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Traffic anomaly detection (TAD) in driving videos is critical for ensuring the safety of autonomous driving and advanced driver assistance systems. Previous single-stage TAD methods primarily rely on frame prediction, making them vulnerable to interference from dynamic backgrounds induced by the rapid movement of the dashboard camera. While two-stage TAD methods appear to be a natural solution to mitigate such interference by pre-extracting background-independent features (such as bounding boxes and optical flow) using perceptual algorithms, they are susceptible to the performance of first-stage perceptual algorithms and may result in error propagation. In this paper, we introduce TTHF, a novel single-stage method aligning video clips with text prompts, offering a new perspective on traffic anomaly detection. Unlike previous approaches, the supervised signal of our method is derived from languages rather than orthogonal one-hot vectors, providing a more comprehensive representation. Further, concerning visual representation, we propose to model the high frequency of driving videos in the temporal domain. This modeling captures the dynamic changes of driving scenes, enhances the perception of driving behavior, and significantly improves the detection of traffic anomalies. In addition, to better perceive various types of traffic anomalies, we carefully design an attentive anomaly focusing mechanism that visually and linguistically guides the model to adaptively focus on the visual context of interest, thereby facilitating the detection of traffic anomalies. It is shown that our proposed TTHF achieves promising performance, outperforming state-of-the-art competitors by +5.4% AUC on the DoTA dataset and achieving high generalization on the DADA dataset.

Learning the skill of human bimanual grasping can extend the capabilities of robotic systems when grasping large or heavy objects. However, it requires a much larger search space for grasp points than single-hand grasping and numerous bimanual grasping annotations for network learning, making both data-driven or analytical grasping methods inefficient and insufficient. We propose a framework for bimanual grasp saliency learning that aims to predict the contact points for bimanual grasping based on existing human single-handed grasping data. We learn saliency corresponding vectors through minimal bimanual contact annotations that establishes correspondences between grasp positions of both hands, capable of eliminating the need for training a large-scale bimanual grasp dataset. The existing single-handed grasp saliency value serves as the initial value for bimanual grasp saliency, and we learn a saliency adjusted score that adds the initial value to obtain the final bimanual grasp saliency value, capable of predicting preferred bimanual grasp positions from single-handed grasp saliency. We also introduce a physics-balance loss function and a physics-aware refinement module that enables physical grasp balance, capable of enhancing the generalization of unknown objects. Comprehensive experiments in simulation and comparisons on dexterous grippers have demonstrated that our method can achieve balanced bimanual grasping effectively.

Executing safe and precise flight maneuvers in dynamic high-speed winds is important for the ongoing commoditization of uninhabited aerial vehicles (UAVs). However, because the relationship between various wind conditions and its effect on aircraft maneuverability is not well understood, it is challenging to design effective robot controllers using traditional control design methods. We present Neural-Fly, a learning-based approach that allows rapid online adaptation by incorporating pretrained representations through deep learning. Neural-Fly builds on two key observations that aerodynamics in different wind conditions share a common representation and that the wind-specific part lies in a low-dimensional space. To that end, Neural-Fly uses a proposed learning algorithm, domain adversarially invariant meta-learning (DAIML), to learn the shared representation, only using 12 minutes of flight data. With the learned representation as a basis, Neural-Fly then uses a composite adaptation law to update a set of linear coefficients for mixing the basis elements. When evaluated under challenging wind conditions generated with the Caltech Real Weather Wind Tunnel, with wind speeds up to 43.6 kilometers/hour (12.1 meters/second), Neural-Fly achieves precise flight control with substantially smaller tracking error than state-of-the-art nonlinear and adaptive controllers. In addition to strong empirical performance, the exponential stability of Neural-Fly results in robustness guarantees. Last, our control design extrapolates to unseen wind conditions, is shown to be effective for outdoor flights with only onboard sensors, and can transfer across drones with minimal performance degradation.

Monitoring the integrity of object detection for errors within the perception module of automated driving systems (ADS) is paramount for ensuring safety. Despite recent advancements in deep neural network (DNN)-based object detectors, their susceptibility to detection errors, particularly in the less-explored realm of 3D object detection, remains a significant concern. State-of-the-art integrity monitoring (also known as introspection) mechanisms in 2D object detection mainly utilise the activation patterns in the final layer of the DNN-based detector's backbone. However, that may not sufficiently address the complexities and sparsity of data in 3D object detection. To this end, we conduct, in this article, an extensive investigation into the effects of activation patterns extracted from various layers of the backbone network for introspecting the operation of 3D object detectors. Through a comparative analysis using Kitti and NuScenes datasets with PointPillars and CenterPoint detectors, we demonstrate that using earlier layers' activation patterns enhances the error detection performance of the integrity monitoring system, yet increases computational complexity. To address the real-time operation requirements in ADS, we also introduce a novel introspection method that combines activation patterns from multiple layers of the detector's backbone and report its performance.

Adapting driving behavior to new environments, customs, and laws is a long-standing problem in autonomous driving, precluding the widespread deployment of autonomous vehicles (AVs). In this paper, we present LLaDA, a simple yet powerful tool that enables human drivers and autonomous vehicles alike to drive everywhere by adapting their tasks and motion plans to traffic rules in new locations. LLaDA achieves this by leveraging the impressive zero-shot generalizability of large language models (LLMs) in interpreting the traffic rules in the local driver handbook. Through an extensive user study, we show that LLaDA's instructions are useful in disambiguating in-the-wild unexpected situations. We also demonstrate LLaDA's ability to adapt AV motion planning policies in real-world datasets; LLaDA outperforms baseline planning approaches on all our metrics. Please check our website for more details: //boyiliee.github.io/llada.

Deep subspace clustering methods are now prominent in clustering, typically using fully connected networks and a self-representation loss function. However, these methods often struggle with overfitting and lack interpretability. In this paper, we explore an alternative clustering approach based on deep unfolding. By unfolding iterative optimization methods into neural networks, this approach offers enhanced interpretability and reliability compared to data-driven deep learning methods, and greater adaptability and generalization than model-based approaches. Hence, unfolding has become widely used in inverse imaging problems, such as image restoration, reconstruction, and super-resolution, but has not been sufficiently explored yet in the context of clustering. In this work, we introduce an innovative clustering architecture for hyperspectral images (HSI) by unfolding an iterative solver based on the Alternating Direction Method of Multipliers (ADMM) for sparse subspace clustering. To our knowledge, this is the first attempt to apply unfolding ADMM for computing the self-representation matrix in subspace clustering. Moreover, our approach captures well the structural characteristics of HSI data by employing the K nearest neighbors algorithm as part of a structure preservation module. Experimental evaluation of three established HSI datasets shows clearly the potential of the unfolding approach in HSI clustering and even demonstrates superior performance compared to state-of-the-art techniques.

3D object detection based on roadside cameras is an additional way for autonomous driving to alleviate the challenges of occlusion and short perception range from vehicle cameras. Previous methods for roadside 3D object detection mainly focus on modeling the depth or height of objects, neglecting the stationary of cameras and the characteristic of inter-frame consistency. In this work, we propose a novel framework, namely MOSE, for MOnocular 3D object detection with Scene cuEs. The scene cues are the frame-invariant scene-specific features, which are crucial for object localization and can be intuitively regarded as the height between the surface of the real road and the virtual ground plane. In the proposed framework, a scene cue bank is designed to aggregate scene cues from multiple frames of the same scene with a carefully designed extrinsic augmentation strategy. Then, a transformer-based decoder lifts the aggregated scene cues as well as the 3D position embeddings for 3D object location, which boosts generalization ability in heterologous scenes. The extensive experiment results on two public benchmarks demonstrate the state-of-the-art performance of the proposed method, which surpasses the existing methods by a large margin.

Agile-legged robots have proven to be highly effective in navigating and performing tasks in complex and challenging environments, including disaster zones and industrial settings. However, these applications normally require the capability of carrying heavy loads while maintaining dynamic motion. Therefore, this paper presents a novel methodology for incorporating adaptive control into a force-based control system. Recent advancements in the control of quadruped robots show that force control can effectively realize dynamic locomotion over rough terrain. By integrating adaptive control into the force-based controller, our proposed approach can maintain the advantages of the baseline framework while adapting to significant model uncertainties and unknown terrain impact models. Experimental validation was successfully conducted on the Unitree A1 robot. With our approach, the robot can carry heavy loads (up to 50% of its weight) while performing dynamic gaits such as fast trotting and bounding across uneven terrains.

Accurate trajectory prediction is crucial for safe and efficient autonomous driving, but handling partial observations presents significant challenges. To address this, we propose a novel trajectory prediction framework called Partial Observations Prediction (POP) for congested urban road scenarios. The framework consists of two key stages: self-supervised learning (SSL) and feature distillation. POP first employs SLL to help the model learn to reconstruct history representations, and then utilizes feature distillation as the fine-tuning task to transfer knowledge from the teacher model, which has been pre-trained with complete observations, to the student model, which has only few observations. POP achieves comparable results to top-performing methods in open-loop experiments and outperforms the baseline method in closed-loop simulations, including safety metrics. Qualitative results illustrate the superiority of POP in providing reasonable and safe trajectory predictions.

The capacity and effectiveness of pre-trained multilingual models (MLMs) for zero-shot cross-lingual transfer is well established. However, phenomena of positive or negative transfer, and the effect of language choice still need to be fully understood, especially in the complex setting of massively multilingual LMs. We propose an \textit{efficient} method to study transfer language influence in zero-shot performance on another target language. Unlike previous work, our approach disentangles downstream tasks from language, using dedicated adapter units. Our findings suggest that some languages do not largely affect others, while some languages, especially ones unseen during pre-training, can be extremely beneficial or detrimental for different target languages. We find that no transfer language is beneficial for all target languages. We do, curiously, observe languages previously unseen by MLMs consistently benefit from transfer from almost any language. We additionally use our modular approach to quantify negative interference efficiently and categorize languages accordingly. Furthermore, we provide a list of promising transfer-target language configurations that consistently lead to target language performance improvements. Code and data are publicly available: //github.com/ffaisal93/neg_inf