Li Chen

Li Chen, Tutian Tang, Zhitian Cai et al. · pku

Equipped with a wide span of sensors, predominant autonomous driving solutions are becoming more modular-oriented for safe system design. Though these sensors have laid a solid foundation, most massive-production solutions up to date still fall into L2 phase. Among these, Comma.ai comes to our sight, claiming one $999 aftermarket device mounted with a single camera and board inside owns the ability to handle L2 scenarios. Together with open-sourced software of the entire system released by Comma.ai, the project is named Openpilot. Is it possible? If so, how is it made possible? With curiosity in mind, we deep-dive into Openpilot and conclude that its key to success is the end-to-end system design instead of a conventional modular framework. The model is briefed as Supercombo, and it can predict the ego vehicle's future trajectory and other road semantics on the fly from monocular input. Unfortunately, the training process and massive amount of data to make all these work are not publicly available. To achieve an intensive investigation, we try to reimplement the training details and test the pipeline on public benchmarks. The refactored network proposed in this work is referred to as OP-Deepdive. For a fair comparison of our version to the original Supercombo, we introduce a dual-model deployment scheme to test the driving performance in the real world. Experimental results on nuScenes, Comma2k19, CARLA, and in-house realistic scenarios verify that a low-cost device can indeed achieve most L2 functionalities and be on par with the original Supercombo model. In this report, we would like to share our latest findings, shed some light on the new perspective of end-to-end autonomous driving from an industrial product-level side, and potentially inspire the community to continue improving the performance. Our code, benchmarks are at https://github.com/OpenPerceptionX/Openpilot-Deepdive.

Penghao Wu, Li Chen, Hongyang Li et al. · pku

Witnessing the impressive achievements of pre-training techniques on large-scale data in the field of computer vision and natural language processing, we wonder whether this idea could be adapted in a grab-and-go spirit, and mitigate the sample inefficiency problem for visuomotor driving. Given the highly dynamic and variant nature of the input, the visuomotor driving task inherently lacks view and translation invariance, and the visual input contains massive irrelevant information for decision making, resulting in predominant pre-training approaches from general vision less suitable for the autonomous driving task. To this end, we propose PPGeo (Policy Pre-training via Geometric modeling), an intuitive and straightforward fully self-supervised framework curated for the policy pretraining in visuomotor driving. We aim at learning policy representations as a powerful abstraction by modeling 3D geometric scenes on large-scale unlabeled and uncalibrated YouTube driving videos. The proposed PPGeo is performed in two stages to support effective self-supervised training. In the first stage, the geometric modeling framework generates pose and depth predictions simultaneously, with two consecutive frames as input. In the second stage, the visual encoder learns driving policy representation by predicting the future ego-motion and optimizing with the photometric error based on current visual observation only. As such, the pre-trained visual encoder is equipped with rich driving policy related representations and thereby competent for multiple visuomotor driving tasks. Extensive experiments covering a wide span of challenging scenarios have demonstrated the superiority of our proposed approach, where improvements range from 2% to even over 100% with very limited data.

Fudong Lin, Summer Crawford, Kaleb Guillot et al.

Precise crop yield prediction provides valuable information for agricultural planning and decision-making processes. However, timely predicting crop yields remains challenging as crop growth is sensitive to growing season weather variation and climate change. In this work, we develop a deep learning-based solution, namely Multi-Modal Spatial-Temporal Vision Transformer (MMST-ViT), for predicting crop yields at the county level across the United States, by considering the effects of short-term meteorological variations during the growing season and the long-term climate change on crops. Specifically, our MMST-ViT consists of a Multi-Modal Transformer, a Spatial Transformer, and a Temporal Transformer. The Multi-Modal Transformer leverages both visual remote sensing data and short-term meteorological data for modeling the effect of growing season weather variations on crop growth. The Spatial Transformer learns the high-resolution spatial dependency among counties for accurate agricultural tracking. The Temporal Transformer captures the long-range temporal dependency for learning the impact of long-term climate change on crops. Meanwhile, we also devise a novel multi-modal contrastive learning technique to pre-train our model without extensive human supervision. Hence, our MMST-ViT captures the impacts of both short-term weather variations and long-term climate change on crops by leveraging both satellite images and meteorological data. We have conducted extensive experiments on over 200 counties in the United States, with the experimental results exhibiting that our MMST-ViT outperforms its counterparts under three performance metrics of interest.

Luojie Huang, Yikang Liu, Li Chen et al.

In clinical procedures of angioplasty (i.e., open clogged coronary arteries), devices such as balloons and stents need to be placed and expanded in arteries under the guidance of X-ray fluoroscopy. Due to the limitation of X-ray dose, the resulting images are often noisy. To check the correct placement of these devices, typically multiple motion-compensated frames are averaged to enhance the view. Therefore, device tracking is a necessary procedure for this purpose. Even though angioplasty devices are designed to have radiopaque markers for the ease of tracking, current methods struggle to deliver satisfactory results due to the small marker size and complex scenes in angioplasty. In this paper, we propose an end-to-end deep learning framework for single stent tracking, which consists of three hierarchical modules: U-Net based landmark detection, ResNet based stent proposal and feature extraction, and graph convolutional neural network (GCN) based stent tracking that temporally aggregates both spatial information and appearance features. The experiments show that our method performs significantly better in detection compared with the state-of-the-art point-based tracking models. In addition, its fast inference speed satisfies clinical requirements.

Li Chen

A systematic digital-discrete method for obtaining continuous functions with smoothness to a certain order (C^(n)) from sample data is designed. This method is based on gradually varied functions and the classical finite difference method. This new method has been applied to real groundwater data and the results have validated the method. This method is independent from existing popular methods such as the cubic spline method and the finite element method. The new digital-discrete method has considerable advantages for a large number of real data applications. This digital method also differs from other classical discrete methods that usually use triangulations. This method can potentially be used to obtain smooth functions such as polynomials through its derivatives f^(k) and the solution for partial differential equations such as harmonic and other important equations.

Aodong Chen, Fei Xu, Li Han et al.

GPUs have become the \emph{defacto} hardware devices for accelerating Deep Neural Network (DNN) inference workloads. However, the conventional \emph{sequential execution mode of DNN operators} in mainstream deep learning frameworks cannot fully utilize GPU resources, even with the operator fusion enabled, due to the increasing complexity of model structures and a greater diversity of operators. Moreover, the \emph{inadequate operator launch order} in parallelized execution scenarios can lead to GPU resource wastage and unexpected performance interference among operators. In this paper, we propose \emph{Opara}, a resource- and interference-aware DNN \underline{Op}erator \underline{para}llel scheduling framework to accelerate DNN inference on GPUs. Specifically, \emph{Opara} first employs \texttt{CUDA Streams} and \texttt{CUDA Graph} to \emph{parallelize} the execution of multiple operators automatically. To further expedite DNN inference, \emph{Opara} leverages the resource demands of operators to judiciously adjust the operator launch order on GPUs, overlapping the execution of compute-intensive and memory-intensive operators. We implement and open source a prototype of \emph{Opara} based on PyTorch in a \emph{non-intrusive} manner. Extensive prototype experiments with representative DNN and Transformer-based models demonstrate that \emph{Opara} outperforms the default sequential \texttt{CUDA Graph} in PyTorch and the state-of-the-art operator parallelism systems by up to $1.68\times$ and $1.29\times$, respectively, yet with acceptable runtime overhead.

Qiuqiang Kong, Haohe Liu, Xingjian Du et al.

Speech enhancement is a task to improve the intelligibility and perceptual quality of degraded speech signal. Recently, neural networks based methods have been applied to speech enhancement. However, many neural network based methods require noisy and clean speech pairs for training. We propose a speech enhancement framework that can be trained with large-scale weakly labelled AudioSet dataset. Weakly labelled data only contain audio tags of audio clips, but not the onset or offset times of speech. We first apply pretrained audio neural networks (PANNs) to detect anchor segments that contain speech or sound events in audio clips. Then, we randomly mix two detected anchor segments containing speech and sound events as a mixture, and build a conditional source separation network using PANNs predictions as soft conditions for speech enhancement. In inference, we input a noisy speech signal with the one-hot encoding of "Speech" as a condition to the trained system to predict enhanced speech. Our system achieves a PESQ of 2.28 and an SSNR of 8.75 dB on the VoiceBank-DEMAND dataset, outperforming the previous SEGAN system of 2.16 and 7.73 dB respectively.

Li Chen, Shuisheng Zhou, Jiajun Ma

Kernel-based clustering algorithm can identify and capture the non-linear structure in datasets, and thereby it can achieve better performance than linear clustering. However, computing and storing the entire kernel matrix occupy so large memory that it is difficult for kernel-based clustering to deal with large-scale datasets. In this paper, we employ incomplete Cholesky factorization to accelerate kernel clustering and save memory space. The key idea of the proposed kernel $k$-means clustering using incomplete Cholesky factorization is that we approximate the entire kernel matrix by the product of a low-rank matrix and its transposition. Then linear $k$-means clustering is applied to columns of the transpose of the low-rank matrix. We show both analytically and empirically that the performance of the proposed algorithm is similar to that of the kernel $k$-means clustering algorithm, but our method can deal with large-scale datasets.

Li Chen, Shuisheng Zhou

As enjoying the closed form solution, least squares support vector machine (LSSVM) has been widely used for classification and regression problems having the comparable performance with other types of SVMs. However, LSSVM has two drawbacks: sensitive to outliers and lacking sparseness. Robust LSSVM (R-LSSVM) overcomes the first partly via nonconvex truncated loss function, but the current algorithms for R-LSSVM with the dense solution are faced with the second drawback and are inefficient for training large-scale problems. In this paper, we interpret the robustness of R-LSSVM from a re-weighted viewpoint and give a primal R-LSSVM by the representer theorem. The new model may have sparse solution if the corresponding kernel matrix has low rank. Then approximating the kernel matrix by a low-rank matrix and smoothing the loss function by entropy penalty function, we propose a convergent sparse R-LSSVM (SR-LSSVM) algorithm to achieve the sparse solution of primal R-LSSVM, which overcomes two drawbacks of LSSVM simultaneously. The proposed algorithm has lower complexity than the existing algorithms and is very efficient for training large-scale problems. Many experimental results illustrate that SR-LSSVM can achieve better or comparable performance with less training time than related algorithms, especially for training large scale problems.

Song Wang, Dongchun Ren, Li Chen et al.

Recently, the deep neural network (derived from the artificial neural network) has attracted many researchers' attention by its outstanding performance. However, since this network requires high-performance GPUs and large storage, it is very hard to use it on individual devices. In order to improve the deep neural network, many trials have been made by refining the network structure or training strategy. Unlike those trials, in this paper, we focused on the basic propagation function of the artificial neural network and proposed the binarized deep neural network. This network is a pure binary system, in which all the values and calculations are binarized. As a result, our network can save a lot of computational resource and storage. Therefore, it is possible to use it on various devices. Moreover, the experimental results proved the feasibility of the proposed network.