Xiaoyan Sun

Yuqing Wen, Yucheng Zhao, Yingfei Liu et al.

The field of autonomous driving increasingly demands high-quality annotated training data. In this paper, we propose Panacea, an innovative approach to generate panoramic and controllable videos in driving scenarios, capable of yielding an unlimited numbers of diverse, annotated samples pivotal for autonomous driving advancements. Panacea addresses two critical challenges: 'Consistency' and 'Controllability.' Consistency ensures temporal and cross-view coherence, while Controllability ensures the alignment of generated content with corresponding annotations. Our approach integrates a novel 4D attention and a two-stage generation pipeline to maintain coherence, supplemented by the ControlNet framework for meticulous control by the Bird's-Eye-View (BEV) layouts. Extensive qualitative and quantitative evaluations of Panacea on the nuScenes dataset prove its effectiveness in generating high-quality multi-view driving-scene videos. This work notably propels the field of autonomous driving by effectively augmenting the training dataset used for advanced BEV perception techniques.

Yuqing Wen, Yucheng Zhao, Yingfei Liu et al.

The field of autonomous driving increasingly demands high-quality annotated video training data. In this paper, we propose Panacea+, a powerful and universally applicable framework for generating video data in driving scenes. Built upon the foundation of our previous work, Panacea, Panacea+ adopts a multi-view appearance noise prior mechanism and a super-resolution module for enhanced consistency and increased resolution. Extensive experiments show that the generated video samples from Panacea+ greatly benefit a wide range of tasks on different datasets, including 3D object tracking, 3D object detection, and lane detection tasks on the nuScenes and Argoverse 2 dataset. These results strongly prove Panacea+ to be a valuable data generation framework for autonomous driving.

Zheyu Zhang, Xinzhao Liu, Zheng Chen et al.

Multi-modal Magnetic Resonance Imaging (MRI) is imperative for accurate brain tumor segmentation, offering indispensable complementary information. Nonetheless, the absence of modalities poses significant challenges in achieving precise segmentation. Recognizing the shared anatomical structures between mono-modal and multi-modal representations, it is noteworthy that mono-modal images typically exhibit limited features in specific regions and tissues. In response to this, we present Anatomical Consistency Distillation and Inconsistency Synthesis (ACDIS), a novel framework designed to transfer anatomical structures from multi-modal to mono-modal representations and synthesize modality-specific features. ACDIS consists of two main components: Anatomical Consistency Distillation (ACD) and Modality Feature Synthesis Block (MFSB). ACD incorporates the Anatomical Feature Enhancement Block (AFEB), meticulously mining anatomical information. Simultaneously, Anatomical Consistency ConsTraints (ACCT) are employed to facilitate the consistent knowledge transfer, i.e., the richness of information and the similarity in anatomical structure, ensuring precise alignment of structural features across mono-modality and multi-modality. Complementarily, MFSB produces modality-specific features to rectify anatomical inconsistencies, thereby compensating for missing information in the segmented features. Through validation on the BraTS2018 and BraTS2020 datasets, ACDIS substantiates its efficacy in the segmentation of brain tumors with missing MRI modalities.

Yuqing Wen, Kefan Gu, Haoxuan Liu et al.

Vision-Language-Action (VLA) models have recently made significant advance in multi-task, end-to-end robotic control, due to the strong generalization capabilities of Vision-Language Models (VLMs). A fundamental challenge in developing such models is effectively aligning the vision-language space with the robotic action space. Existing approaches typically rely on directly fine-tuning VLMs using expert demonstrations. However, this strategy suffers from a spatio-temporal gap, resulting in considerable data inefficiency and heavy reliance on human labor. Spatially, VLMs operate within a high-level semantic space, whereas robotic actions are grounded in low-level 3D physical space; temporally, VLMs primarily interpret the present, while VLA models anticipate future actions. To overcome these challenges, we propose a novel training paradigm, ROSA, which leverages robot state estimation to improve alignment between vision-language and action spaces. By integrating robot state estimation data obtained via an automated process, ROSA enables the VLA model to gain enhanced spatial understanding and self-awareness, thereby boosting performance and generalization. Extensive experiments in both simulated and real-world environments demonstrate the effectiveness of ROSA, particularly in low-data regimes.

Feipeng Ma, Yizhou Zhou, Fengyun Rao et al.

Image captioning requires numerous annotated image-text pairs, resulting in substantial annotation costs. Recently, large models (e.g. diffusion models and large language models) have excelled in producing high-quality images and text. This potential can be harnessed to create synthetic image-text pairs for training captioning models. Synthetic data can improve cost and time efficiency in data collection, allow for customization to specific domains, bootstrap generalization capability for zero-shot performance, and circumvent privacy concerns associated with real-world data. However, existing methods struggle to attain satisfactory performance solely through synthetic data. We identify the issue as generated images from simple descriptions mostly capture a solitary perspective with limited context, failing to align with the intricate scenes prevalent in real-world imagery. To tackle this, we present an innovative pipeline that introduces multi-context data generation. Beginning with an initial text corpus, our approach employs a large language model to extract multiple sentences portraying the same scene from diverse viewpoints. These sentences are then condensed into a single sentence with multiple contexts. Subsequently, we generate intricate images using the condensed captions through diffusion models. Our model is exclusively trained on synthetic image-text pairs crafted through this process. The effectiveness of our pipeline is validated through experimental results in both the in-domain and cross-domain settings, where it achieves state-of-the-art performance on well-known datasets such as MSCOCO, Flickr30k, and NoCaps.