Ying He

Fangze Lin, Ying He, Fei Yu

Personalized motion planning holds significant importance within urban automated driving, catering to the unique requirements of individual users. Nevertheless, prior endeavors have frequently encountered difficulties in simultaneously addressing two crucial aspects: personalized planning within intricate urban settings and enhancing planning performance through data utilization. The challenge arises from the expensive and limited nature of user data, coupled with the scene state space tending towards infinity. These factors contribute to overfitting and poor generalization problems during model training. Henceforth, we propose an instance-based transfer imitation learning approach. This method facilitates knowledge transfer from extensive expert domain data to the user domain, presenting a fundamental resolution to these issues. We initially train a pre-trained model using large-scale expert data. Subsequently, during the fine-tuning phase, we feed the batch data, which comprises expert and user data. Employing the inverse reinforcement learning technique, we extract the style feature distribution from user demonstrations, constructing the regularization term for the approximation of user style. In our experiments, we conducted extensive evaluations of the proposed method. Compared to the baseline methods, our approach mitigates the overfitting issue caused by sparse user data. Furthermore, we discovered that integrating the driving model with a differentiable nonlinear optimizer as a safety protection layer for end-to-end personalized fine-tuning results in superior planning performance.

Hao Liu, Minglin Chen, Yanni Ma et al.

Pre-training on large-scale unlabeled datasets contribute to the model achieving powerful performance on 3D vision tasks, especially when annotations are limited. However, existing rendering-based self-supervised frameworks are computationally demanding and memory-intensive during pre-training due to the inherent nature of volume rendering. In this paper, we propose an efficient framework named GS$^3$ to learn point cloud representation, which seamlessly integrates fast 3D Gaussian Splatting into the rendering-based framework. The core idea behind our framework is to pre-train the point cloud encoder by comparing rendered RGB images with real RGB images, as only Gaussian points enriched with learned rich geometric and appearance information can produce high-quality renderings. Specifically, we back-project the input RGB-D images into 3D space and use a point cloud encoder to extract point-wise features. Then, we predict 3D Gaussian points of the scene from the learned point cloud features and uses a tile-based rasterizer for image rendering. Finally, the pre-trained point cloud encoder can be fine-tuned to adapt to various downstream 3D tasks, including high-level perception tasks such as 3D segmentation and detection, as well as low-level tasks such as 3D scene reconstruction. Extensive experiments on downstream tasks demonstrate the strong transferability of the pre-trained point cloud encoder and the effectiveness of our self-supervised learning framework. In addition, our GS$^3$ framework is highly efficient, achieving approximately 9$\times$ pre-training speedup and less than 0.25$\times$ memory cost compared to the previous rendering-based framework Ponder.

Yifan Xie, Fei Ma, Yi Bin et al.

Talking face video generation with arbitrary speech audio is a significant challenge within the realm of digital human technology. The previous studies have emphasized the significance of audio-lip synchronization and visual quality. Currently, limited attention has been given to the learning of visual uncertainty, which creates several issues in existing systems, including inconsistent visual quality and unreliable performance across different input conditions. To address the problem, we propose a Joint Uncertainty Learning Network (JULNet) for high-quality talking face video generation, which incorporates a representation of uncertainty that is directly related to visual error. Specifically, we first design an uncertainty module to individually predict the error map and uncertainty map after obtaining the generated image. The error map represents the difference between the generated image and the ground truth image, while the uncertainty map is used to predict the probability of incorrect estimates. Furthermore, to match the uncertainty distribution with the error distribution through a KL divergence term, we introduce a histogram technique to approximate the distributions. By jointly optimizing error and uncertainty, the performance and robustness of our model can be enhanced. Extensive experiments demonstrate that our method achieves superior high-fidelity and audio-lip synchronization in talking face video generation compared to previous methods.