Xingyu Li

Shuangzhi Li, Zhijie Wang, Felix Juefei-Xu et al. · mit

Object detection through LiDAR-based point cloud has recently been important in autonomous driving. Although achieving high accuracy on public benchmarks, the state-of-the-art detectors may still go wrong and cause a heavy loss due to the widespread corruptions in the real world like rain, snow, sensor noise, etc. Nevertheless, there is a lack of a large-scale dataset covering diverse scenes and realistic corruption types with different severities to develop practical and robust point cloud detectors, which is challenging due to the heavy collection costs. To alleviate the challenge and start the first step for robust point cloud detection, we propose the physical-aware simulation methods to generate degraded point clouds under different real-world common corruptions. Then, for the first attempt, we construct a benchmark based on the physical-aware common corruptions for point cloud detectors, which contains a total of 1,122,150 examples covering 7,481 scenes, 25 common corruption types, and 6 severities. With such a novel benchmark, we conduct extensive empirical studies on 8 state-of-the-art detectors that contain 6 different detection frameworks. Thus we get several insight observations revealing the vulnerabilities of the detectors and indicating the enhancement directions. Moreover, we further study the effectiveness of existing robustness enhancement methods based on data augmentation and data denoising. The benchmark can potentially be a new platform for evaluating point cloud detectors, opening a door for developing novel robustness enhancement methods.

Zhihang Song, Zimin He, Xingyu Li et al.

Autonomous driving techniques have been flourishing in recent years while thirsting for huge amounts of high-quality data. However, it is difficult for real-world datasets to keep up with the pace of changing requirements due to their expensive and time-consuming experimental and labeling costs. Therefore, more and more researchers are turning to synthetic datasets to easily generate rich and changeable data as an effective complement to the real world and to improve the performance of algorithms. In this paper, we summarize the evolution of synthetic dataset generation methods and review the work to date in synthetic datasets related to single and multi-task categories for to autonomous driving study. We also discuss the role that synthetic dataset plays the evaluation, gap test, and positive effect in autonomous driving related algorithm testing, especially on trustworthiness and safety aspects. Finally, we discuss general trends and possible development directions. To the best of our knowledge, this is the first survey focusing on the application of synthetic datasets in autonomous driving. This survey also raises awareness of the problems of real-world deployment of autonomous driving technology and provides researchers with a possible solution.

Chen Qiu, Xingyu Li, Chaithanya Kumar Mummadi et al.

Prompt learning for vision-language models, e.g., CoOp, has shown great success in adapting CLIP to different downstream tasks, making it a promising solution for federated learning due to computational reasons. Existing prompt learning techniques replace hand-crafted text prompts with learned vectors that offer improvements on seen classes, but struggle to generalize to unseen classes. Our work addresses this challenge by proposing Federated Text-driven Prompt Generation (FedTPG), which learns a unified prompt generation network across multiple remote clients in a scalable manner. The prompt generation network is conditioned on task-related text input, thus is context-aware, making it suitable to generalize for both seen and unseen classes. Our comprehensive empirical evaluations on nine diverse image classification datasets show that our method is superior to existing federated prompt learning methods, that achieve overall better generalization on both seen and unseen classes and is also generalizable to unseen datasets.

Hong Li, Zhiquan Tan, Xingyu Li et al.

While vision-and-language models significantly advance in many fields, the challenge of continual learning is unsolved. Parameter-efficient modules like adapters and prompts present a promising way to alleviate catastrophic forgetting. However, existing works usually learn individual adapters for each task, which may result in redundant knowledge among adapters. Moreover, they continue to use the original pre-trained model to initialize the downstream model, leading to negligible changes in the model's generalization compared to the original model. In addition, there is still a lack of research investigating the consequences of integrating a multi-modal model into the updating procedure for both uni-modal and multi-modal tasks and the subsequent impacts it has on downstream tasks. In this paper, we propose an adapter-based two-stage learning paradigm, a multi-modal continual learning scheme that consists of experience-based learning and novel knowledge expansion, which helps the model fully use experience knowledge and compensate for novel knowledge. Extensive experiments demonstrate that our method is proficient for continual learning. It expands the distribution of representation upstream while also minimizing the negative impact of forgetting previous tasks. Additionally, it enhances the generalization capability for downstream tasks. Furthermore, we incorporate both multi-modal and uni-modal tasks into upstream continual learning. We observe that learning from upstream tasks can help with downstream tasks. Our code will be available at: https://github.com/lihong2303/ATLAS.

Shuangzhi Li, Lei Ma, Xingyu Li

Point-cloud-based 3D object detection suffers from performance degradation when encountering data with novel domain gaps. To tackle it, the single-domain generalization (SDG) aims to generalize the detection model trained in a limited single source domain to perform robustly on unexplored domains. In this paper, we propose an SDG method to improve the generalizability of 3D object detection to unseen target domains. Unlike prior SDG works for 3D object detection solely focusing on data augmentation, our work introduces a novel data augmentation method and contributes a new multi-task learning strategy in the methodology. Specifically, from the perspective of data augmentation, we design a universal physical-aware density-based data augmentation (PDDA) method to mitigate the performance loss stemming from diverse point densities. From the learning methodology viewpoint, we develop a multi-task learning for 3D object detection: during source training, besides the main standard detection task, we leverage an auxiliary self-supervised 3D scene restoration task to enhance the comprehension of the encoder on background and foreground details for better recognition and detection of objects. Furthermore, based on the auxiliary self-supervised task, we propose the first test-time adaptation method for domain generalization of 3D object detection, which efficiently adjusts the encoder's parameters to adapt to unseen target domains during testing time, to further bridge domain gaps. Extensive cross-dataset experiments covering "Car", "Pedestrian", and "Cyclist" detections, demonstrate our method outperforms state-of-the-art SDG methods and even overpass unsupervised domain adaptation methods under some circumstances.

Xingyu Li, Difan Song, Miaozhe Han et al.

The impact of predictive algorithms on people's lives and livelihoods has been noted in medicine, criminal justice, finance, hiring and admissions. Most of these algorithms are developed using data and human capital from highly developed nations. We tested how well predictive models of human behavior trained in a developed country generalize to people in less developed countries by modeling global variation in 200 predictors of academic achievement on nationally representative student data for 65 countries. Here we show that state-of-the-art machine learning models trained on data from the United States can predict achievement with high accuracy and generalize to other developed countries with comparable accuracy. However, accuracy drops linearly with national development due to global variation in the importance of different achievement predictors, providing a useful heuristic for policymakers. Training the same model on national data yields high accuracy in every country, which highlights the value of local data collection.