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According to the World Health Organization, the involvement of Vulnerable Road Users (VRUs) in traffic accidents remains a significant concern, with VRUs accounting for over half of traffic fatalities. The increase of automation and connectivity levels of vehicles has still an uncertain impact on VRU safety. By deploying the Collective Perception Service (CPS), vehicles can include information about VRUs in Vehicle-to-Everything (V2X) messages, thus raising the general perception of the environment. Although an increased awareness is considered positive, one could argue that the awareness ratio, the metric used to measure perception, is only implicitly connected to the VRUs' safety. This paper introduces a tailored metric, the Risk Factor (RF), to measure the risk level for the interactions between Connected Automated Vehicles (CAVs) and VRUs. By evaluating the RF, we assess the impact of V2X communication on VRU risk mitigation. Our results show that high V2X penetration rates can reduce mean risk, quantified by our proposed metric, by up to 44%. Although the median risk value shows a significant decrease, suggesting a reduction in overall risk, the distribution of risk values reveals that CPS's mitigation effectiveness is overestimated, which is indicated by the divergence between RF and awareness ratio. Additionally, by analyzing a real-world traffic dataset, we pinpoint high-risk locations within a scenario, identifying areas near intersections and behind parked cars as especially dangerous. Our methodology can be ported and applied to other scenarios in order to identify high-risk areas. We value the proposed RF as an insightful metric for quantifying VRU safety in a highly automated and connected environment.

Segment Anything Model (SAM) has recently achieved amazing results in the field of natural image segmentation. However, it is not effective for medical image segmentation, owing to the large domain gap between natural and medical images. In this paper, we mainly focus on ultrasound image segmentation. As we know that it is very difficult to train a foundation model for ultrasound image data due to the lack of large-scale annotated ultrasound image data. To address these issues, in this paper, we develop a novel Breast Ultrasound SAM Adapter, termed Breast Ultrasound Segment Anything Model (BUSSAM), which migrates the SAM to the field of breast ultrasound image segmentation by using the adapter technique. To be specific, we first design a novel CNN image encoder, which is fully trained on the BUS dataset. Our CNN image encoder is more lightweight, and focuses more on features of local receptive field, which provides the complementary information to the ViT branch in SAM. Then, we design a novel Cross-Branch Adapter to allow the CNN image encoder to fully interact with the ViT image encoder in SAM module. Finally, we add both of the Position Adapter and the Feature Adapter to the ViT branch to fine-tune the original SAM. The experimental results on AMUBUS and BUSI datasets demonstrate that our proposed model outperforms other medical image segmentation models significantly. Our code will be available at: //github.com/bscs12/BUSSAM.

We introduce Groma, a Multimodal Large Language Model (MLLM) with grounded and fine-grained visual perception ability. Beyond holistic image understanding, Groma is adept at region-level tasks such as region captioning and visual grounding. Such capabilities are built upon a localized visual tokenization mechanism, where an image input is decomposed into regions of interest and subsequently encoded into region tokens. By integrating region tokens into user instructions and model responses, we seamlessly enable Groma to understand user-specified region inputs and ground its textual output to images. Besides, to enhance the grounded chat ability of Groma, we curate a visually grounded instruction dataset by leveraging the powerful GPT-4V and visual prompting techniques. Compared with MLLMs that rely on the language model or external module for localization, Groma consistently demonstrates superior performances in standard referring and grounding benchmarks, highlighting the advantages of embedding localization into image tokenization. Project page: //groma-mllm.github.io/.

Multimodal Large Language Models (MLLMs) have shown outstanding capabilities in many areas of multimodal reasoning. Therefore, we use the reasoning ability of Multimodal Large Language Models for environment description and scene understanding in complex transportation environments. In this paper, we propose AccidentBlip2, a multimodal large language model that can predict in real time whether an accident risk will occur. Our approach involves feature extraction based on the temporal scene of the six-view surround view graphs and temporal inference using the temporal blip framework through the vision transformer. We then input the generated temporal token into the MLLMs for inference to determine whether an accident will occur or not. Since AccidentBlip2 does not rely on any BEV images and LiDAR, the number of inference parameters and the inference cost of MLLMs can be significantly reduced, and it also does not incur a large training overhead during training. AccidentBlip2 outperforms existing solutions on the DeepAccident dataset and can also provide a reference solution for end-to-end automated driving accident prediction.

Neural Radiance Field (NeRF) is widely seen as an alternative to traditional physically-based rendering. However, NeRF has not yet seen its adoption in resource-limited mobile systems such as Virtual and Augmented Reality (VR/AR), because it is simply extremely slow. On a mobile Volta GPU, even the state-of-the-art NeRF models generally execute only at 0.8 FPS. We show that the main performance bottlenecks are both algorithmic and architectural. We introduce, CICERO, to tame both forms of inefficiencies. We first introduce two algorithms, one fundamentally reduces the amount of work any NeRF model has to execute, and the other eliminates irregular DRAM accesses. We then describe an on-chip data layout strategy that eliminates SRAM bank conflicts. A pure software implementation of CICERO offers an 8.0x speed-up and 7.9x energy saving over a mobile Volta GPU. When compared to a baseline with a dedicated DNN accelerator, our speed-up and energy reduction increase to 28.2x and 37.8x, respectively - all with minimal quality loss (less than 1.0 dB peak signal-to-noise ratio reduction).

Representing the environment is a central challenge in robotics, and is essential for effective decision-making. Traditionally, before capturing images with a manipulator-mounted camera, users need to calibrate the camera using a specific external marker, such as a checkerboard or AprilTag. However, recent advances in computer vision have led to the development of \emph{3D foundation models}. These are large, pre-trained neural networks that can establish fast and accurate multi-view correspondences with very few images, even in the absence of rich visual features. This paper advocates for the integration of 3D foundation models into scene representation approaches for robotic systems equipped with manipulator-mounted RGB cameras. Specifically, we propose the Joint Calibration and Representation (JCR) method. JCR uses RGB images, captured by a manipulator-mounted camera, to simultaneously construct an environmental representation and calibrate the camera relative to the robot's end-effector, in the absence of specific calibration markers. The resulting 3D environment representation is aligned with the robot's coordinate frame and maintains physically accurate scales. We demonstrate that JCR can build effective scene representations using a low-cost RGB camera attached to a manipulator, without prior calibration.

Recently, Mutual Information (MI) has attracted attention in bounding the generalization error of Deep Neural Networks (DNNs). However, it is intractable to accurately estimate the MI in DNNs, thus most previous works have to relax the MI bound, which in turn weakens the information theoretic explanation for generalization. To address the limitation, this paper introduces a probabilistic representation of DNNs for accurately estimating the MI. Leveraging the proposed MI estimator, we validate the information theoretic explanation for generalization, and derive a tighter generalization bound than the state-of-the-art relaxations.

Graph Neural Networks (GNNs) have been studied from the lens of expressive power and generalization. However, their optimization properties are less well understood. We take the first step towards analyzing GNN training by studying the gradient dynamics of GNNs. First, we analyze linearized GNNs and prove that despite the non-convexity of training, convergence to a global minimum at a linear rate is guaranteed under mild assumptions that we validate on real-world graphs. Second, we study what may affect the GNNs' training speed. Our results show that the training of GNNs is implicitly accelerated by skip connections, more depth, and/or a good label distribution. Empirical results confirm that our theoretical results for linearized GNNs align with the training behavior of nonlinear GNNs. Our results provide the first theoretical support for the success of GNNs with skip connections in terms of optimization, and suggest that deep GNNs with skip connections would be promising in practice.

Chatbot has become an important solution to rapidly increasing customer care demands on social media in recent years. However, current work on chatbot for customer care ignores a key to impact user experience - tones. In this work, we create a novel tone-aware chatbot that generates toned responses to user requests on social media. We first conduct a formative research, in which the effects of tones are studied. Significant and various influences of different tones on user experience are uncovered in the study. With the knowledge of effects of tones, we design a deep learning based chatbot that takes tone information into account. We train our system on over 1.5 million real customer care conversations collected from Twitter. The evaluation reveals that our tone-aware chatbot generates as appropriate responses to user requests as human agents. More importantly, our chatbot is perceived to be even more empathetic than human agents.

ASR (automatic speech recognition) systems like Siri, Alexa, Google Voice or Cortana has become quite popular recently. One of the key techniques enabling the practical use of such systems in people's daily life is deep learning. Though deep learning in computer vision is known to be vulnerable to adversarial perturbations, little is known whether such perturbations are still valid on the practical speech recognition. In this paper, we not only demonstrate such attacks can happen in reality, but also show that the attacks can be systematically conducted. To minimize users' attention, we choose to embed the voice commands into a song, called CommandSong. In this way, the song carrying the command can spread through radio, TV or even any media player installed in the portable devices like smartphones, potentially impacting millions of users in long distance. In particular, we overcome two major challenges: minimizing the revision of a song in the process of embedding commands, and letting the CommandSong spread through the air without losing the voice "command". Our evaluation demonstrates that we can craft random songs to "carry" any commands and the modify is extremely difficult to be noticed. Specially, the physical attack that we play the CommandSongs over the air and record them can success with 94 percentage.