding vision-only baselines. The model also produces interpretable map predictions and accurate ego-motion estimates from depth observations. We further deploy the learned policy on a physical quadrotor with an Intel RealSense D435i and demonstrate safe indoor and outdoor flight under limited sensing, reaching 9.66 m/s in simulation and 5.05 m/s in real-world forest experiments. These results show that mapping-aware world models provide a practical middle ground between modular aerial navigation and end-to-end learning.

Xiang Gu, Liwei Yang, Jian Sun et al.

Conditional score-based diffusion model (SBDM) is for conditional generation of target data with paired data as condition, and has achieved great success in image translation. However, it requires the paired data as condition, and there would be insufficient paired data provided in real-world applications. To tackle the applications with partially paired or even unpaired dataset, we propose a novel Optimal Transport-guided Conditional Score-based diffusion model (OTCS) in this paper. We build the coupling relationship for the unpaired or partially paired dataset based on $L_2$-regularized unsupervised or semi-supervised optimal transport, respectively. Based on the coupling relationship, we develop the objective for training the conditional score-based model for unpaired or partially paired settings, which is based on a reformulation and generalization of the conditional SBDM for paired setting. With the estimated coupling relationship, we effectively train the conditional score-based model by designing a ``resampling-by-compatibility'' strategy to choose the sampled data with high compatibility as guidance. Extensive experiments on unpaired super-resolution and semi-paired image-to-image translation demonstrated the effectiveness of the proposed OTCS model. From the viewpoint of optimal transport, OTCS provides an approach to transport data across distributions, which is a challenge for OT on large-scale datasets. We theoretically prove that OTCS realizes the data transport in OT with a theoretical bound. Code is available at \url{https://github.com/XJTU-XGU/OTCS}.

Eduardo Pérez-Pellitero, Sibi Catley-Chandar, Richard Shaw et al.

This paper reviews the challenge on constrained high dynamic range (HDR) imaging that was part of the New Trends in Image Restoration and Enhancement (NTIRE) workshop, held in conjunction with CVPR 2022. This manuscript focuses on the competition set-up, datasets, the proposed methods and their results. The challenge aims at estimating an HDR image from multiple respective low dynamic range (LDR) observations, which might suffer from under- or over-exposed regions and different sources of noise. The challenge is composed of two tracks with an emphasis on fidelity and complexity constraints: In Track 1, participants are asked to optimize objective fidelity scores while imposing a low-complexity constraint (i.e. solutions can not exceed a given number of operations). In Track 2, participants are asked to minimize the complexity of their solutions while imposing a constraint on fidelity scores (i.e. solutions are required to obtain a higher fidelity score than the prescribed baseline). Both tracks use the same data and metrics: Fidelity is measured by means of PSNR with respect to a ground-truth HDR image (computed both directly and with a canonical tonemapping operation), while complexity metrics include the number of Multiply-Accumulate (MAC) operations and runtime (in seconds).

Tong Nie, Guoyang Qin, Jian Sun

Rapid advances in sensor, wireless communication, cloud computing and data science have brought unprecedented amount of data to assist transportation engineers and researchers in making better decisions. However, traffic data in reality often has corrupted or incomplete values due to detector and communication malfunctions. Data imputation is thus required to ensure the effectiveness of downstream data-driven applications. To this end, numerous tensor-based methods treating the imputation problem as the low-rank tensor completion (LRTC) have been attempted in previous works. To tackle rank minimization, which is at the core of the LRTC, most of aforementioned methods utilize the tensor nuclear norm (NN) as a convex surrogate for the minimization. However, the over-relaxation issue in NN refrains it from desirable performance in practice. In this paper, we define an innovative nonconvex truncated Schatten p-norm for tensors (TSpN) to approximate tensor rank and impute missing spatiotemporal traffic data under the LRTC framework. We model traffic data into a third-order tensor structure of (time intervals,locations (sensors),days) and introduce four complicated missing patterns, including random missing and three fiber-like missing cases according to the tensor mode-n fibers. Despite nonconvexity of the objective function in our model, we derive the global optimal solutions by integrating the alternating direction method of multipliers (ADMM) with generalized soft-thresholding (GST). In addition, we design a truncation rate decay strategy to deal with varying missing rate scenarios. Comprehensive experiments are finally conducted using real-world spatiotemporal datasets, which demonstrate that the proposed LRTC-TSpN method performs well under various missing cases, meanwhile outperforming other SOTA tensor-based imputation models in almost all scenarios.

Xiang Gu, Yucheng Yang, Wei Zeng et al. · tsinghua

Existing Optimal Transport (OT) methods mainly derive the optimal transport plan/matching under the criterion of transport cost/distance minimization, which may cause incorrect matching in some cases. In many applications, annotating a few matched keypoints across domains is reasonable or even effortless in annotation burden. It is valuable to investigate how to leverage the annotated keypoints to guide the correct matching in OT. In this paper, we propose a novel KeyPoint-Guided model by ReLation preservation (KPG-RL) that searches for the optimal matching (i.e., transport plan) guided by the keypoints in OT. To impose the keypoints in OT, first, we propose a mask-based constraint of the transport plan that preserves the matching of keypoint pairs. Second, we propose to preserve the relation of each data point to the keypoints to guide the matching. The proposed KPG-RL model can be solved by Sinkhorn's algorithm and is applicable even when distributions are supported in different spaces. We further utilize the relation preservation constraint in the Kantorovich Problem and Gromov-Wasserstein model to impose the guidance of keypoints in them. Meanwhile, the proposed KPG-RL model is extended to the partial OT setting. Moreover, we deduce the dual formulation of the KPG-RL model, which is solved using deep learning techniques. Based on the learned transport plan from dual KPG-RL, we propose a novel manifold barycentric projection to transport source data to the target domain. As applications, we apply the proposed KPG-RL model to the heterogeneous domain adaptation and image-to-image translation. Experiments verified the effectiveness of the proposed approach.

Jian Sun, Kristopher Innanen

Full waveform inversion (FWI) commonly stands for the state-of-the-art approach for imaging subsurface structures and physical parameters, however, its implementation usually faces great challenges, such as building a good initial model to escape from local minima, and evaluating the uncertainty of inversion results. In this paper, we propose the implicit full waveform inversion (IFWI) algorithm using continuously and implicitly defined deep neural representations. Compared to FWI, which is sensitive to the initial model, IFWI benefits from the increased degrees of freedom with deep learning optimization, thus allowing to start from a random initialization, which greatly reduces the risk of non-uniqueness and being trapped in local minima. Both theoretical and experimental analyses indicates that, given a random initial model, IFWI is able to converge to the global minimum and produce a high-resolution image of subsurface with fine structures. In addition, uncertainty analysis of IFWI can be easily performed by approximating Bayesian inference with various deep learning approaches, which is analyzed in this paper by adding dropout neurons. Furthermore, IFWI has a certain degree of robustness and strong generalization ability that are exemplified in the experiments of various 2D geological models. With proper setup, IFWI can also be well suited for multi-scale joint geophysical inversion.

Yisheng He, Yao Wang, Haoqiang Fan et al.

6D object pose estimation networks are limited in their capability to scale to large numbers of object instances due to the close-set assumption and their reliance on high-fidelity object CAD models. In this work, we study a new open set problem; the few-shot 6D object poses estimation: estimating the 6D pose of an unknown object by a few support views without extra training. To tackle the problem, we point out the importance of fully exploring the appearance and geometric relationship between the given support views and query scene patches and propose a dense prototypes matching framework by extracting and matching dense RGBD prototypes with transformers. Moreover, we show that the priors from diverse appearances and shapes are crucial to the generalization capability under the problem setting and thus propose a large-scale RGBD photorealistic dataset (ShapeNet6D) for network pre-training. A simple and effective online texture blending approach is also introduced to eliminate the domain gap from the synthesis dataset, which enriches appearance diversity at a low cost. Finally, we discuss possible solutions to this problem and establish benchmarks on popular datasets to facilitate future research. The project page is at \url{https://fs6d.github.io/}.

Shaowen Zhou, Bowen Yu, Aixin Sun et al.

Open Information Extraction (OpenIE) facilitates domain-independent discovery of relational facts from large corpora. The technique well suits many open-world natural language understanding scenarios, such as automatic knowledge base construction, open-domain question answering, and explicit reasoning. Thanks to the rapid development in deep learning technologies, numerous neural OpenIE architectures have been proposed and achieve considerable performance improvement. In this survey, we provide an extensive overview of the-state-of-the-art neural OpenIE models, their key design decisions, strengths and weakness. Then, we discuss limitations of current solutions and the open issues in OpenIE problem itself. Finally we list recent trends that could help expand its scope and applicability, setting up promising directions for future research in OpenIE. To our best knowledge, this paper is the first review on this specific topic.

Xuanyang Zhang, Yonggang Li, Xiangyu Zhang et al.

Differentiable architecture search (DARTS) has significantly promoted the development of NAS techniques because of its high search efficiency and effectiveness but suffers from performance collapse. In this paper, we make efforts to alleviate the performance collapse problem for DARTS from two aspects. First, we investigate the expressive power of the supernet in DARTS and then derive a new setup of DARTS paradigm with only training BatchNorm. Second, we theoretically find that random features dilute the auxiliary connection role of skip-connection in supernet optimization and enable search algorithm focus on fairer operation selection, thereby solving the performance collapse problem. We instantiate DARTS and PC-DARTS with random features to build an improved version for each named RF-DARTS and RF-PCDARTS respectively. Experimental results show that RF-DARTS obtains \textbf{94.36\%} test accuracy on CIFAR-10 (which is the nearest optimal result in NAS-Bench-201), and achieves the newest state-of-the-art top-1 test error of \textbf{24.0\%} on ImageNet when transferring from CIFAR-10. Moreover, RF-DARTS performs robustly across three datasets (CIFAR-10, CIFAR-100, and SVHN) and four search spaces (S1-S4). Besides, RF-PCDARTS achieves even better results on ImageNet, that is, \textbf{23.9\%} top-1 and \textbf{7.1\%} top-5 test error, surpassing representative methods like single-path, training-free, and partial-channel paradigms directly searched on ImageNet.

Tong Nie, Guoyang Qin, Yunpeng Wang et al.

Traffic speed is central to characterizing the fluidity of the road network. Many transportation applications rely on it, such as real-time navigation, dynamic route planning, and congestion management. Rapid advances in sensing and communication techniques make traffic speed detection easier than ever. However, due to sparse deployment of static sensors or low penetration of mobile sensors, speeds detected are incomplete and far from network-wide use. In addition, sensors are prone to error or missing data due to various kinds of reasons, speeds from these sensors can become highly noisy. These drawbacks call for effective techniques to recover credible estimates from the incomplete data. In this work, we first identify the issue as a spatiotemporal kriging problem and propose a Laplacian enhanced low-rank tensor completion (LETC) framework featuring both lowrankness and multi-dimensional correlations for large-scale traffic speed kriging under limited observations. To be specific, three types of speed correlation including temporal continuity, temporal periodicity, and spatial proximity are carefully chosen and simultaneously modeled by three different forms of graph Laplacian, named temporal graph Fourier transform, generalized temporal consistency regularization, and diffusion graph regularization. We then design an efficient solution algorithm via several effective numeric techniques to scale up the proposed model to network-wide kriging. By performing experiments on two public million-level traffic speed datasets, we finally draw the conclusion and find our proposed LETC achieves the state-of-the-art kriging performance even under low observation rates, while at the same time saving more than half computing time compared with baseline methods. Some insights into spatiotemporal traffic data modeling and kriging at the network level are provided as well.

Yuhang Zhang, Jiarui Zhang, Bowen Jian et al.

The rapid iteration of autonomous driving algorithms has created a growing demand for high-fidelity, replayable, and diagnosable testing data. However, many public datasets lack real vehicle dynamics feedback and closed-loop interaction with surrounding traffic and road infrastructure, limiting their ability to reflect deployment readiness. To address this gap, we present OVPD (OnSite Virtual-Physical Dataset), a virtual-physical fusion testing dataset released from the 2025 OnSite Autonomous Driving Challenge. Centered on real-vehicle-in-the-loop testing, OVPD integrates virtual background traffic with vehicle-infrastructure perception to build controllable and interactive closed-loop test environments on a proving ground. The dataset contains 20 testing clips from 20 teams over a scenario chain of 15 atomic scenarios, totaling nearly 3 hours of multi-modal data, including vehicle trajectories and states, control commands, and digital-twin-rendered surround-view observations. OVPD supports long-tail planning and decision-making validation, open-loop or platform-enabled closed-loop evaluation, and comprehensive assessment across safety, efficiency, comfort, rule compliance, and traffic impact, providing actionable evidence for failure diagnosis and iterative improvement. The dataset is available via: https://huggingface.co/datasets/Yuhang253820/Onsite_OPVD

Jian Sun, Hiroko H. Dodge, Mohammad H. Mahoor

Deep machine learning models including Convolutional Neural Networks (CNN) have been successful in the detection of Mild Cognitive Impairment (MCI) using medical images, questionnaires, and videos. This paper proposes a novel Multi-branch Classifier-Video Vision Transformer (MC-ViViT) model to distinguish MCI from those with normal cognition by analyzing facial features. The data comes from the I-CONECT, a behavioral intervention trial aimed at improving cognitive function by providing frequent video chats. MC-ViViT extracts spatiotemporal features of videos in one branch and augments representations by the MC module. The I-CONECT dataset is challenging as the dataset is imbalanced containing Hard-Easy and Positive-Negative samples, which impedes the performance of MC-ViViT. We propose a loss function for Hard-Easy and Positive-Negative Samples (HP Loss) by combining Focal loss and AD-CORRE loss to address the imbalanced problem. Our experimental results on the I-CONECT dataset show the great potential of MC-ViViT in predicting MCI with a high accuracy of 90.63% accuracy on some of the interview videos.

Hongyu Zhou, Zheng Ge, Songtao Liu et al.

To date, the most powerful semi-supervised object detectors (SS-OD) are based on pseudo-boxes, which need a sequence of post-processing with fine-tuned hyper-parameters. In this work, we propose replacing the sparse pseudo-boxes with the dense prediction as a united and straightforward form of pseudo-label. Compared to the pseudo-boxes, our Dense Pseudo-Label (DPL) does not involve any post-processing method, thus retaining richer information. We also introduce a region selection technique to highlight the key information while suppressing the noise carried by dense labels. We name our proposed SS-OD algorithm that leverages the DPL as Dense Teacher. On COCO and VOC, Dense Teacher shows superior performance under various settings compared with the pseudo-box-based methods.

Ziwei Luo, Youwei Li, Shen Cheng et al.

This work addresses the Burst Super-Resolution (BurstSR) task using a new architecture, which requires restoring a high-quality image from a sequence of noisy, misaligned, and low-resolution RAW bursts. To overcome the challenges in BurstSR, we propose a Burst Super-Resolution Transformer (BSRT), which can significantly improve the capability of extracting inter-frame information and reconstruction. To achieve this goal, we propose a Pyramid Flow-Guided Deformable Convolution Network (Pyramid FG-DCN) and incorporate Swin Transformer Blocks and Groups as our main backbone. More specifically, we combine optical flows and deformable convolutions, hence our BSRT can handle misalignment and aggregate the potential texture information in multi-frames more efficiently. In addition, our Transformer-based structure can capture long-range dependency to further improve the performance. The evaluation on both synthetic and real-world tracks demonstrates that our approach achieves a new state-of-the-art in BurstSR task. Further, our BSRT wins the championship in the NTIRE2022 Burst Super-Resolution Challenge.

Wanwei He, Yinpei Dai, Min Yang et al.

Recently, pre-training methods have shown remarkable success in task-oriented dialog (TOD) systems. However, most existing pre-trained models for TOD focus on either dialog understanding or dialog generation, but not both. In this paper, we propose SPACE-3, a novel unified semi-supervised pre-trained conversation model learning from large-scale dialog corpora with limited annotations, which can be effectively fine-tuned on a wide range of downstream dialog tasks. Specifically, SPACE-3 consists of four successive components in a single transformer to maintain a task-flow in TOD systems: (i) a dialog encoding module to encode dialog history, (ii) a dialog understanding module to extract semantic vectors from either user queries or system responses, (iii) a dialog policy module to generate a policy vector that contains high-level semantics of the response, and (iv) a dialog generation module to produce appropriate responses. We design a dedicated pre-training objective for each component. Concretely, we pre-train the dialog encoding module with span mask language modeling to learn contextualized dialog information. To capture the structured dialog semantics, we pre-train the dialog understanding module via a novel tree-induced semi-supervised contrastive learning objective with the help of extra dialog annotations. In addition, we pre-train the dialog policy module by minimizing the L2 distance between its output policy vector and the semantic vector of the response for policy optimization. Finally, the dialog generation model is pre-trained by language modeling. Results show that SPACE-3 achieves state-of-the-art performance on eight downstream dialog benchmarks, including intent prediction, dialog state tracking, and end-to-end dialog modeling. We also show that SPACE-3 has a stronger few-shot ability than existing models under the low-resource setting.

Tong Nie, Yuewen Mei, Guoyang Qin et al.

The balance between model capacity and generalization has been a key focus of recent discussions in long-term time series forecasting. Two representative channel strategies are closely associated with model expressivity and robustness, including channel independence (CI) and channel dependence (CD). The former adopts individual channel treatment and has been shown to be more robust to distribution shifts, but lacks sufficient capacity to model meaningful channel interactions. The latter is more expressive for representing complex cross-channel dependencies, but is prone to overfitting. To balance the two strategies, we present a channel-aware low-rank adaptation method to condition CD models on identity-aware individual components. As a plug-in solution, it is adaptable for a wide range of backbone architectures. Extensive experiments show that it can consistently and significantly improve the performance of both CI and CD models with demonstrated efficiency and flexibility. The code is available at https://github.com/tongnie/C-LoRA.

Xiaoyu Liu, Jian Sun, Lihua Dou et al.

In this paper, the problem of event-triggered consensus for linear continuous-time multi-agent systems is investigated. A new event-triggered consensus protocol based on a predictor is proposed to achieve consensus without continuous communication among agents. In the proposed consensus protocol, each agent only needs to monitor its states to determine its event-triggered instants. When an event is triggered, the agent will update its consensus protocol and sent its state information to its neighbors. In addition, the agent will also update its consensus protocol and the predictor when it receives the state information from its neighbors. A necessary and sufficient condition that the consensus problem can be solved is derived. Moreover, it is proved that Zeno behavior does not exist. Finally, a numerical example is given to illustrate that the protocol proposed in this paper can make the multi-agent systems achieve consensus through much fewer event-triggered times.

Yucheng Yang, Xiang Gu, Jian Sun

Universal domain adaptation (UniDA) aims to transfer knowledge from a labeled source domain to an unlabeled target domain without requiring the same label sets of both domains. The existence of domain and category shift makes the task challenging and requires us to distinguish "known" samples (i.e., samples whose labels exist in both domains) and "unknown" samples (i.e., samples whose labels exist in only one domain) in both domains before reducing the domain gap. In this paper, we consider the problem from the point of view of distribution matching which we only need to align two distributions partially. A novel approach, dubbed mini-batch Prototypical Partial Optimal Transport (m-PPOT), is proposed to conduct partial distribution alignment for UniDA. In training phase, besides minimizing m-PPOT, we also leverage the transport plan of m-PPOT to reweight source prototypes and target samples, and design reweighted entropy loss and reweighted cross-entropy loss to distinguish "known" and "unknown" samples. Experiments on four benchmarks show that our method outperforms the previous state-of-the-art UniDA methods.

Bowen Qin, Binyuan Hui, Lihan Wang et al.

Text-to-SQL parsing is an essential and challenging task. The goal of text-to-SQL parsing is to convert a natural language (NL) question to its corresponding structured query language (SQL) based on the evidences provided by relational databases. Early text-to-SQL parsing systems from the database community achieved a noticeable progress with the cost of heavy human engineering and user interactions with the systems. In recent years, deep neural networks have significantly advanced this task by neural generation models, which automatically learn a mapping function from an input NL question to an output SQL query. Subsequently, the large pre-trained language models have taken the state-of-the-art of the text-to-SQL parsing task to a new level. In this survey, we present a comprehensive review on deep learning approaches for text-to-SQL parsing. First, we introduce the text-to-SQL parsing corpora which can be categorized as single-turn and multi-turn. Second, we provide a systematical overview of pre-trained language models and existing methods for text-to-SQL parsing. Third, we present readers with the challenges faced by text-to-SQL parsing and explore some potential future directions in this field.

Ting-En Lin, Yuchuan Wu, Fei Huang et al.

In this paper, we present Duplex Conversation, a multi-turn, multimodal spoken dialogue system that enables telephone-based agents to interact with customers like a human. We use the concept of full-duplex in telecommunication to demonstrate what a human-like interactive experience should be and how to achieve smooth turn-taking through three subtasks: user state detection, backchannel selection, and barge-in detection. Besides, we propose semi-supervised learning with multimodal data augmentation to leverage unlabeled data to increase model generalization. Experimental results on three sub-tasks show that the proposed method achieves consistent improvements compared with baselines. We deploy the Duplex Conversation to Alibaba intelligent customer service and share lessons learned in production. Online A/B experiments show that the proposed system can significantly reduce response latency by 50%.

Yisheng He, Haoqiang Fan, Haibin Huang et al.

In this work, we tackle the challenging problem of category-level object pose and size estimation from a single depth image. Although previous fully-supervised works have demonstrated promising performance, collecting ground-truth pose labels is generally time-consuming and labor-intensive. Instead, we propose a label-free method that learns to enforce the geometric consistency between category template mesh and observed object point cloud under a self-supervision manner. Specifically, our method consists of three key components: differentiable shape deformation, registration, and rendering. In particular, shape deformation and registration are applied to the template mesh to eliminate the differences in shape, pose and scale. A differentiable renderer is then deployed to enforce geometric consistency between point clouds lifted from the rendered depth and the observed scene for self-supervision. We evaluate our approach on real-world datasets and find that our approach outperforms the simple traditional baseline by large margins while being competitive with some fully-supervised approaches.

Binyuan Hui, Ruiying Geng, Lihan Wang et al.

The task of converting a natural language question into an executable SQL query, known as text-to-SQL, is an important branch of semantic parsing. The state-of-the-art graph-based encoder has been successfully used in this task but does not model the question syntax well. In this paper, we propose S$^2$SQL, injecting Syntax to question-Schema graph encoder for Text-to-SQL parsers, which effectively leverages the syntactic dependency information of questions in text-to-SQL to improve the performance. We also employ the decoupling constraint to induce diverse relational edge embedding, which further improves the network's performance. Experiments on the Spider and robustness setting Spider-Syn demonstrate that the proposed approach outperforms all existing methods when pre-training models are used, resulting in a performance ranks first on the Spider leaderboard.

Yechen Zhang, Jian Sun, Gang Wang et al.

Discrete reinforcement learning (RL) algorithms have demonstrated exceptional performance in solving sequential decision tasks with discrete action spaces, such as Atari games. However, their effectiveness is hindered when applied to continuous control problems due to the challenge of dimensional explosion. In this paper, we present the Soft Decomposed Policy-Critic (SDPC) architecture, which combines soft RL and actor-critic techniques with discrete RL methods to overcome this limitation. SDPC discretizes each action dimension independently and employs a shared critic network to maximize the soft $Q$-function. This novel approach enables SDPC to support two types of policies: decomposed actors that lead to the Soft Decomposed Actor-Critic (SDAC) algorithm, and decomposed $Q$-networks that generate Boltzmann soft exploration policies, resulting in the Soft Decomposed-Critic Q (SDCQ) algorithm. Through extensive experiments, we demonstrate that our proposed approach outperforms state-of-the-art continuous RL algorithms in a variety of continuous control tasks, including Mujoco's Humanoid and Box2d's BipedalWalker. These empirical results validate the effectiveness of the SDPC architecture in addressing the challenges associated with continuous control.

Yingxiu Zhao, Zhiliang Tian, Huaxiu Yao et al.

Building models of natural language processing (NLP) is challenging in low-resource scenarios where only limited data are available. Optimization-based meta-learning algorithms achieve promising results in low-resource scenarios by adapting a well-generalized model initialization to handle new tasks. Nonetheless, these approaches suffer from the memorization overfitting issue, where the model tends to memorize the meta-training tasks while ignoring support sets when adapting to new tasks. To address this issue, we propose a memory imitation meta-learning (MemIML) method that enhances the model's reliance on support sets for task adaptation. Specifically, we introduce a task-specific memory module to store support set information and construct an imitation module to force query sets to imitate the behaviors of some representative support-set samples stored in the memory. A theoretical analysis is provided to prove the effectiveness of our method, and empirical results also demonstrate that our method outperforms competitive baselines on both text classification and generation tasks.

Junjie Fu, Jian Sun, Gang Wang

Deep neural networks (DNNs) have achieved remarkable success in diverse fields. However, it has been demonstrated that DNNs are very vulnerable to adversarial examples even in black-box settings. A large number of black-box attack methods have been proposed to in the literature. However, those methods usually suffer from low success rates and large query counts, which cannot fully satisfy practical purposes. In this paper, we propose a hybrid attack method which trains meta adversarial perturbations (MAPs) on surrogate models and performs black-box attacks by estimating gradients of the models. Our method uses the meta adversarial perturbation as an initialization and subsequently trains any black-box attack method for several epochs. Furthermore, the MAPs enjoy favorable transferability and universality, in the sense that they can be employed to boost performance of other black-box adversarial attack methods. Extensive experiments demonstrate that our method can not only improve the attack success rates, but also reduces the number of queries compared to other methods.

Weipu Zhang, Gang Wang, Jian Sun et al.

Recently, model-based reinforcement learning algorithms have demonstrated remarkable efficacy in visual input environments. These approaches begin by constructing a parameterized simulation world model of the real environment through self-supervised learning. By leveraging the imagination of the world model, the agent's policy is enhanced without the constraints of sampling from the real environment. The performance of these algorithms heavily relies on the sequence modeling and generation capabilities of the world model. However, constructing a perfectly accurate model of a complex unknown environment is nearly impossible. Discrepancies between the model and reality may cause the agent to pursue virtual goals, resulting in subpar performance in the real environment. Introducing random noise into model-based reinforcement learning has been proven beneficial. In this work, we introduce Stochastic Transformer-based wORld Model (STORM), an efficient world model architecture that combines the strong sequence modeling and generation capabilities of Transformers with the stochastic nature of variational autoencoders. STORM achieves a mean human performance of $126.7\%$ on the Atari $100$k benchmark, setting a new record among state-of-the-art methods that do not employ lookahead search techniques. Moreover, training an agent with $1.85$ hours of real-time interaction experience on a single NVIDIA GeForce RTX 3090 graphics card requires only $4.3$ hours, showcasing improved efficiency compared to previous methodologies.

Shiyu Fang, Jiaqi Liu, Mingyu Ding et al.

At present, Connected Autonomous Vehicles (CAVs) have begun to open road testing around the world, but their safety and efficiency performance in complex scenarios is still not satisfactory. Cooperative driving leverages the connectivity ability of CAVs to achieve synergies greater than the sum of their parts, making it a promising approach to improving CAV performance in complex scenarios. However, the lack of interaction and continuous learning ability limits current cooperative driving to single-scenario applications and specific Cooperative Driving Automation (CDA). To address these challenges, this paper proposes CoDrivingLLM, an interactive and learnable LLM-driven cooperative driving framework, to achieve all-scenario and all-CDA. First, since Large Language Models(LLMs) are not adept at handling mathematical calculations, an environment module is introduced to update vehicle positions based on semantic decisions, thus avoiding potential errors from direct LLM control of vehicle positions. Second, based on the four levels of CDA defined by the SAE J3216 standard, we propose a Chain-of-Thought (COT) based reasoning module that includes state perception, intent sharing, negotiation, and decision-making, enhancing the stability of LLMs in multi-step reasoning tasks. Centralized conflict resolution is then managed through a conflict coordinator in the reasoning process. Finally, by introducing a memory module and employing retrieval-augmented generation, CAVs are endowed with the ability to learn from their past experiences. We validate the proposed CoDrivingLLM through ablation experiments on the negotiation module, reasoning with different shots experience, and comparison with other cooperative driving methods.

Liwei Yang, Xiang Gu, Jian Sun

Deep networks trained on the source domain show degraded performance when tested on unseen target domain data. To enhance the model's generalization ability, most existing domain generalization methods learn domain invariant features by suppressing domain sensitive features. Different from them, we propose a Domain Projection and Contrastive Learning (DPCL) approach for generalized semantic segmentation, which includes two modules: Self-supervised Source Domain Projection (SSDP) and Multi-level Contrastive Learning (MLCL). SSDP aims to reduce domain gap by projecting data to the source domain, while MLCL is a learning scheme to learn discriminative and generalizable features on the projected data. During test time, we first project the target data by SSDP to mitigate domain shift, then generate the segmentation results by the learned segmentation network based on MLCL. At test time, we can update the projected data by minimizing our proposed pixel-to-pixel contrastive loss to obtain better results. Extensive experiments for semantic segmentation demonstrate the favorable generalization capability of our method on benchmark datasets.

Yingxiu Zhao, Yinhe Zheng, Zhiliang Tian et al.

Lifelong learning (LL) is vital for advanced task-oriented dialogue (ToD) systems. To address the catastrophic forgetting issue of LL, generative replay methods are widely employed to consolidate past knowledge with generated pseudo samples. However, most existing generative replay methods use only a single task-specific token to control their models. This scheme is usually not strong enough to constrain the generative model due to insufficient information involved. In this paper, we propose a novel method, prompt conditioned VAE for lifelong learning (PCLL), to enhance generative replay by incorporating tasks' statistics. PCLL captures task-specific distributions with a conditional variational autoencoder, conditioned on natural language prompts to guide the pseudo-sample generation. Moreover, it leverages a distillation process to further consolidate past knowledge by alleviating the noise in pseudo samples. Experiments on natural language understanding tasks of ToD systems demonstrate that PCLL significantly outperforms competitive baselines in building LL models.