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.

Deep reinforcement learning (DRL) requires the collection of plenty of interventional data, which is sometimes expensive and even unethical in the real world, such as in the autonomous driving and the medical field. Offline reinforcement learning promises to alleviate this issue by exploiting the vast amount of observational data available in the real world. However, observational data may mislead the learning agent to undesirable outcomes if the behavior policy that generates the data depends on unobserved random variables (i.e., confounders). In this paper, we propose two deconfounding methods in DRL to address this problem. The methods first calculate the importance degree of different samples based on the causal inference technique, and then adjust the impact of different samples on the loss function by reweighting or resampling the offline dataset to ensure its unbiasedness. These deconfounding methods can be flexibly combined with the existing model-free DRL algorithms such as soft actor-critic and deep Q-learning, provided that a weak condition can be satisfied by the loss functions of these algorithms. We prove the effectiveness of our deconfounding methods and validate them experimentally.

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.

High-quality traffic flow generation is the core module in building simulators for autonomous driving. However, the majority of available simulators are incapable of replicating traffic patterns that accurately reflect the various features of real-world data while also simulating human-like reactive responses to the tested autopilot driving strategies. Taking one step forward to addressing such a problem, we propose Realistic Interactive TrAffic flow (RITA) as an integrated component of existing driving simulators to provide high-quality traffic flow for the evaluation and optimization of the tested driving strategies. RITA is developed with fidelity, diversity, and controllability in consideration, and consists of two core modules called RITABackend and RITAKit. RITABackend is built to support vehicle-wise control and provide traffic generation models from real-world datasets, while RITAKit is developed with easy-to-use interfaces for controllable traffic generation via RITABackend. We demonstrate RITA's capacity to create diversified and high-fidelity traffic simulations in several highly interactive highway scenarios. The experimental findings demonstrate that our produced RITA traffic flows meet all three design goals, hence enhancing the completeness of driving strategy evaluation. Moreover, we showcase the possibility for further improvement of baseline strategies through online fine-tuning with RITA traffic flows.

本文介绍了Kings Arena的荣誉，Kings Arena是基于国王荣誉的强化学习（RL）环境，这是世界上最受欢迎的游戏之一。与以前大多数工作中研究的其他环境相比，我们的人对竞争性强化学习提出了新的概括挑战。与对手竞争的一个代理商是一个多代理的问题；它需要概括能力，因为它具有控制和不同的对手竞争的不同目标。我们描述了国王域名荣誉的观察，动作和奖励规范，并提供了一个基于python的开源界面，以与游戏引擎进行通信。我们为纪念国王竞技场的二十个目标英雄提供了各种任务，并为具有可行的计算资源的基于RL的方法提供了初始基线结果。最后，我们展示了国王竞技场的荣誉和对挑战的可能补救措施所面临的概括挑战。所有软件（包括环境级）均可在https://github.com/tencent-ailab/hok_env上公开获得。该文档可在https://aiarena.tencent.com/hok/doc/上获得。

玻璃在我们的日常生活中非常普遍。现有的计算机视觉系统忽略了它，因此可能会产生严重的后果，例如，机器人可能会坠入玻璃墙。但是，感知玻璃的存在并不简单。关键的挑战是，任意物体/场景可以出现在玻璃后面。在本文中，我们提出了一个重要的问题，即从单个RGB图像中检测玻璃表面。为了解决这个问题，我们构建了第一个大规模玻璃检测数据集（GDD），并提出了一个名为GDNet-B的新颖玻璃检测网络，该网络通过新颖的大型场探索大型视野中的丰富上下文提示上下文特征集成（LCFI）模块并将高级和低级边界特征与边界特征增强（BFE）模块集成在一起。广泛的实验表明，我们的GDNET-B可以在GDD测试集内外的图像上达到满足玻璃检测结果。我们通过将其应用于其他视觉任务（包括镜像分割和显着对象检测）来进一步验证我们提出的GDNET-B的有效性和概括能力。最后，我们显示了玻璃检测的潜在应用，并讨论了可能的未来研究方向。

最近的蒙版图像建模（MIM）在自我监督学习（SSL）中受到了很多关注，该学习要求目标模型恢复输入图像的掩盖部分。尽管基于MIM的预训练方法在转移到许多下游任务时达到了新的最新性能，但可视化表明，与基于基于对比性学习预训练相比，学习的表示形式不可分割，尤其是相比。这激发了我们思考MIM预培训表示的线性可分离性是否可以进一步改善，从而改善了训练的性能。由于MIM和对比度学习倾向于利用不同的数据增强和培训策略，因此将这两个借口任务结合起来并不是微不足道的。在这项工作中，我们提出了一个新颖而灵活的预训练框架，名为Mimco，该框架通过两阶段的预培训结合了MIM和对比度学习。具体而言，MIMCO将预先训练的对比学习模型作为教师模型，并通过两种类型的学习目标进行了预培训：贴片级和图像级的重建损失。关于下游任务的广泛转移实验证明了我们的MIMCO预训练框架的出色表现。以VIT-S为例，当使用预先训练的MoCov3-Vit-S作为教师模型时，Mimco只需要100个时期的预训练时期即可达到Imagenet-1K上的82.53％Top-1 FineTuning精度，这表现优于表现最先进的自我监督学习对手。

因子图是代表概率分布函数分解的图形，并且已在许多自动机器计算任务中使用，例如本地化，跟踪，计划和控制等。我们正在开发一个架构，其目标是将因子图用作一个对于大多数（如果不是），所有自主机计算任务的常见抽象。如果成功，则该体系结构将为基础计算硬件提供映射自动机函数的非常简单的接口。作为此类尝试的第一步，本文介绍了我们最新的工作，即开发用于LIDAR惯性射测（LIO）的因子图加速器（LIO），这是许多自动机器（例如自动驾驶汽车和移动机器人）的重要任务。通过将LIO建模为因子图，所提出的加速器不仅支持多传感器融合，例如LIDAR，惯性测量单元（IMU），GPS等，还可以解决批处理或增量模式的机器人导航的全局优化问题。我们的评估表明，拟议的设计显着提高了自动机器导航系统的实时性能和能源效率。最初的成功表明，将因子图体系结构概括为自动机器计算的常见抽象的潜力，包括跟踪，计划和控制等。

视觉模型最近在许多计算机视觉任务上显示出巨大的潜力。同时，与线性探针相比，先前的工作表明，与线性探针相比，这是较少的图像识别的迅速调整，可以在很少的图像识别上获得卓越的性能。在实际应用程序中，相关的几个射击任务是相关的，尤其是在专业领域。但是，以前的工作忽略了此类信息。受到以下事实的启发，即通过多任务学习通常可以提高性能，我们提出了一种新颖的方法softcpt（迅速调整的软上下文共享），以微调多个目标几个目标任务的预训练的视觉模型， 同时。具体来说，我们设计了一个任务共享的元网络，以使用预定义的任务名称以及可学习的元提示为输入为每个任务生成提示向量。因此，所有任务的迅速向量将以软的方式共享。该共享的元网络的参数以及元提示向量都在所有目标任务的联合培训集中调整。在三个多任务少量数据集上进行的广泛实验表明，SoftCpt的表现优于代表性的单任务提示方法Coop [78]，这意味着多任务学习在视觉及时及时调整中的有效性。源代码和数据将公开可用。

学习率是对神经网络培训有重大影响的最重要的超参数之一。学习率计划在实际实践中广泛使用，以根据预定义的时间表来调整学习率，以进行快速收敛和良好的概括。但是，现有的学习率时间表都是启发式算法，缺乏理论支持。因此，人们通常通过多个临时试验选择学习率计划，并且获得的学习率时间表是最佳的。为了提高获得的次级学习率计划的性能，我们提出了一个通用的学习率计划插件，称为学习率扰动（LEAP），可以将其应用于各种学习率计划，以通过引入一定的扰动来改善模型培训达到学习率。我们发现，通过如此简单而有效的策略，培训处理成倍地利用了平坦的最小值，而不是具有保证收敛的尖锐的最小值，从而提高了更好的概括能力。此外，我们进行了广泛的实验，表明使用LEAP培训可以使用各种学习率计划（包括恒定的学习率）来改善各种数据集对各种深度学习模型的性能。