Modern autonomous driving system is characterized as modular tasks in sequential order, i.e., perception, prediction and planning. As sensors and hardware get improved, there is trending popularity to devise a system that can perform a wide diversity of tasks to fulfill higher-level intelligence. Contemporary approaches resort to either deploying standalone models for individual tasks, or designing a multi-task paradigm with separate heads. These might suffer from accumulative error or negative transfer effect. Instead, we argue that a favorable algorithm framework should be devised and optimized in pursuit of the ultimate goal, i.e. planning of the self-driving-car. Oriented at this goal, we revisit the key components within perception and prediction. We analyze each module and prioritize the tasks hierarchically, such that all these tasks contribute to planning (the goal). To this end, we introduce Unified Autonomous Driving (UniAD), the first comprehensive framework up-to-date that incorporates full-stack driving tasks in one network. It is exquisitely devised to leverage advantages of each module, and provide complementary feature abstractions for agent interaction from a global perspective. Tasks are communicated with unified query design to facilitate each other toward planning. We instantiate UniAD on the challenging nuScenes benchmark. With extensive ablations, the effectiveness of using such a philosophy is proven to surpass previous state-of-the-arts by a large margin in all aspects. The full suite of codebase and models would be available to facilitate future research in the community.

Fusing camera with LiDAR is a promising technique to improve the accuracy of 3D detection due to the complementary physical properties. While most existing methods focus on fusing camera features directly with raw LiDAR point clouds or shallow 3D features, it is observed that direct deep 3D feature fusion achieves inferior accuracy due to feature misalignment. The misalignment that originates from the feature aggregation across large receptive fields becomes increasingly severe for deep network stages. In this paper, we propose PathFusion to enable path-consistent LiDAR-camera deep feature fusion. PathFusion introduces a path consistency loss between shallow and deep features, which encourages the 2D backbone and its fusion path to transform 2D features in a way that is semantically aligned with the transform of the 3D backbone. We apply PathFusion to the prior-art fusion baseline, Focals Conv, and observe more than 1.2\% mAP improvements on the nuScenes test split consistently with and without testing-time augmentations. Moreover, PathFusion also improves KITTI AP3D (R11) by more than 0.6% on moderate level.

Following the development of digitization, a growing number of large Original Equipment Manufacturers (OEMs) are adapting computer vision or natural language processing in a wide range of applications such as anomaly detection and quality inspection in plants. Deployment of such a system is becoming an extremely important topic. Our work starts with the least-automated deployment technologies of machine learning systems includes several iterations of updates, and ends with a comparison of automated deployment techniques. The objective is, on the one hand, to compare the advantages and disadvantages of various technologies in theory and practice, so as to facilitate later adopters to avoid making the generalized mistakes when implementing actual use cases, and thereby choose a better strategy for their own enterprises. On the other hand, to raise awareness of the evaluation framework for the deployment of machine learning systems, to have more comprehensive and useful evaluation metrics (e.g. table 2), rather than only focusing on a single factor (e.g. company cost). This is especially important for decision-makers in the industry.

In recent years, semi-supervised graph learning with data augmentation (DA) is currently the most commonly used and best-performing method to enhance model robustness in sparse scenarios with few labeled samples. Differing from homogeneous graph, DA in heterogeneous graph has greater challenges: heterogeneity of information requires DA strategies to effectively handle heterogeneous relations, which considers the information contribution of different types of neighbors and edges to the target nodes. Furthermore, over-squashing of information is caused by the negative curvature that formed by the non-uniformity distribution and strong clustering in complex graph. To address these challenges, this paper presents a novel method named Semi-Supervised Heterogeneous Graph Learning with Multi-level Data Augmentation (HG-MDA). For the problem of heterogeneity of information in DA, node and topology augmentation strategies are proposed for the characteristics of heterogeneous graph. And meta-relation-based attention is applied as one of the indexes for selecting augmented nodes and edges. For the problem of over-squashing of information, triangle based edge adding and removing are designed to alleviate the negative curvature and bring the gain of topology. Finally, the loss function consists of the cross-entropy loss for labeled data and the consistency regularization for unlabeled data. In order to effectively fuse the prediction results of various DA strategies, the sharpening is used. Existing experiments on public datasets, i.e., ACM, DBLP, OGB, and industry dataset MB show that HG-MDA outperforms current SOTA models. Additionly, HG-MDA is applied to user identification in internet finance scenarios, helping the business to add 30% key users, and increase loans and balances by 3.6%, 11.1%, and 9.8%.

Existing learning-based multi-view stereo (MVS) methods rely on the depth range to build the 3D cost volume and may fail when the range is too large or unreliable. To address this problem, we propose a disparity-based MVS method based on the epipolar disparity flow (E-flow), called DispMVS, which infers the depth information from the pixel movement between two views. The core of DispMVS is to construct a 2D cost volume on the image plane along the epipolar line between each pair (between the reference image and several source images) for pixel matching and fuse uncountable depths triangulated from each pair by multi-view geometry to ensure multi-view consistency. To be robust, DispMVS starts from a randomly initialized depth map and iteratively refines the depth map with the help of the coarse-to-fine strategy. Experiments on DTUMVS and Tanks\&Temple datasets show that DispMVS is not sensitive to the depth range and achieves state-of-the-art results with lower GPU memory.

One-shot segmentation of brain tissues is typically a dual-model iterative learning: a registration model (reg-model) warps a carefully-labeled atlas onto unlabeled images to initialize their pseudo masks for training a segmentation model (seg-model); the seg-model revises the pseudo masks to enhance the reg-model for a better warping in the next iteration. However, there is a key weakness in such dual-model iteration that the spatial misalignment inevitably caused by the reg-model could misguide the seg-model, which makes it converge on an inferior segmentation performance eventually. In this paper, we propose a novel image-aligned style transformation to reinforce the dual-model iterative learning for robust one-shot segmentation of brain tissues. Specifically, we first utilize the reg-model to warp the atlas onto an unlabeled image, and then employ the Fourier-based amplitude exchange with perturbation to transplant the style of the unlabeled image into the aligned atlas. This allows the subsequent seg-model to learn on the aligned and style-transferred copies of the atlas instead of unlabeled images, which naturally guarantees the correct spatial correspondence of an image-mask training pair, without sacrificing the diversity of intensity patterns carried by the unlabeled images. Furthermore, we introduce a feature-aware content consistency in addition to the image-level similarity to constrain the reg-model for a promising initialization, which avoids the collapse of image-aligned style transformation in the first iteration. Experimental results on two public datasets demonstrate 1) a competitive segmentation performance of our method compared to the fully-supervised method, and 2) a superior performance over other state-of-the-art with an increase of average Dice by up to 4.67%. The source code is available at: https://github.com/JinxLv/One-shot-segmentation-via-IST.

Image super-resolution is a common task on mobile and IoT devices, where one often needs to upscale and enhance low-resolution images and video frames. While numerous solutions have been proposed for this problem in the past, they are usually not compatible with low-power mobile NPUs having many computational and memory constraints. In this Mobile AI challenge, we address this problem and propose the participants to design an efficient quantized image super-resolution solution that can demonstrate a real-time performance on mobile NPUs. The participants were provided with the DIV2K dataset and trained INT8 models to do a high-quality 3X image upscaling. The runtime of all models was evaluated on the Synaptics VS680 Smart Home board with a dedicated edge NPU capable of accelerating quantized neural networks. All proposed solutions are fully compatible with the above NPU, demonstrating an up to 60 FPS rate when reconstructing Full HD resolution images. A detailed description of all models developed in the challenge is provided in this paper.

We present a strong object detector with encoder-decoder pretraining and finetuning. Our method, called Group DETR v2, is built upon a vision transformer encoder ViT-Huge~\cite{dosovitskiy2020image}, a DETR variant DINO~\cite{zhang2022dino}, and an efficient DETR training method Group DETR~\cite{chen2022group}. The training process consists of self-supervised pretraining and finetuning a ViT-Huge encoder on ImageNet-1K, pretraining the detector on Object365, and finally finetuning it on COCO. Group DETR v2 achieves $\textbf{64.5}$ mAP on COCO test-dev, and establishes a new SoTA on the COCO leaderboard https://paperswithcode.com/sota/object-detection-on-coco

我们研究了从连续动作空间到离散动作空间的软参与者批评（SAC）的适应性。我们重新访问香草囊，并在应用于离散设置时对其Q值低估和性能不稳定性问题提供深入的了解。因此，我们建议使用Q-CLIP的熵 - 平均Q学习和双平均Q学习来解决这些问题。对具有离散动作空间（包括Atari游戏和大型MOBA游戏）的典型基准测试的广泛实验显示了我们提出的方法的功效。我们的代码在：https：//github.com/coldsummerday/revisiting-discrete-sac。

在各个领域（例如政治，健康和娱乐）中的真实和虚假新闻每天都通过在线社交媒体传播，需要对多个领域进行虚假新闻检测。其中，在政治和健康等特定领域中的虚假新闻对现实世界产生了更严重的潜在负面影响（例如，由Covid-19的错误信息引导的流行病）。先前的研究着重于多域假新闻检测，同样采矿和建模域之间的相关性。但是，这些多域方法遇到了SEESAW问题：某些域的性能通常会以损害其他域的性能而改善，这可能导致在特定领域的表现不满意。为了解决这个问题，我们建议一个用于假新闻检测（DITFEND）的域和实例级传输框架，这可以改善特定目标域的性能。为了传递粗粒域级知识，我们从元学习的角度训练了所有域数据的通用模型。为了传输细粒度的实例级知识并将一般模型调整到目标域，我们在目标域上训练语言模型，以评估每个数据实例在源域中的可传递性，并重新赢得每个实例的贡献。两个数据集上的离线实验证明了Ditfend的有效性。在线实验表明，在现实世界中，Ditfend对基本模型带来了更多改进。