Sunshine to Rainstorm: Cross-Weather Knowledge Distillation for Robust 3D Object Detection

LiDAR-based 3D object detection models have traditionally struggled under rainy conditions due to the degraded and noisy scanning signals. Previous research has attempted to address this by simulating the noise from rain to improve the robustness of detection models. However, significant disparities exist between simulated and actual rain-impacted data points. In this work, we propose a novel rain simulation method, termed DRET, that unifies Dynamics and Rainy Environment Theory to provide a cost-effective means of expanding the available realistic rain data for 3D detection training. Furthermore, we present a Sunny-to-Rainy Knowledge Distillation (SRKD) approach to enhance 3D detection under rainy conditions. Extensive experiments on the WaymoOpenDataset large-scale dataset show that, when combined with the state-of-the-art DSVT model and other classical 3D detectors, our proposed framework demonstrates significant detection accuracy improvements, without losing efficiency. Remarkably, our framework also improves detection capabilities under sunny conditions, therefore offering a robust solution for 3D detection regardless of whether the weather is rainy or sunny

Agent-Pro: Learning to Evolve via Policy-Level Reflection and Optimization

Large Language Models exhibit robust problem-solving capabilities for diverse tasks. However, most LLM-based agents are designed as specific task solvers with sophisticated prompt engineering, rather than agents capable of learning and evolving through interactions. These task solvers necessitate manually crafted prompts to inform task rules and regulate LLM behaviors, inherently incapacitating to address complex dynamic scenarios e.g., large interactive games. In light of this, we propose Agent-Pro: an LLM-based Agent with Policy-level Reflection and Optimization that can learn a wealth of expertise from interactive experiences and progressively elevate its behavioral policy. Specifically, it involves a dynamic belief generation and reflection process for policy evolution. Rather than action-level reflection, Agent-Pro iteratively reflects on past trajectories and beliefs, fine-tuning its irrational beliefs for a better policy. Moreover, a depth-first search is employed for policy optimization, ensuring continual enhancement in policy payoffs. Agent-Pro is evaluated across two games: Blackjack and Texas Hold'em, outperforming vanilla LLM and specialized models. Our results show Agent-Pro can learn and evolve in complex and dynamic scenes, which also benefits numerous LLM-based applications.

Hybrid Pooling and Convolutional Network for Improving Accuracy and Training Convergence Speed in Object Detection

This paper introduces HPC-Net, a high-precision and rapidly convergent object detection network.

Efficient Multiuser AI Downloading via Reusable Knowledge Broadcasting

For the 6G mobile networks, in-situ model downloading has emerged as an important use case to enable real-time adaptive artificial intelligence on edge devices. However, the simultaneous downloading of diverse and high-dimensional models to multiple devices over wireless links presents a significant communication bottleneck. To overcome the bottleneck, we propose the framework of model broadcasting and assembling (MBA), which represents the first attempt on leveraging reusable knowledge, referring to shared parameters among tasks, to enable parameter broadcasting to reduce communication overhead. The MBA framework comprises two key components. The first, the MBA protocol, defines the system operations including parameter selection from a model library, power control for broadcasting, and model assembling at devices. The second component is the joint design of parameter-selection-and-power-control (PS-PC), which provides guarantees on devices' model performance and minimizes the downloading latency. The corresponding optimization problem is simplified by decomposition into the sequential PS and PC sub-problems without compromising its optimality. The PS sub-problem is solved efficiently by designing two efficient algorithms. On one hand, the low-complexity algorithm of greedy parameter selection features the construction of candidate model sets and a selection metric, both of which are designed under the criterion of maximum reusable knowledge among tasks. On the other hand, the optimal tree-search algorithm gains its efficiency via the proposed construction of a compact binary tree pruned using model architecture constraints and an intelligent branch-and-bound search. Given optimal PS, the optimal PC policy is derived in closed form. Extensive experiments demonstrate the substantial reduction in downloading latency achieved by the proposed MBA compared to traditional model downloading.

Virtual Sparse Convolution for Multimodal 3D Object Detection

Recently, virtual/pseudo-point-based 3D object detection that seamlessly fuses RGB images and LiDAR data by depth completion has gained great attention. However, virtual points generated from an image are very dense, introducing a huge amount of redundant computation during detection. Meanwhile, noises brought by inaccurate depth completion significantly degrade detection precision. This paper proposes a fast yet effective backbone, termed VirConvNet, based on a new operator VirConv (Virtual Sparse Convolution), for virtual-point-based 3D object detection. VirConv consists of two key designs: (1) StVD (Stochastic Voxel Discard) and (2) NRConv (Noise-Resistant Submanifold Convolution). StVD alleviates the computation problem by discarding large amounts of nearby redundant voxels. NRConv tackles the noise problem by encoding voxel features in both 2D image and 3D LiDAR space. By integrating VirConv, we first develop an efficient pipeline VirConv-L based on an early fusion design. Then, we build a high-precision pipeline VirConv-T based on a transformed refinement scheme. Finally, we develop a semi-supervised pipeline VirConv-S based on a pseudo-label framework. On the KITTI car 3D detection test leaderboard, our VirConv-L achieves 85% AP with a fast running speed of 56ms. Our VirConv-T and VirConv-S attains a high-precision of 86.3% and 87.2% AP, and currently rank 2nd and 1st, respectively. The code is available at https://github.com/hailanyi/VirConv.

Vertical Layering of Quantized Neural Networks for Heterogeneous Inference

Although considerable progress has been obtained in neural network quantization for efficient inference, existing methods are not scalable to heterogeneous devices as one dedicated model needs to be trained, transmitted, and stored for one specific hardware setting, incurring considerable costs in model training and maintenance. In this paper, we study a new vertical-layered representation of neural network weights for encapsulating all quantized models into a single one. With this representation, we can theoretically achieve any precision network for on-demand service while only needing to train and maintain one model. To this end, we propose a simple once quantization-aware training (QAT) scheme for obtaining high-performance vertical-layered models. Our design incorporates a cascade downsampling mechanism which allows us to obtain multiple quantized networks from one full precision source model by progressively mapping the higher precision weights to their adjacent lower precision counterparts. Then, with networks of different bit-widths from one source model, multi-objective optimization is employed to train the shared source model weights such that they can be updated simultaneously, considering the performance of all networks. By doing this, the shared weights will be optimized to balance the performance of different quantized models, thus making the weights transferable among different bit widths. Experiments show that the proposed vertical-layered representation and developed once QAT scheme are effective in embodying multiple quantized networks into a single one and allow one-time training, and it delivers comparable performance as that of quantized models tailored to any specific bit-width. Code will be available.

Transformation-Equivariant 3D Object Detection for Autonomous Driving

3D object detection received increasing attention in autonomous driving recently. Objects in 3D scenes are distributed with diverse orientations. Ordinary detectors do not explicitly model the variations of rotation and reflection transformations. Consequently, large networks and extensive data augmentation are required for robust detection. Recent equivariant networks explicitly model the transformation variations by applying shared networks on multiple transformed point clouds, showing great potential in object geometry modeling. However, it is difficult to apply such networks to 3D object detection in autonomous driving due to its large computation cost and slow reasoning speed. In this work, we present TED, an efficient Transformation-Equivariant 3D Detector to overcome the computation cost and speed issues. TED first applies a sparse convolution backbone to extract multi-channel transformation-equivariant voxel features; and then aligns and aggregates these equivariant features into lightweight and compact representations for high-performance 3D object detection. On the highly competitive KITTI 3D car detection leaderboard, TED ranked 1st among all submissions with competitive efficiency.

In-situ Model Downloading to Realize Versatile Edge AI in 6G Mobile Networks

The sixth-generation (6G) mobile networks are expected to feature the ubiquitous deployment of machine learning and AI algorithms at the network edge. With rapid advancements in edge AI, the time has come to realize intelligence downloading onto edge devices (e.g., smartphones and sensors). To materialize this version, we propose a novel technology in this article, called in-situ model downloading, that aims to achieve transparent and real-time replacement of on-device AI models by downloading from an AI library in the network. Its distinctive feature is the adaptation of downloading to time-varying situations (e.g., application, location, and time), devices' heterogeneous storage-and-computing capacities, and channel states. A key component of the presented framework is a set of techniques that dynamically compress a downloaded model at the depth-level, parameter-level, or bit-level to support adaptive model downloading. We further propose a virtualized 6G network architecture customized for deploying in-situ model downloading with the key feature of a three-tier (edge, local, and central) AI library. Furthermore, experiments are conducted to quantify 6G connectivity requirements and research opportunities pertaining to the proposed technology are discussed.