28 accepted papers
Accurately capturing local variations in long series has always been one of the most challenging problems in time-series forecasting especially in medical signals, where local variations often indicate pathological events. Our study reveals a previously overlooked key bottleneck in this field: tradi…
Road inspection is crucial for maintaining road serviceability and ensuring traffic safety, as road defects gradually develop and compromise functionality. Traditional inspection methods, which rely on manual evaluations, are labor-intensive, costly, and time-consuming. While data-driven approaches
Road inspection is crucial for maintaining road's serviceability and ensuring traffic safety, as road defects gradually develop and compromise functionality. Traditional inspection methods, which rely on manual evaluations, are labor-intensive, costly, and time-consuming. While data-driven approache…
In the context of urban autonomous driving, imitation learning-based methods have shown remarkable effectiveness, with a typical practice to minimize the discrepancy between expert driving logs and predictive decision sequences. As expert driving logs natively contain future short-term decisions wit
In the era of Large Language Models (LLMs), Mixture-of-Experts (MoE) architectures offer a promising approach to managing computational costs while scaling up model parameters. Conventional MoE-based LLMs typically employ static Top-K routing, which activates a fixed and equal number of experts for…
Motion forecasting represents a critical challenge in autonomous driving systems, requiring accurate prediction of surrounding agents’ future trajectories. While existing approaches predict future motion states with the extracted scene context feature from historical agent trajectories and road layo
A significant aspiration of offline reinforcement learning (RL) is to develop a generalist agent with high capabilities from large and heterogeneous datasets. However, prior approaches that scale offline RL either rely heavily on expert trajectories or struggle to generalize to diverse unseen tasks.…
Process reward model (PRM) has been proven effective in test-time scaling of LLM on challenging reasoning tasks. However, the reward hacking induced by PRM hinders its successful applications in reinforcement fine-tuning. We find the primary cause of reward hacking induced by PRM is that: the canoni…
This paper presents a generic trajectory planning method for wheeled robots with fixed steering axes while the steering angle of each wheel is constrained. In the existing literatures, All-Wheel-Steering (AWS) robots, incorporating modes such as rotation-free translation maneuvers, in-situ rotationa…
Accurate trajectory prediction is crucial for safe and efficient autonomous driving, but handling partial observations presents significant challenges. To address this, we propose a novel trajectory prediction framework called Partial Observations Prediction (POP) for congested urban road scenarios.…
Preference-based Reinforcement Learning (PbRL) circumvents the need for reward engineering by harnessing human preferences as the reward signal. However, current PbRL methods excessively depend on high-quality feedback from domain experts, which results in a lack of robustness. In this paper, we pre…
In recent years, imitation-based driving planners have reported considerable success. However, due to the absence of a standardized benchmark, the effectiveness of various designs remains unclear. The newly released nuPlan addresses this issue by offering a large-scale real-world dataset and a stand…
Recent trends in Large Vision Language Models (LVLMs) research have been increasingly focusing on advancing beyond general image understanding towards more nuanced object-level referential comprehension. In this paper we present and delve into the self-consistency capability of LVLMs a crucial aspec…
Deep neural networks suffer from catastrophic forgetting in class incremental learning, where the classification accuracy of old classes drastically deteriorates when the networks learn the knowledge of new classes. Many works have been proposed to solve the class incremental learning problem. Howev…
This study explores the application of self-supervised learning (SSL) to the task of motion forecasting, an area that has not yet been extensively investigated despite the widespread success of SSL in computer vision and natural language processing. To address this gap, we introduce Forecast-MAE, an…
Current class-incremental learning research mainly focuses on single-label classification tasks while multi-label class-incremental learning (MLCIL) with more practical application scenarios is rarely studied. Although there have been many anti-forgetting methods to solve the problem of catastrophic…
Temporal sequence processing is fundamental in brain cognitive functions. Experimental data has indicated that the representations of ordinal information and contents of temporal sequences are disentangled in the brain, but the neural mechanism underlying this disentanglement remains largely unclea…
Fully test-time adaptation aims to adapt the network model based on sequential analysis of input samples during the inference stage to address the cross-domain performance degradation problem of deep neural networks. We take inspiration from the biological plausibility learning where the neuron resp…
In this work, we introduce a novel approach for designing the transmit frequency offset scheme based on Cramér-Rao lower bound (CRLB) minimization for a frequency diverse array multiple-input multiple-output (FDA-MIMO) radar. The problem originates in non-uniform FDA radar where each frequency offse…
Weakly-supervised action localization aims to recognize and localize action instancese in untrimmed videos with only video-level labels. Most existing models rely on multiple instance learning(MIL), where the predictions of unlabeled instances are supervised by classifying labeled bags. The MIL-base…
Spiking neural network (SNN) has been viewed as a potential candidate for the next generation of artificial intelligence with appealing characteristics such as sparse computation and inherent temporal dynamics. By adopting architectures of deep artificial neural networks (ANNs), SNNs are achieving c…
Inspired by biological retina, dynamical vision sensor transmits events of instantaneous changes of pixel intensity, giving it a series of advantages over traditional frame-based camera, such as high dynamical range, high temporal resolution and low power consumption. However, extracting information…
Safely interacting with other traffic participants is one of the core requirements for autonomous driving, especially in intersections and occlusions. Most existing approaches are designed for particular scenarios and require significant human labor in parameter tuning to be applied to different sit
Our goal is to train a neural planner that can capture diverse driving behaviors in complex urban scenarios. We observe that even state-of-the-art neural planners are struggling to perform common maneuvers such as lane change, which is rather natural for human drivers. We propose to explore the mult…
Audio-driven talking face, driving talking face by audio, has received considerable attention in multi-modal learning due to its widespread use in virtual reality. However, long-time recording of target high-quality video is needed by most existing audio-driven talking face studies, which significan…
Real-time kinodynamic trajectory planning in dy-namic environments is critical yet challenging for autonomous driving. In this paper, we propose an efficient trajectory plan-ning system for autonomous driving in complex dynamic sce-narios through iterative and incremental path-speed optimization. Ex…
Few-shot class-incremental learning is to recognize the new classes given few samples and not forget the old classes. It is a challenging task since representation optimization and prototype reorganization can only be achieved under little supervision. To address this problem, we propose a novel inc…
Fully convolutional neural networks (FCNs) have shown great success in dense estimation tasks. One key pillar of such progress is mining multi-scale context cues from features in different convolutional layers. This paper introduces contextual aggregating network(CAN), a generic convolutional featur…