Yongliang Wang

Xi Zhu, Xiya Cao, Zhiwei Dong et al.

Vision-centric Bird's-Eye View (BEV) representation is essential for autonomous driving systems (ADS). Multi-frame temporal fusion which leverages historical information has been demonstrated to provide more comprehensive perception results. While most research focuses on ego-centric maps of fixed settings, long-range local map generation remains less explored. This work outlines a new paradigm, named NeMO, for generating local maps through the utilization of a readable and writable big map, a learning-based fusion module, and an interaction mechanism between the two. With an assumption that the feature distribution of all BEV grids follows an identical pattern, we adopt a shared-weight neural network for all grids to update the big map. This paradigm supports the fusion of longer time series and the generation of long-range BEV local maps. Furthermore, we release BDD-Map, a BDD100K-based dataset incorporating map element annotations, including lane lines, boundaries, and pedestrian crossing. Experiments on the NuScenes and BDD-Map datasets demonstrate that NeMO outperforms state-of-the-art map segmentation methods. We also provide a new scene-level BEV map evaluation setting along with the corresponding baseline for a more comprehensive comparison.

Caifa Zhou, Xiya Cao, Dandan Zeng et al.

This paper introduces rotation-equivariance as a self-supervisor to train inertial odometry models. We demonstrate that the self-supervised scheme provides a powerful supervisory signal at training phase as well as at inference stage. It reduces the reliance on massive amounts of labeled data for training a robust model and makes it possible to update the model using various unlabeled data. Further, we propose adaptive Test-Time Training (TTT) based on uncertainty estimations in order to enhance the generalizability of the inertial odometry to various unseen data. We show in experiments that the Rotation-equivariance-supervised Inertial Odometry (RIO) trained with 30% data achieves on par performance with a model trained with the whole database. Adaptive TTT improves models performance in all cases and makes more than 25% improvements under several scenarios.

Yuchi Zhang, Yongliang Wang, Liping Zhang et al.

Diversity plays a vital role in many text generating applications. In recent years, Conditional Variational Auto Encoders (CVAE) have shown promising performances for this task. However, they often encounter the so called KL-Vanishing problem. Previous works mitigated such problem by heuristic methods such as strengthening the encoder or weakening the decoder while optimizing the CVAE objective function. Nevertheless, the optimizing direction of these methods are implicit and it is hard to find an appropriate degree to which these methods should be applied. In this paper, we propose an explicit optimizing objective to complement the CVAE to directly pull away from KL-vanishing. In fact, this objective term guides the encoder towards the "best encoder" of the decoder to enhance the expressiveness. A labeling network is introduced to estimate the "best encoder". It provides a continuous label in the latent space of CVAE to help build a close connection between latent variables and targets. The whole proposed method is named Self Labeling CVAE~(SLCVAE). To accelerate the research of diverse text generation, we also propose a large native one-to-many dataset. Extensive experiments are conducted on two tasks, which show that our method largely improves the generating diversity while achieving comparable accuracy compared with state-of-art algorithms.