LIDAR-based 3D object detection and classification is crucial for autonomous driving. However, inference in real-time from extremely sparse 3D data poses a formidable challenge. To address this issue, a common approach is to project point clouds onto a bird's-eye or perspective view, effectively converting them into an image-like data format. However, this excessive compression of point cloud data often leads to the loss of information. This paper proposes a 3D object detector based on voxel and projection double branch feature extraction (PV-SSD) to address the problem of information loss. We add voxel features input containing rich local semantic information, which is fully fused with the projected features in the feature extraction stage to reduce the local information loss caused by projection. A good performance is achieved compared to the previous work. In addition, this paper makes the following contributions: 1) a voxel feature extraction method with variable receptive fields is proposed; 2) a feature point sampling method by weight sampling is used to filter out the feature points that are more conducive to the detection task; 3) the MSSFA module is proposed based on the SSFA module. To verify the effectiveness of our method, we designed comparison experiments.
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Intent detection and identification from multi-turn dialogue has become a widely explored technique in conversational agents, for example, voice assistants and intelligent customer services. The conventional approaches typically cast the intent mining process as a classification task. Although neural classifiers have proven adept at such classification tasks, the issue of neural network models often impedes their practical deployment in real-world settings. We present a novel graph-based multi-turn dialogue system called , which identifies a user's intent by identifying intent elements and a standard query from a dynamically constructed and extensible intent graph using reinforcement learning. In addition, we provide visualization components to monitor the immediate reasoning path for each turn of a dialogue, which greatly facilitates further improvement of the system.
Roadside camera-driven 3D object detection is a crucial task in intelligent transportation systems, which extends the perception range beyond the limitations of vision-centric vehicles and enhances road safety. While previous studies have limitations in using only depth or height information, we find both depth and height matter and they are in fact complementary. The depth feature encompasses precise geometric cues, whereas the height feature is primarily focused on distinguishing between various categories of height intervals, essentially providing semantic context. This insight motivates the development of Complementary-BEV (CoBEV), a novel end-to-end monocular 3D object detection framework that integrates depth and height to construct robust BEV representations. In essence, CoBEV estimates each pixel's depth and height distribution and lifts the camera features into 3D space for lateral fusion using the newly proposed two-stage complementary feature selection (CFS) module. A BEV feature distillation framework is also seamlessly integrated to further enhance the detection accuracy from the prior knowledge of the fusion-modal CoBEV teacher. We conduct extensive experiments on the public 3D detection benchmarks of roadside camera-based DAIR-V2X-I and Rope3D, as well as the private Supremind-Road dataset, demonstrating that CoBEV not only achieves the accuracy of the new state-of-the-art, but also significantly advances the robustness of previous methods in challenging long-distance scenarios and noisy camera disturbance, and enhances generalization by a large margin in heterologous settings with drastic changes in scene and camera parameters. For the first time, the vehicle AP score of a camera model reaches 80% on DAIR-V2X-I in terms of easy mode. The source code will be made publicly available at //github.com/MasterHow/CoBEV.
Previous zero-shot dialogue state tracking (DST) methods only apply transfer learning, but ignore unlabelled data in the target domain. We transform zero-shot DST into few-shot DST by utilising such unlabelled data via joint and self-training methods. Our method incorporates auxiliary tasks that generate slot types as inverse prompts for main tasks, creating slot values during joint training. Cycle consistency between these two tasks enables the generation and selection of quality samples in unknown target domains for subsequent fine-tuning. This approach also facilitates automatic label creation, thereby optimizing the training and fine-tuning of DST models. We demonstrate this method's effectiveness on large language models in zero-shot scenarios, improving average joint goal accuracy by $8\%$ across all domains in MultiWOZ.
Hybrid tabular-textual question answering (QA) requires reasoning from heterogeneous information, and the types of reasoning are mainly divided into numerical reasoning and span extraction. Current numerical reasoning methods autoregressively decode program sequences, and each decoding step produces either an operator or an operand. However, the step-by-step decoding suffers from exposure bias, and the accuracy of program generation drops sharply as the decoding steps unfold due to error propagation. In this paper, we propose a non-autoregressive program generation framework, which independently generates complete program tuples containing both operators and operands, can address the error propagation issue while significantly boosting the speed of program generation. Experiments on the ConvFinQA and MultiHiertt datasets show that our non-autoregressive program generation method can bring about substantial improvements over the strong FinQANet (+5.06 Exe Acc and +4.80 Prog Acc points) and MT2Net (+7.97 EM and +6.38 F1 points) baselines, establishing the new state-of-the-art performance, while being much faster (21x) in program generation. Finally, with increasing numbers of numerical reasoning steps the performance drop of our method is significantly smaller than that of the baselines. Our code will be publicly available soon.
Target-oriented dialogue systems, designed to proactively steer conversations toward predefined targets or accomplish specific system-side goals, are an exciting area in conversational AI. In this work, by formulating a <dialogue act, topic> pair as the conversation target, we explore a novel problem of personalized target-oriented dialogue by considering personalization during the target accomplishment process. However, there remains an emergent need for high-quality datasets, and building one from scratch requires tremendous human effort. To address this, we propose an automatic dataset curation framework using a role-playing approach. Based on this framework, we construct a large-scale personalized target-oriented dialogue dataset, TopDial, which comprises about 18K multi-turn dialogues. The experimental results show that this dataset is of high quality and could contribute to exploring personalized target-oriented dialogue.
Modern detection transformers (DETRs) use a set of object queries to predict a list of bounding boxes, sort them by their classification confidence scores, and select the top-ranked predictions as the final detection results for the given input image. A highly performant object detector requires accurate ranking for the bounding box predictions. For DETR-based detectors, the top-ranked bounding boxes suffer from less accurate localization quality due to the misalignment between classification scores and localization accuracy, thus impeding the construction of high-quality detectors. In this work, we introduce a simple and highly performant DETR-based object detector by proposing a series of rank-oriented designs, combinedly called Rank-DETR. Our key contributions include: (i) a rank-oriented architecture design that can prompt positive predictions and suppress the negative ones to ensure lower false positive rates, as well as (ii) a rank-oriented loss function and matching cost design that prioritizes predictions of more accurate localization accuracy during ranking to boost the AP under high IoU thresholds. We apply our method to improve the recent SOTA methods (e.g., H-DETR and DINO-DETR) and report strong COCO object detection results when using different backbones such as ResNet-$50$, Swin-T, and Swin-L, demonstrating the effectiveness of our approach. Code is available at \url{//github.com/LeapLabTHU/Rank-DETR}.
Visual instruction tuning large language model(LLM) on image-text pairs has achieved general-purpose vision-language abilities. However, the lack of region-text pairs limits their advancements to fine-grained multimodal understanding. In this paper, we propose spatial instruction tuning, which introduces the reference to the region-of-interest(RoI) in the instruction. Before sending to LLM, the reference is replaced by RoI features and interleaved with language embeddings as a sequence. Our model GPT4RoI, trained on 7 region-text pair datasets, brings an unprecedented interactive and conversational experience compared to previous image-level models. (1) Interaction beyond language: Users can interact with our model by both language and drawing bounding boxes to flexibly adjust the referring granularity. (2) Versatile multimodal abilities: A variety of attribute information within each RoI can be mined by GPT4RoI, e.g., color, shape, material, action, etc. Furthermore, it can reason about multiple RoIs based on common sense. On the Visual Commonsense Reasoning(VCR) dataset, GPT4RoI achieves a remarkable accuracy of 81.6%, surpassing all existing models by a significant margin (the second place is 75.6%) and almost reaching human-level performance of 85.0%. The code, dataset, and demo can be found at //github.com/jshilong/GPT4RoI.
In many visual systems, visual tracking often bases on RGB image sequences, in which some targets are invalid in low-light conditions, and tracking performance is thus affected significantly. Introducing other modalities such as depth and infrared data is an effective way to handle imaging limitations of individual sources, but multi-modal imaging platforms usually require elaborate designs and cannot be applied in many real-world applications at present. Near-infrared (NIR) imaging becomes an essential part of many surveillance cameras, whose imaging is switchable between RGB and NIR based on the light intensity. These two modalities are heterogeneous with very different visual properties and thus bring big challenges for visual tracking. However, existing works have not studied this challenging problem. In this work, we address the cross-modal object tracking problem and contribute a new video dataset, including 654 cross-modal image sequences with over 481K frames in total, and the average video length is more than 735 frames. To promote the research and development of cross-modal object tracking, we propose a new algorithm, which learns the modality-aware target representation to mitigate the appearance gap between RGB and NIR modalities in the tracking process. It is plug-and-play and could thus be flexibly embedded into different tracking frameworks. Extensive experiments on the dataset are conducted, and we demonstrate the effectiveness of the proposed algorithm in two representative tracking frameworks against 17 state-of-the-art tracking methods. We will release the dataset for free academic usage, dataset download link and code will be released soon.
Transformer-based pretrained language models (T-PTLMs) have achieved great success in almost every NLP task. The evolution of these models started with GPT and BERT. These models are built on the top of transformers, self-supervised learning and transfer learning. Transformed-based PTLMs learn universal language representations from large volumes of text data using self-supervised learning and transfer this knowledge to downstream tasks. These models provide good background knowledge to downstream tasks which avoids training of downstream models from scratch. In this comprehensive survey paper, we initially give a brief overview of self-supervised learning. Next, we explain various core concepts like pretraining, pretraining methods, pretraining tasks, embeddings and downstream adaptation methods. Next, we present a new taxonomy of T-PTLMs and then give brief overview of various benchmarks including both intrinsic and extrinsic. We present a summary of various useful libraries to work with T-PTLMs. Finally, we highlight some of the future research directions which will further improve these models. We strongly believe that this comprehensive survey paper will serve as a good reference to learn the core concepts as well as to stay updated with the recent happenings in T-PTLMs.
Most object recognition approaches predominantly focus on learning discriminative visual patterns while overlooking the holistic object structure. Though important, structure modeling usually requires significant manual annotations and therefore is labor-intensive. In this paper, we propose to "look into object" (explicitly yet intrinsically model the object structure) through incorporating self-supervisions into the traditional framework. We show the recognition backbone can be substantially enhanced for more robust representation learning, without any cost of extra annotation and inference speed. Specifically, we first propose an object-extent learning module for localizing the object according to the visual patterns shared among the instances in the same category. We then design a spatial context learning module for modeling the internal structures of the object, through predicting the relative positions within the extent. These two modules can be easily plugged into any backbone networks during training and detached at inference time. Extensive experiments show that our look-into-object approach (LIO) achieves large performance gain on a number of benchmarks, including generic object recognition (ImageNet) and fine-grained object recognition tasks (CUB, Cars, Aircraft). We also show that this learning paradigm is highly generalizable to other tasks such as object detection and segmentation (MS COCO). Project page: //github.com/JDAI-CV/LIO.
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