Xin Tan

Zhengyuan Peng, Qijian Tian, Jianqing Xu et al.

This paper explores a novel setting called Generalized Category Discovery in Semantic Segmentation (GCDSS), aiming to segment unlabeled images given prior knowledge from a labeled set of base classes. The unlabeled images contain pixels of the base class or novel class. In contrast to Novel Category Discovery in Semantic Segmentation (NCDSS), there is no prerequisite for prior knowledge mandating the existence of at least one novel class in each unlabeled image. Besides, we broaden the segmentation scope beyond foreground objects to include the entire image. Existing NCDSS methods rely on the aforementioned priors, making them challenging to truly apply in real-world situations. We propose a straightforward yet effective framework that reinterprets the GCDSS challenge as a task of mask classification. Additionally, we construct a baseline method and introduce the Neighborhood Relations-Guided Mask Clustering Algorithm (NeRG-MaskCA) for mask categorization to address the fragmentation in semantic representation. A benchmark dataset, Cityscapes-GCD, derived from the Cityscapes dataset, is established to evaluate the GCDSS framework. Our method demonstrates the feasibility of the GCDSS problem and the potential for discovering and segmenting novel object classes in unlabeled images. We employ the generated pseudo-labels from our approach as ground truth to supervise the training of other models, thereby enabling them with the ability to segment novel classes. It paves the way for further research in generalized category discovery, broadening the horizons of semantic segmentation and its applications. For details, please visit https://github.com/JethroPeng/GCDSS

Xin Tan, Meng Zhao

Accurate prediction of traffic accidents across different times and regions is vital for public safety. However, existing methods face two key challenges: 1) Generalization: Current models rely heavily on manually constructed multi-view structures, like POI distributions and road network densities, which are labor-intensive and difficult to scale across cities. 2) Real-Time Performance: While some methods improve accuracy with complex architectures, they often incur high computational costs, limiting their real-time applicability. To address these challenges, we propose SSL-eKamba, an efficient self-supervised framework for traffic accident prediction. To enhance generalization, we design two self-supervised auxiliary tasks that adaptively improve traffic pattern representation through spatiotemporal discrepancy awareness. For real-time performance, we introduce eKamba, an efficient model that redesigns the Kolmogorov-Arnold Network (KAN) architecture. This involves using learnable univariate functions for input activation and applying a selective mechanism (Selective SSM) to capture multi-variate correlations, thereby improving computational efficiency. Extensive experiments on two real-world datasets demonstrate that SSL-eKamba consistently outperforms state-of-the-art baselines. This framework may also offer new insights for other spatiotemporal tasks. Our source code is publicly available at http://github.com/KevinT618/SSL-eKamba.

Tianjun Gu, Linfeng Li, Xuhong Wang et al.

Adaptive navigation in unfamiliar environments is crucial for household service robots but remains challenging due to the need for both low-level path planning and high-level scene understanding. While recent vision-language model (VLM) based zero-shot approaches reduce dependence on prior maps and scene-specific training data, they face significant limitations: spatiotemporal discontinuity from discrete observations, unstructured memory representations, and insufficient task understanding leading to navigation failures. We propose DORAEMON (Decentralized Ontology-aware Reliable Agent with Enhanced Memory Oriented Navigation), a novel cognitive-inspired framework consisting of Ventral and Dorsal Streams that mimics human navigation capabilities. The Dorsal Stream implements the Hierarchical Semantic-Spatial Fusion and Topology Map to handle spatiotemporal discontinuities, while the Ventral Stream combines RAG-VLM and Policy-VLM to improve decision-making. Our approach also develops Nav-Ensurance to ensure navigation safety and efficiency. We evaluate DORAEMON on the HM3D, MP3D, and GOAT datasets, where it achieves state-of-the-art performance on both success rate (SR) and success weighted by path length (SPL) metrics, significantly outperforming existing methods. We also introduce a new evaluation metric (AORI) to assess navigation intelligence better. Comprehensive experiments demonstrate DORAEMON's effectiveness in zero-shot autonomous navigation without requiring prior map building or pre-training.