Autonomous driving has long grappled with the need for precise absolute localization, making full autonomy elusive and raising the capital entry barriers for startups. This study delves into the feasibility of local trajectory planning for level-2+ (L2+) semi-autonomous vehicles without the dependence on accurate absolute localization. Instead, we emphasize the estimation of the pose change between consecutive planning frames from motion sensors and integration of relative locations of traffic objects to the local planning problem under the ego car's local coordinate system, therefore eliminating the need for an absolute localization. Without the availability of absolute localization for correction, the measurement errors of speed and yaw rate greatly affect the estimation accuracy of the relative pose change between frames. We proved that the feasibility/stability of the continuous planning problem under such motion sensor errors can be guaranteed at certain defined conditions. This was achieved by formulating it as a Lyapunov-stability analysis problem. Moreover, a simulation pipeline was developed to further validate the proposed local planning method. Simulations were conducted at two traffic scenes with different error settings for speed and yaw rate measurements. The results substantiate the proposed framework's functionality even under relatively inferior sensor errors. We also experiment the stability limits of the planned results under abnormally larger motion sensor errors. The results provide a good match to the previous theoretical analysis. Our findings suggested that precise absolute localization may not be the sole path to achieving reliable trajectory planning, eliminating the necessity for high-accuracy dual-antenna GPS as well as the high-fidelity maps for SLAM localization.
Pre-trained language models (PLMs) demonstrate excellent abilities to understand texts in the generic domain while struggling in a specific domain. Although continued pre-training on a large domain-specific corpus is effective, it is costly to tune all the parameters on the domain. In this paper, we investigate whether we can adapt PLMs both effectively and efficiently by only tuning a few parameters. Specifically, we decouple the feed-forward networks (FFNs) of the Transformer architecture into two parts: the original pre-trained FFNs to maintain the old-domain knowledge and our novel domain-specific adapters to inject domain-specific knowledge in parallel. Then we adopt a mixture-of-adapters gate to fuse the knowledge from different domain adapters dynamically. Our proposed Mixture-of-Domain-Adapters (MixDA) employs a two-stage adapter-tuning strategy that leverages both unlabeled data and labeled data to help the domain adaptation: i) domain-specific adapter on unlabeled data; followed by ii) the task-specific adapter on labeled data. MixDA can be seamlessly plugged into the pretraining-finetuning paradigm and our experiments demonstrate that MixDA achieves superior performance on in-domain tasks (GLUE), out-of-domain tasks (ChemProt, RCT, IMDB, Amazon), and knowledge-intensive tasks (KILT). Further analyses demonstrate the reliability, scalability, and efficiency of our method. The code is available at https://github.com/Amano-Aki/Mixture-of-Domain-Adapters.
MOBA games, e.g., Dota2 and Honor of Kings, have been actively used as the testbed for the recent AI research on games, and various AI systems have been developed at the human level so far. However, these AI systems mainly focus on how to compete with humans, less on exploring how to collaborate with humans. To this end, this paper makes the first attempt to investigate human-agent collaboration in MOBA games. In this paper, we propose to enable humans and agents to collaborate through explicit communication by designing an efficient and interpretable Meta-Command Communication-based framework, dubbed MCC, for accomplishing effective human-agent collaboration in MOBA games. The MCC framework consists of two pivotal modules: 1) an interpretable communication protocol, i.e., the Meta-Command, to bridge the communication gap between humans and agents; 2) a meta-command value estimator, i.e., the Meta-Command Selector, to select a valuable meta-command for each agent to achieve effective human-agent collaboration. Experimental results in Honor of Kings demonstrate that MCC agents can collaborate reasonably well with human teammates and even generalize to collaborate with different levels and numbers of human teammates. Videos are available at https://sites.google.com/view/mcc-demo.
We present a new table structure recognition (TSR) approach, called TSRFormer, to robustly recognizing the structures of complex tables with geometrical distortions from various table images. Unlike previous methods, we formulate table separation line prediction as a line regression problem instead of an image segmentation problem and propose a new two-stage dynamic queries enhanced DETR based separation line regression approach, named DQ-DETR, to predict separation lines from table images directly. Compared to Vallina DETR, we propose three improvements in DQ-DETR to make the two-stage DETR framework work efficiently and effectively for the separation line prediction task: 1) A new query design, named Dynamic Query, to decouple single line query into separable point queries which could intuitively improve the localization accuracy for regression tasks; 2) A dynamic queries based progressive line regression approach to progressively regressing points on the line which further enhances localization accuracy for distorted tables; 3) A prior-enhanced matching strategy to solve the slow convergence issue of DETR. After separation line prediction, a simple relation network based cell merging module is used to recover spanning cells. With these new techniques, our TSRFormer achieves state-of-the-art performance on several benchmark datasets, including SciTSR, PubTabNet, WTW and FinTabNet. Furthermore, we have validated the robustness and high localization accuracy of our approach to tables with complex structures, borderless cells, large blank spaces, empty or spanning cells as well as distorted or even curved shapes on a more challenging real-world in-house dataset.
Reliable and efficient validation technologies are critical for the recent development of multi-vehicle cooperation and vehicle-road-cloud integration. In this paper, we introduce our miniature experimental platform, Mixed Cloud Control Testbed (MCCT), developed based on a new notion of Mixed Digital Twin (mixedDT). Combining Mixed Reality with Digital Twin, mixedDT integrates the virtual and physical spaces into a mixed one, where physical entities coexist and interact with virtual entities via their digital counterparts. Under the framework of mixedDT, MCCT contains three major experimental platforms in the physical, virtual and mixed spaces respectively, and provides a unified access for various human-machine interfaces and external devices such as driving simulators. A cloud unit, where the mixed experimental platform is deployed, is responsible for fusing multi-platform information and assigning control instructions, contributing to synchronous operation and real-time cross-platform interaction. Particularly, MCCT allows for multi-vehicle coordination composed of different multi-source vehicles (\eg, physical vehicles, virtual vehicles and human-driven vehicles). Validations on vehicle platooning demonstrate the flexibility and scalability of MCCT.
Vision language pre-training aims to learn alignments between vision and language from a large amount of data. We proposed multi-grained vision language pre-training, a unified approach which can learn vision language alignments in multiple granularity. This paper advances the proposed method by unifying image and video encoding in one model and scaling up the model with large-scale data. We present X$^2$-VLM, a pre-trained VLM with a modular architecture for both image-text tasks and video-text tasks. Experiment results show that X$^2$-VLM performs the best on base and large scale for both image-text and video-text tasks, making a good trade-off between performance and model scale. Moreover, we show that the modular design of X$^2$-VLM results in high transferability for X$^2$-VLM to be utilized in any language or domain. For example, by simply replacing the text encoder with XLM-R, X$^2$-VLM outperforms state-of-the-art multilingual multi-modal pre-trained models without any multilingual pre-training. The code and pre-trained models will be available at github.com/zengyan-97/X2-VLM.
We present a new table structure recognition (TSR) approach, called TSRFormer, to robustly recognizing the structures of complex tables with geometrical distortions from various table images. Unlike previous methods, we formulate table separation line prediction as a line regression problem instead of an image segmentation problem and propose a new two-stage DETR based separator prediction approach, dubbed \textbf{Sep}arator \textbf{RE}gression \textbf{TR}ansformer (SepRETR), to predict separation lines from table images directly. To make the two-stage DETR framework work efficiently and effectively for the separation line prediction task, we propose two improvements: 1) A prior-enhanced matching strategy to solve the slow convergence issue of DETR; 2) A new cross attention module to sample features from a high-resolution convolutional feature map directly so that high localization accuracy is achieved with low computational cost. After separation line prediction, a simple relation network based cell merging module is used to recover spanning cells. With these new techniques, our TSRFormer achieves state-of-the-art performance on several benchmark datasets, including SciTSR, PubTabNet and WTW. Furthermore, we have validated the robustness of our approach to tables with complex structures, borderless cells, large blank spaces, empty or spanning cells as well as distorted or even curved shapes on a more challenging real-world in-house dataset.
With the success of vision-language pre-training, we have witnessed the state-of-the-art has been pushed on multi-modal understanding and generation. However, the current pre-training paradigm is either incapable of targeting all modalities at once (e.g., text generation and image generation), or requires multi-fold well-designed tasks which significantly limits the scalability. We demonstrate that a unified modal model could be learned with a prefix language modeling objective upon text and image sequences. Thanks to the simple but powerful pre-training paradigm, our proposed model, DaVinci, is simple to train, scalable to huge data, and adaptable to a variety of downstream tasks across modalities (language / vision / vision+language), types (understanding / generation) and settings (e.g., zero-shot, fine-tuning, linear evaluation) with a single unified architecture. DaVinci achieves the competitive performance on a wide range of 26 understanding / generation tasks, and outperforms previous unified vision-language models on most tasks, including ImageNet classification (+1.6%), VQAv2 (+1.4%), COCO caption generation (BLEU@4 +1.1%, CIDEr +1.5%) and COCO image generation (IS +0.9%, FID -1.0%), at the comparable model and data scale. Furthermore, we offer a well-defined benchmark for future research by reporting the performance on different scales of the pre-training dataset on a heterogeneous and wide distribution coverage. Our results establish new, stronger baselines for future comparisons at different data scales and shed light on the difficulties of comparing VLP models more generally.
Recent years have witnessed increasing interest in code representation learning, which aims to represent the semantics of source code into distributed vectors. Currently, various works have been proposed to represent the complex semantics of source code from different views, including plain text, Abstract Syntax Tree (AST), and several kinds of code graphs (e.g., Control/Data Flow Graph). However, most of them only consider a single view of source code independently, ignoring the correspondences among different views. In this paper, we propose to integrate different views with the natural-language description of source code into a unified framework with Multi-View contrastive Pre-training, and name our model as CODE-MVP. Specifically, we first extract multiple code views using compiler tools, and learn the complementary information among them under a contrastive learning framework. Inspired by the type checking in compilation, we also design a fine-grained type inference objective in the pre-training. Experiments on three downstream tasks over five datasets demonstrate the superiority of CODE-MVP when compared with several state-of-the-art baselines. For example, we achieve 2.4/2.3/1.1 gain in terms of MRR/MAP/Accuracy metrics on natural language code retrieval, code similarity, and code defect detection tasks, respectively.
Without labeled question-answer pairs for necessary training, unsupervised commonsense question-answering (QA) appears to be extremely challenging due to its indispensable unique prerequisite on commonsense source like knowledge bases (KBs), which are usually highly resource consuming in construction. Recently pre-trained language models (PrLMs) show effectiveness as an alternative for commonsense clues when they play a role of knowledge generator. However, existing work simply generates hundreds of pseudo-answers, or roughly performs knowledge generation according to templates once for all, which may result in much noise and thus hinders the quality of generated knowledge. Motivated by human thinking experience, we propose an approach of All-round Thinker (ArT) by fully taking association during knowledge generating. In detail, our model first focuses on key parts in the given context, and then generates highly related knowledge on such a basis in an association way like human thinking. Besides, for casual reasoning, a reverse thinking mechanism is proposed to conduct bidirectional inferring between cause and effect. ArT is totally unsupervised and KBs-free. We evaluate it on three commonsense QA benchmarks: COPA, SocialIQA and SCT. On all scales of PrLM backbones, ArT shows its brilliant performance and outperforms previous advanced unsupervised models.