Dual Radar: A Multi-modal Dataset with Dual 4D Radar for Autonomous Driving

Radar has stronger adaptability in adverse scenarios for autonomous driving environmental perception compared to widely adopted cameras and LiDARs. Compared with commonly used 3D radars, the latest 4D radars have precise vertical resolution and higher point cloud density, making it a highly promising sensor for autonomous driving in complex environmental perception. However, due to the much higher noise than LiDAR, manufacturers choose different filtering strategies, resulting in an inverse ratio between noise level and point cloud density. There is still a lack of comparative analysis on which method is beneficial for deep learning-based perception algorithms in autonomous driving. One of the main reasons is that current datasets only adopt one type of 4D radar, making it difficult to compare different 4D radars in the same scene. Therefore, in this paper, we introduce a novel large-scale multi-modal dataset featuring, for the first time, two types of 4D radars captured simultaneously. This dataset enables further research into effective 4D radar perception algorithms.Our dataset consists of 151 consecutive series, most of which last 20 seconds and contain 10,007 meticulously synchronized and annotated frames. Moreover, our dataset captures a variety of challenging driving scenarios, including many road conditions, weather conditions, nighttime and daytime with different lighting intensities and periods. Our dataset annotates consecutive frames, which can be applied to 3D object detection and tracking, and also supports the study of multi-modal tasks. We experimentally validate our dataset, providing valuable results for studying different types of 4D radars. This dataset is released on https://github.com/adept-thu/Dual-Radar.

Dual Radar: A Multi-modal Dataset with Dual 4D Radar for Autononous Driving

Radar has stronger adaptability in adverse scenarios for autonomous driving environmental perception compared to widely adopted cameras and LiDARs. Compared with commonly used 3D radars, latest 4D radars have precise vertical resolution and higher point cloud density, making it a highly promising sensor for autonomous driving in complex environmental perception. However, due to the much higher noise than LiDAR, manufacturers choose different filtering strategies, resulting in an inverse ratio between noise level and point cloud density. There is still a lack of comparative analysis on which method is beneficial for deep learning-based perception algorithms in autonomous driving. One of the main reasons is that current datasets only adopt one type of 4D radar, making it difficult to compare different 4D radars in the same scene. Therefore, in this paper, we introduce a novel large-scale multi-modal dataset featuring, for the first time, two types of 4D radars captured simultaneously. This dataset enables further research into effective 4D radar perception algorithms.Our dataset consists of 151 consecutive series, most of which last 20 seconds and contain 10,007 meticulously synchronized and annotated frames. Moreover, our dataset captures a variety of challenging driving scenarios, including many road conditions, weather conditions, nighttime and daytime with different lighting intensities and periods. Our dataset annotates consecutive frames, which can be applied to 3D object detection and tracking, and also supports the study of multi-modal tasks. We experimentally validate our dataset, providing valuable results for studying different types of 4D radars. This dataset is released on https://github.com/adept-thu/Dual-Radar.

FGPrompt: Fine-grained Goal Prompting for Image-goal Navigation

Learning to navigate to an image-specified goal is an important but challenging task for autonomous systems. The agent is required to reason the goal location from where a picture is shot. Existing methods try to solve this problem by learning a navigation policy, which captures semantic features of the goal image and observation image independently and lastly fuses them for predicting a sequence of navigation actions. However, these methods suffer from two major limitations. 1) They may miss detailed information in the goal image, and thus fail to reason the goal location. 2) More critically, it is hard to focus on the goal-relevant regions in the observation image, because they attempt to understand observation without goal conditioning. In this paper, we aim to overcome these limitations by designing a Fine-grained Goal Prompting (FGPrompt) method for image-goal navigation. In particular, we leverage fine-grained and high-resolution feature maps in the goal image as prompts to perform conditioned embedding, which preserves detailed information in the goal image and guides the observation encoder to pay attention to goal-relevant regions. Compared with existing methods on the image-goal navigation benchmark, our method brings significant performance improvement on 3 benchmark datasets (i.e., Gibson, MP3D, and HM3D). Especially on Gibson, we surpass the state-of-the-art success rate by 8% with only 1/50 model size. Project page: https://xinyusun.github.io/fgprompt-pages

Dual-Reference Source-Free Active Domain Adaptation for Nasopharyngeal Carcinoma Tumor Segmentation across Multiple Hospitals

Nasopharyngeal carcinoma (NPC) is a prevalent and clinically significant malignancy that predominantly impacts the head and neck area. Precise delineation of the Gross Tumor Volume (GTV) plays a pivotal role in ensuring effective radiotherapy for NPC. Despite recent methods that have achieved promising results on GTV segmentation, they are still limited by lacking carefully-annotated data and hard-to-access data from multiple hospitals in clinical practice. Although some unsupervised domain adaptation (UDA) has been proposed to alleviate this problem, unconditionally mapping the distribution distorts the underlying structural information, leading to inferior performance. To address this challenge, we devise a novel Sourece-Free Active Domain Adaptation (SFADA) framework to facilitate domain adaptation for the GTV segmentation task. Specifically, we design a dual reference strategy to select domain-invariant and domain-specific representative samples from a specific target domain for annotation and model fine-tuning without relying on source-domain data. Our approach not only ensures data privacy but also reduces the workload for oncologists as it just requires annotating a few representative samples from the target domain and does not need to access the source data. We collect a large-scale clinical dataset comprising 1057 NPC patients from five hospitals to validate our approach. Experimental results show that our method outperforms the UDA methods and achieves comparable results to the fully supervised upper bound, even with few annotations, highlighting the significant medical utility of our approach. In addition, there is no public dataset about multi-center NPC segmentation, we will release code and dataset for future research.

Demonstration-based learning for few-shot biomedical named entity recognition under machine reading comprehension

Although deep learning techniques have shown significant achievements, they frequently depend on extensive amounts of hand-labeled data and tend to perform inadequately in few-shot scenarios. The objective of this study is to devise a strategy that can improve the model's capability to recognize biomedical entities in scenarios of few-shot learning. By redefining biomedical named entity recognition (BioNER) as a machine reading comprehension (MRC) problem, we propose a demonstration-based learning method to address few-shot BioNER, which involves constructing appropriate task demonstrations. In assessing our proposed method, we compared the proposed method with existing advanced methods using six benchmark datasets, including BC4CHEMD, BC5CDR-Chemical, BC5CDR-Disease, NCBI-Disease, BC2GM, and JNLPBA. We examined the models' efficacy by reporting F1 scores from both the 25-shot and 50-shot learning experiments. In 25-shot learning, we observed 1.1% improvements in the average F1 scores compared to the baseline method, reaching 61.7%, 84.1%, 69.1%, 70.1%, 50.6%, and 59.9% on six datasets, respectively. In 50-shot learning, we further improved the average F1 scores by 1.0% compared to the baseline method, reaching 73.1%, 86.8%, 76.1%, 75.6%, 61.7%, and 65.4%, respectively. We reported that in the realm of few-shot learning BioNER, MRC-based language models are much more proficient in recognizing biomedical entities compared to the sequence labeling approach. Furthermore, our MRC-language models can compete successfully with fully-supervised learning methodologies that rely heavily on the availability of abundant annotated data. These results highlight possible pathways for future advancements in few-shot BioNER methodologies.

Muti-scale Graph Neural Network with Signed-attention for Social Bot Detection: A Frequency Perspective

The presence of a large number of bots on social media has adverse effects. The graph neural network (GNN) can effectively leverage the social relationships between users and achieve excellent results in detecting bots. Recently, more and more GNN-based methods have been proposed for bot detection. However, the existing GNN-based bot detection methods only focus on low-frequency information and seldom consider high-frequency information, which limits the representation ability of the model. To address this issue, this paper proposes a Multi-scale with Signed-attention Graph Filter for social bot detection called MSGS. MSGS could effectively utilize both high and low-frequency information in the social graph. Specifically, MSGS utilizes a multi-scale structure to produce representation vectors at different scales. These representations are then combined using a signed-attention mechanism. Finally, multi-scale representations via MLP after polymerization to produce the final result. We analyze the frequency response and demonstrate that MSGS is a more flexible and expressive adaptive graph filter. MSGS can effectively utilize high-frequency information to alleviate the over-smoothing problem of deep GNNs. Experimental results on real-world datasets demonstrate that our method achieves better performance compared with several state-of-the-art social bot detection methods.

Learning under Selective Labels with Data from Heterogeneous Decision-makers: An Instrumental Variable Approach

We study the problem of learning with selectively labeled data, which arises when outcomes are only partially labeled due to historical decision-making. The labeled data distribution may substantially differ from the full population, especially when the historical decisions and the target outcome can be simultaneously affected by some unobserved factors. Consequently, learning with only the labeled data may lead to severely biased results when deployed to the full population. Our paper tackles this challenge by exploiting the fact that in many applications the historical decisions were made by a set of heterogeneous decision-makers. In particular, we analyze this setup in a principled instrumental variable (IV) framework. We establish conditions for the full-population risk of any given prediction rule to be point-identified from the observed data and provide sharp risk bounds when the point identification fails. We further propose a weighted learning approach that learns prediction rules robust to the label selection bias in both identification settings. Finally, we apply our proposed approach to a semi-synthetic financial dataset and demonstrate its superior performance in the presence of selection bias.

Learning under Selective Labels with Heterogeneous Decision-makers: An Instrumental Variable Approach

We study the problem of learning with selectively labeled data, which arises when outcomes are only partially labeled due to historical decision-making. The labeled data distribution may substantially differ from the full population, especially when the historical decisions and the target outcome can be simultaneously affected by some unobserved factors. Consequently, learning with only the labeled data may lead to severely biased results when deployed to the full population. Our paper tackles this challenge by exploiting the fact that in many applications the historical decisions were made by a set of heterogeneous decision-makers. In particular, we analyze this setup in a principled instrumental variable (IV) framework. We establish conditions for the full-population risk of any given prediction rule to be point-identified from the observed data and provide sharp risk bounds when the point identification fails. We further propose a weighted learning approach that learns prediction rules robust to the label selection bias in both identification settings. Finally, we apply our proposed approach to a semi-synthetic financial dataset and demonstrate its superior performance in the presence of selection bias.

Label-Retrieval-Augmented Diffusion Models for Learning from Noisy Labels

Learning from noisy labels is an important and long-standing problem in machine learning for real applications. One of the main research lines focuses on learning a label corrector to purify potential noisy labels. However, these methods typically rely on strict assumptions and are limited to certain types of label noise. In this paper, we reformulate the label-noise problem from a generative-model perspective, $\textit{i.e.}$, labels are generated by gradually refining an initial random guess. This new perspective immediately enables existing powerful diffusion models to seamlessly learn the stochastic generative process. Once the generative uncertainty is modeled, we can perform classification inference using maximum likelihood estimation of labels. To mitigate the impact of noisy labels, we propose the $\textbf{L}$abel-$\textbf{R}$etrieval-$\textbf{A}$ugmented (LRA) diffusion model, which leverages neighbor consistency to effectively construct pseudo-clean labels for diffusion training. Our model is flexible and general, allowing easy incorporation of different types of conditional information, $\textit{e.g.}$, use of pre-trained models, to further boost model performance. Extensive experiments are conducted for evaluation. Our model achieves new state-of-the-art (SOTA) results on all the standard real-world benchmark datasets. Remarkably, by incorporating conditional information from the powerful CLIP model, our method can boost the current SOTA accuracy by 10-20 absolute points in many cases.

Simultaneous Wireless Information and Power Transfer in Near-Field Communications

A near-field simultaneous wireless information and power transfer (SWIPT) network is investigated, where the hybrid beamforming architecture is employed at the base station (BS) for information transmission while charging energy harvesting users. A transmit power minimization problem is formulated by jointly optimizing of the analog beamformer, the baseband digital information/energy beamformers, and the number of dedicated energy beams. To tackle the uncertain number of dedicated energy beams, a semidefinite relaxation based rank-one solution construction method is proposed to obtain the optimal baseband digital beamformers under the fixed analog precoder. Based on the structure of the optimal baseband digital beamformers, it is proved that no dedicated energy beam is required in near-field SWIPT. To further exploit this insight, a penalty-based two-layer (PTL) algorithm is proposed to optimize the analog beamformer and baseband digital information beamformers. By employing the block coordinate descent method, the optimal analog beamformer and baseband digital information beamformers are obtained in the closed-form expressions. Moreover, to reduce the high computational complexity caused by the large number of antennas, a low-complexity two-stage algorithm is proposed. Numerical results illustrate that: 1) the proposed PTL algorithm can achieve the near-optimal performance; and 2) in contract to the far-field SWIPT, single near-field beamformer can focus the energy on multiple locations.