High-definition (HD) semantic map generation of the environment is an essential component of autonomous driving. Existing methods have achieved good performance in this task by fusing different sensor modalities, such as LiDAR and camera. However, current works are based on raw data or network feature-level fusion and only consider short-range HD map generation, limiting their deployment to realistic autonomous driving applications. In this paper, we focus on the task of building the HD maps in both short ranges, i.e., within 30 m, and also predicting long-range HD maps up to 90 m, which is required by downstream path planning and control tasks to improve the smoothness and safety of autonomous driving. To this end, we propose a novel network named SuperFusion, exploiting the fusion of LiDAR and camera data at multiple levels. We benchmark our SuperFusion on the nuScenes dataset and a self-recorded dataset and show that it outperforms the state-of-the-art baseline methods with large margins. Furthermore, we propose a new metric to evaluate the long-range HD map prediction and apply the generated HD map to a downstream path planning task. The results show that by using the long-range HD maps predicted by our method, we can make better path planning for autonomous vehicles. The code will be available at https://github.com/haomo-ai/SuperFusion.

利用TRIMAP引导和融合多级功能是具有像素级预测的基于Trimap的垫子的两个重要问题。为了利用Trimap指导，大多数现有方法只需将TRIMAPS和图像连接在一起，以馈送深网络或应用额外的网络以提取更多的TRIMAP指导，这符合效率和效率之间的冲突。对于新兴的基于内容的特征融合，大多数现有的消光方法仅关注本地特征，这些功能缺乏与有趣对象相关的强大语义信息的全局功能的指导。在本文中，我们提出了一种由我们的Trimap引导的非背景多尺度池（TMP）模块和全球本地背景信息融合（GLF）模块组成的Trimap-Goided Feats挖掘和融合网络。考虑到Trimap提供强大的语义指导，我们的TMP模块在Trimap的指导下对有趣的对象进行了有效的特征挖掘，而无需额外参数。此外，我们的GLF模块使用我们的TMP模块开采的有趣物体的全局语义信息，以指导有效的全局本地上下文感知多级功能融合。此外，我们建立了一个共同的有趣的物体消光（CIOM）数据集，以推进高质量的图像消光。在组合物-1K测试集，Alphamatting基准和我们的CIOM测试集上的实验结果表明，我们的方法优于最先进的方法。代码和模型将很快公开发布。

探讨了语言建模流行的变形金刚，用于近期解决视觉任务，例如，用于图像分类的视觉变压器（VIT）。 VIT模型将每个图像分成具有固定长度的令牌序列，然后应用多个变压器层以模拟它们的全局关系以进行分类。然而，当从像想象中的中型数据集上从头开始训练时，VIT对CNNS达到较差的性能。我们发现它是因为：1）输入图像的简单标记未能模拟相邻像素之间的重要局部结构，例如边缘和线路，导致训练采样效率低。 2）冗余注意骨干骨干设计对固定计算预算和有限的训练样本有限的具有限制性。为了克服这些限制，我们提出了一种新的令牌到令牌视觉变压器（T2T-VIT），它包含1）层 - 明智的代币（T2T）转换，通过递归聚合相邻来逐步地结构于令牌到令牌。代币进入一个令牌（令牌到令牌），这样可以建模由周围令牌所代表的本地结构，并且可以减少令牌长度; 2）一种高效的骨干，具有深度狭窄的结构，用于在实证研究后CNN建筑设计的激励变压器结构。值得注意的是，T2T-VIT将Vanilla Vit的参数计数和Mac减少了一半，同时从想象中从头开始训练时，改善了超过3.0 \％。它还优于Endnets并通过直接培训Imagenet训练来实现与MobileNets相当的性能。例如，T2T-VTO与Reset50（21.5M参数）的可比大小（21.5M参数）可以在图像分辨率384 $ \ Times 384上实现83.3 \％TOP1精度。 （代码：https://github.com/yitu-opensource/t2t-vit）

Spatiotemporal and motion features are two complementary and crucial information for video action recognition. Recent state-of-the-art methods adopt a 3D CNN stream to learn spatiotemporal features and another flow stream to learn motion features. In this work, we aim to efficiently encode these two features in a unified 2D framework. To this end, we first propose an STM block, which contains a Channel-wise SpatioTemporal Module (CSTM) to present the spatiotemporal features and a Channel-wise Motion Module (CMM) to efficiently encode motion features. We then replace original residual blocks in the ResNet architecture with STM blcoks to form a simple yet effective STM network by introducing very limited extra computation cost. Extensive experiments demonstrate that the proposed STM network outperforms the state-of-the-art methods on both temporal-related datasets (i.e., Something-Something v1 & v2 and Jester) and scene-related datasets (i.e., Kinetics-400, UCF-101, and HMDB-51) with the help of encoding spatiotemporal and motion features together. * The work was done during an internship at SenseTime.

This paper focuses on designing efficient models with low parameters and FLOPs for dense predictions. Even though CNN-based lightweight methods have achieved stunning results after years of research, trading-off model accuracy and constrained resources still need further improvements. This work rethinks the essential unity of efficient Inverted Residual Block in MobileNetv2 and effective Transformer in ViT, inductively abstracting a general concept of Meta-Mobile Block, and we argue that the specific instantiation is very important to model performance though sharing the same framework. Motivated by this phenomenon, we deduce a simple yet efficient modern \textbf{I}nverted \textbf{R}esidual \textbf{M}obile \textbf{B}lock (iRMB) for mobile applications, which absorbs CNN-like efficiency to model short-distance dependency and Transformer-like dynamic modeling capability to learn long-distance interactions. Furthermore, we design a ResNet-like 4-phase \textbf{E}fficient \textbf{MO}del (EMO) based only on a series of iRMBs for dense applications. Massive experiments on ImageNet-1K, COCO2017, and ADE20K benchmarks demonstrate the superiority of our EMO over state-of-the-art methods, \eg, our EMO-1M/2M/5M achieve 71.5, 75.1, and 78.4 Top-1 that surpass \textbf{SoTA} CNN-/Transformer-based models, while trading-off the model accuracy and efficiency well.

We aim to bridge the gap between our common-sense few-sample human learning and large-data machine learning. We derive a theory of human-like few-shot learning from von-Neuman-Landauer's principle. modelling human learning is difficult as how people learn varies from one to another. Under commonly accepted definitions, we prove that all human or animal few-shot learning, and major models including Free Energy Principle and Bayesian Program Learning that model such learning, approximate our theory, under Church-Turing thesis. We find that deep generative model like variational autoencoder (VAE) can be used to approximate our theory and perform significantly better than baseline models including deep neural networks, for image recognition, low resource language processing, and character recognition.

Despite significant progress in object categorization, in recent years, a number of important challenges remain; mainly, the ability to learn from limited labeled data and to recognize object classes within large, potentially open, set of labels. Zero-shot learning is one way of addressing these challenges, but it has only been shown to work with limited sized class vocabularies and typically requires separation between supervised and unsupervised classes, allowing former to inform the latter but not vice versa. We propose the notion of vocabulary-informed learning to alleviate the above mentioned challenges and address problems of supervised, zero-shot, generalized zero-shot and open set recognition using a unified framework. Specifically, we propose a weighted maximum margin framework for semantic manifold-based recognition that incorporates distance constraints from (both supervised and unsupervised) vocabulary atoms. Distance constraints ensure that labeled samples are projected closer to their correct prototypes, in the embedding space, than to others. We illustrate that resulting model shows improvements in supervised, zero-shot, generalized zero-shot, and large open set recognition, with up to 310K class vocabulary on Animal with Attributes and ImageNet datasets.

We consider infinite horizon Markov decision processes (MDPs) with fast-slow structure, meaning that certain parts of the state space move "fast" (and in a sense, are more influential) while other parts transition more "slowly." Such structure is common in real-world problems where sequential decisions need to be made at high frequencies, yet information that varies at a slower timescale also influences the optimal policy. Examples include: (1) service allocation for a multi-class queue with (slowly varying) stochastic costs, (2) a restless multi-armed bandit with an environmental state, and (3) energy demand response, where both day-ahead and real-time prices play a role in the firm's revenue. Models that fully capture these problems often result in MDPs with large state spaces and large effective time horizons (due to frequent decisions), rendering them computationally intractable. We propose an approximate dynamic programming algorithmic framework based on the idea of "freezing" the slow states, solving a set of simpler finite-horizon MDPs (the lower-level MDPs), and applying value iteration (VI) to an auxiliary MDP that transitions on a slower timescale (the upper-level MDP). We also extend the technique to a function approximation setting, where a feature-based linear architecture is used. On the theoretical side, we analyze the regret incurred by each variant of our frozen-state approach. Finally, we give empirical evidence that the frozen-state approach generates effective policies using just a fraction of the computational cost, while illustrating that simply omitting slow states from the decision modeling is often not a viable heuristic.

We present Muse, a text-to-image Transformer model that achieves state-of-the-art image generation performance while being significantly more efficient than diffusion or autoregressive models. Muse is trained on a masked modeling task in discrete token space: given the text embedding extracted from a pre-trained large language model (LLM), Muse is trained to predict randomly masked image tokens. Compared to pixel-space diffusion models, such as Imagen and DALL-E 2, Muse is significantly more efficient due to the use of discrete tokens and requiring fewer sampling iterations; compared to autoregressive models, such as Parti, Muse is more efficient due to the use of parallel decoding. The use of a pre-trained LLM enables fine-grained language understanding, translating to high-fidelity image generation and the understanding of visual concepts such as objects, their spatial relationships, pose, cardinality etc. Our 900M parameter model achieves a new SOTA on CC3M, with an FID score of 6.06. The Muse 3B parameter model achieves an FID of 7.88 on zero-shot COCO evaluation, along with a CLIP score of 0.32. Muse also directly enables a number of image editing applications without the need to fine-tune or invert the model: inpainting, outpainting, and mask-free editing. More results are available at https://muse-model.github.io

Reinforcement Learning (RL) is currently one of the most commonly used techniques for traffic signal control (TSC), which can adaptively adjusted traffic signal phase and duration according to real-time traffic data. However, a fully centralized RL approach is beset with difficulties in a multi-network scenario because of exponential growth in state-action space with increasing intersections. Multi-agent reinforcement learning (MARL) can overcome the high-dimension problem by employing the global control of each local RL agent, but it also brings new challenges, such as the failure of convergence caused by the non-stationary Markov Decision Process (MDP). In this paper, we introduce an off-policy nash deep Q-Network (OPNDQN) algorithm, which mitigates the weakness of both fully centralized and MARL approaches. The OPNDQN algorithm solves the problem that traditional algorithms cannot be used in large state-action space traffic models by utilizing a fictitious game approach at each iteration to find the nash equilibrium among neighboring intersections, from which no intersection has incentive to unilaterally deviate. One of main advantages of OPNDQN is to mitigate the non-stationarity of multi-agent Markov process because it considers the mutual influence among neighboring intersections by sharing their actions. On the other hand, for training a large traffic network, the convergence rate of OPNDQN is higher than that of existing MARL approaches because it does not incorporate all state information of each agent. We conduct an extensive experiments by using Simulation of Urban MObility simulator (SUMO), and show the dominant superiority of OPNDQN over several existing MARL approaches in terms of average queue length, episode training reward and average waiting time.