Wuqi Wang

Wuqi Wang, Haochen Yang, Baolu Li et al.

The low-light conditions are challenging to the vision-centric perception systems for autonomous driving in the dark environment. In this paper, we propose a new benchmark dataset (named DarkDriving) to investigate the low-light enhancement for autonomous driving. The existing real-world low-light enhancement benchmark datasets can be collected by controlling various exposures only in small-ranges and static scenes. The dark images of the current nighttime driving datasets do not have the precisely aligned daytime counterparts. The extreme difficulty to collect a real-world day and night aligned dataset in the dynamic driving scenes significantly limited the research in this area. With a proposed automatic day-night Trajectory Tracking based Pose Matching (TTPM) method in a large real-world closed driving test field (area: 69 acres), we collected the first real-world day and night aligned dataset for autonomous driving in the dark environment. The DarkDriving dataset has 9,538 day and night image pairs precisely aligned in location and spatial contents, whose alignment error is in just several centimeters. For each pair, we also manually label the object 2D bounding boxes. DarkDriving introduces four perception related tasks, including low-light enhancement, generalized low-light enhancement, and low-light enhancement for 2D detection and 3D detection of autonomous driving in the dark environment. The experimental results show that our DarkDriving dataset provides a comprehensive benchmark for evaluating low-light enhancement for autonomous driving and it can also be generalized to enhance dark images and promote detection in some other low-light driving environment, such as nuScenes.

Xinmeng Hou, Lingyue Fu, Chenhao Meng et al.

Aspect-Opinion Pair Extraction (AOPE) and Aspect Sentiment Triplet Extraction (ASTE) have drawn growing attention in NLP. However, most existing approaches extract aspects and opinions independently, optionally adding pairwise relations, often leading to error propagation and high time complexity. To address these challenges and being inspired by transition-based dependency parsing, we propose the first transition-based model for AOPE and ASTE that performs aspect and opinion extraction jointly, which also better captures position-aware aspect-opinion relations and mitigates entity-level bias. By integrating contrastive-augmented optimization, our model delivers more accurate action predictions and jointly optimizes separate subtasks in linear time. Extensive experiments on 4 commonly used ASTE/AOPE datasets show that, while performing worse when trained on a single dataset than some previous models, our model achieves the best performance on both ASTE and AOPE if trained on combined datasets, outperforming the strongest previous models in F1-measures (often by a large margin). We hypothesize that this is due to our model's ability to learn transition actions from multiple datasets and domains. Our code is available at https://anonymous.4open.science/r/trans_aste-8FCF.

Bing Li, Wuqi Wang, Yanan Zhang et al.

LiDAR-based 3D object detectors are fundamental to autonomous driving, where failing to detect objects poses severe safety risks. Developing effective 3D adversarial attacks is essential for thoroughly testing these detection systems and exposing their vulnerabilities before real-world deployment. However, existing adversarial attacks that add optimized perturbations to 3D points have two critical limitations: they rarely cause complete object disappearance and prove difficult to implement in physical environments. We introduce the text-to-3D adversarial generation method, a novel approach enabling physically realizable attacks that can generate 3D models of objects truly invisible to LiDAR detectors and be easily realized in the real world. Specifically, we present the first empirical study that systematically investigates the factors influencing detection vulnerability by manipulating the topology, connectivity, and intensity of individual pedestrian 3D models and combining pedestrians with multiple objects within the CARLA simulation environment. Building on the insights, we propose the physically-informed text-to-3D adversarial generation (Phy3DAdvGen) that systematically optimizes text prompts by iteratively refining verbs, objects, and poses to produce LiDAR-invisible pedestrians. To ensure physical realizability, we construct a comprehensive object pool containing 13 3D models of real objects and constrain Phy3DAdvGen to generate 3D objects based on combinations of objects in this set. Extensive experiments demonstrate that our approach can generate 3D pedestrians that evade six state-of-the-art (SOTA) LiDAR 3D detectors in both CARLA simulation and physical environments, thereby highlighting vulnerabilities in safety-critical applications.