In autonomous driving, addressing occlusion scenarios is crucial yet challenging. Robust surrounding perception is essential for handling occlusions and aiding motion planning. State-of-the-art models fuse Lidar and Camera data to produce impressive perception results, but detecting occluded objects remains challenging. In this paper, we emphasize the crucial role of temporal cues by integrating them alongside these modalities to address this challenge. We propose a novel approach for bird's eye view semantic grid segmentation, that leverages sequential sensor data to achieve robustness against occlusions. Our model extracts information from the sensor readings using attention operations and aggregates this information into a lower-dimensional latent representation, enabling thus the processing of multi-step inputs at each prediction step. Moreover, we show how it can also be directly applied to forecast the development of traffic scenes and be seamlessly integrated into a motion planner for trajectory planning. On the semantic segmentation tasks, we evaluate our model on the nuScenes dataset and show that it outperforms other baselines, with particularly large differences when evaluating on occluded and partially-occluded vehicles. Additionally, on motion planning task we are among the early teams to train and evaluate on nuPlan, a cutting-edge large-scale dataset for motion planning.
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Graphical User Interface (GUI) automation holds significant promise for assisting users with complex tasks, thereby boosting human productivity. Existing works leveraging Large Language Model (LLM) or LLM-based AI agents have shown capabilities in automating tasks on Android and Web platforms. However, these tasks are primarily aimed at simple device usage and entertainment operations. This paper presents a novel benchmark, AssistGUI, to evaluate whether models are capable of manipulating the mouse and keyboard on the Windows platform in response to user-requested tasks. We carefully collected a set of 100 tasks from nine widely-used software applications, such as, After Effects and MS Word, each accompanied by the necessary project files for better evaluation. Moreover, we propose an advanced Actor-Critic Embodied Agent framework, which incorporates a sophisticated GUI parser driven by an LLM-agent and an enhanced reasoning mechanism adept at handling lengthy procedural tasks. Our experimental results reveal that our GUI Parser and Reasoning mechanism outshine existing methods in performance. Nevertheless, the potential remains substantial, with the best model attaining only a 46% success rate on our benchmark. We conclude with a thorough analysis of the current methods' limitations, setting the stage for future breakthroughs in this domain.
Bangla typing is mostly performed using English keyboard and can be highly erroneous due to the presence of compound and similarly pronounced letters. Spelling correction of a misspelled word requires understanding of word typing pattern as well as the context of the word usage. A specialized BERT model named BSpell has been proposed in this paper targeted towards word for word correction in sentence level. BSpell contains an end-to-end trainable CNN sub-model named SemanticNet along with specialized auxiliary loss. This allows BSpell to specialize in highly inflected Bangla vocabulary in the presence of spelling errors. Furthermore, a hybrid pretraining scheme has been proposed for BSpell that combines word level and character level masking. Comparison on two Bangla and one Hindi spelling correction dataset shows the superiority of our proposed approach. BSpell is available as a Bangla spell checking tool via GitHub: //github.com/Hasiburshanto/Bangla-Spell-Checker
Place recognition is one of the most crucial modules for autonomous vehicles to identify places that were previously visited in GPS-invalid environments. Sensor fusion is considered an effective method to overcome the weaknesses of individual sensors. In recent years, multimodal place recognition fusing information from multiple sensors has gathered increasing attention. However, most existing multimodal place recognition methods only use limited field-of-view camera images, which leads to an imbalance between features from different modalities and limits the effectiveness of sensor fusion. In this paper, we present a novel neural network named LCPR for robust multimodal place recognition, which fuses LiDAR point clouds with multi-view RGB images to generate discriminative and yaw-rotation invariant representations of the environment. A multi-scale attention-based fusion module is proposed to fully exploit the panoramic views from different modalities of the environment and their correlations. We evaluate our method on the nuScenes dataset, and the experimental results show that our method can effectively utilize multi-view camera and LiDAR data to improve the place recognition performance while maintaining strong robustness to viewpoint changes. Our open-source code and pre-trained models are available at //github.com/ZhouZijie77/LCPR .
The quality of a face crop in an image is decided by many factors such as camera resolution, distance, and illumination condition. This makes the discrimination of face images with different qualities a challenging problem in realistic applications. However, most existing approaches are designed specifically for high-quality (HQ) or low-quality (LQ) images, and the performances would degrade for the mixed-quality images. Besides, many methods ask for pre-trained feature extractors or other auxiliary structures to support the training and the evaluation. In this paper, we point out that the key to better understand both the HQ and the LQ images simultaneously is to apply different learning methods according to their qualities. We propose a novel quality-guided joint training approach for mixed-quality face recognition, which could simultaneously learn the images of different qualities with a single encoder. Based on quality partition, classification-based method is employed for HQ data learning. Meanwhile, for the LQ images which lack identity information, we learn them with self-supervised image-image contrastive learning. To effectively catch up the model update and improve the discriminability of contrastive learning in our joint training scenario, we further propose a proxy-updated real-time queue to compose the contrastive pairs with features from the genuine encoder. Experiments on the low-quality datasets SCface and Tinyface, the mixed-quality dataset IJB-B, and five high-quality datasets demonstrate the effectiveness of our proposed approach in recognizing face images of different qualities.
Change Detection (CD) has been attracting extensive interests with the availability of bi-temporal datasets. However, due to the huge cost of multi-temporal images acquisition and labeling, existing change detection datasets are small in quantity, short in temporal, and low in practicability. Therefore, a large-scale practical-oriented dataset covering wide temporal phases is urgently needed to facilitate the community. To this end, the ChangeNet dataset is presented especially for multi-temporal change detection, along with the new task of ``Asymmetric Change Detection". Specifically, ChangeNet consists of 31,000 multi-temporal images pairs, a wide range of complex scenes from 100 cities, and 6 pixel-level annotated categories, which is far superior to all the existing change detection datasets including LEVIR-CD, WHU Building CD, etc.. In addition, ChangeNet contains amounts of real-world perspective distortions in different temporal phases on the same areas, which is able to promote the practical application of change detection algorithms. The ChangeNet dataset is suitable for both binary change detection (BCD) and semantic change detection (SCD) tasks. Accordingly, we benchmark the ChangeNet dataset on six BCD methods and two SCD methods, and extensive experiments demonstrate its challenges and great significance. The dataset is available at //github.com/jankyee/ChangeNet.
Robot manipulation relies on accurately predicting contact points and end-effector directions to ensure successful operation. However, learning-based robot manipulation, trained on a limited category within a simulator, often struggles to achieve generalizability, especially when confronted with extensive categories. Therefore, we introduce an innovative approach for robot manipulation that leverages the robust reasoning capabilities of Multimodal Large Language Models (MLLMs) to enhance the stability and generalization of manipulation. By fine-tuning the injected adapters, we preserve the inherent common sense and reasoning ability of the MLLMs while equipping them with the ability for manipulation. The fundamental insight lies in the introduced fine-tuning paradigm, encompassing object category understanding, affordance prior reasoning, and object-centric pose prediction to stimulate the reasoning ability of MLLM in manipulation. During inference, our approach utilizes an RGB image and text prompt to predict the end effector's pose in chain of thoughts. After the initial contact is established, an active impedance adaptation policy is introduced to plan the upcoming waypoints in a closed-loop manner. Moreover, in real world, we design a test-time adaptation (TTA) strategy for manipulation to enable the model better adapt to the current real-world scene configuration. Experiments in simulator and real-world show the promising performance of ManipLLM. More details and demonstrations can be found at //sites.google.com/view/manipllm.
Deep learning have achieved promising results on a wide spectrum of AI applications. Larger datasets and models consistently yield better performance. However, we generally spend longer training time on more computation and communication. In this survey, we aim to provide a clear sketch about the optimizations for large-scale deep learning with regard to the model accuracy and model efficiency. We investigate algorithms that are most commonly used for optimizing, elaborate the debatable topic of generalization gap arises in large-batch training, and review the SOTA strategies in addressing the communication overhead and reducing the memory footprints.
Generative commonsense reasoning which aims to empower machines to generate sentences with the capacity of reasoning over a set of concepts is a critical bottleneck for text generation. Even the state-of-the-art pre-trained language generation models struggle at this task and often produce implausible and anomalous sentences. One reason is that they rarely consider incorporating the knowledge graph which can provide rich relational information among the commonsense concepts. To promote the ability of commonsense reasoning for text generation, we propose a novel knowledge graph augmented pre-trained language generation model KG-BART, which encompasses the complex relations of concepts through the knowledge graph and produces more logical and natural sentences as output. Moreover, KG-BART can leverage the graph attention to aggregate the rich concept semantics that enhances the model generalization on unseen concept sets. Experiments on benchmark CommonGen dataset verify the effectiveness of our proposed approach by comparing with several strong pre-trained language generation models, particularly KG-BART outperforms BART by 5.80, 4.60, in terms of BLEU-3, 4. Moreover, we also show that the generated context by our model can work as background scenarios to benefit downstream commonsense QA tasks.
Named entity recognition (NER) in Chinese is essential but difficult because of the lack of natural delimiters. Therefore, Chinese Word Segmentation (CWS) is usually considered as the first step for Chinese NER. However, models based on word-level embeddings and lexicon features often suffer from segmentation errors and out-of-vocabulary (OOV) words. In this paper, we investigate a Convolutional Attention Network called CAN for Chinese NER, which consists of a character-based convolutional neural network (CNN) with local-attention layer and a gated recurrent unit (GRU) with global self-attention layer to capture the information from adjacent characters and sentence contexts. Also, compared to other models, not depending on any external resources like lexicons and employing small size of char embeddings make our model more practical. Extensive experimental results show that our approach outperforms state-of-the-art methods without word embedding and external lexicon resources on different domain datasets including Weibo, MSRA and Chinese Resume NER dataset.
Distant supervision can effectively label data for relation extraction, but suffers from the noise labeling problem. Recent works mainly perform soft bag-level noise reduction strategies to find the relatively better samples in a sentence bag, which is suboptimal compared with making a hard decision of false positive samples in sentence level. In this paper, we introduce an adversarial learning framework, which we named DSGAN, to learn a sentence-level true-positive generator. Inspired by Generative Adversarial Networks, we regard the positive samples generated by the generator as the negative samples to train the discriminator. The optimal generator is obtained until the discrimination ability of the discriminator has the greatest decline. We adopt the generator to filter distant supervision training dataset and redistribute the false positive instances into the negative set, in which way to provide a cleaned dataset for relation classification. The experimental results show that the proposed strategy significantly improves the performance of distant supervision relation extraction comparing to state-of-the-art systems.
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