Infrastructure-Assisted Collaborative Perception in Automated Valet Parking: A Safety Perspective

Environmental perception in Automated Valet Parking (AVP) has been a challenging task due to severe occlusions in parking garages. Although Collaborative Perception (CP) can be applied to broaden the field of view of connected vehicles, the limited bandwidth of vehicular communications restricts its application. In this work, we propose a BEV feature-based CP network architecture for infrastructure-assisted AVP systems. The model takes the roadside camera and LiDAR as optional inputs and adaptively fuses them with onboard sensors in a unified BEV representation. Autoencoder and downsampling are applied for channel-wise and spatial-wise dimension reduction, while sparsification and quantization further compress the feature map with little loss in data precision. Combining these techniques, the size of a BEV feature map is effectively compressed to fit in the feasible data rate of the NR-V2X network. With the synthetic AVP dataset, we observe that CP can effectively increase perception performance, especially for pedestrians. Moreover, the advantage of infrastructure-assisted CP is demonstrated in two typical safety-critical scenarios in the AVP setting, increasing the maximum safe cruising speed by up to 3m/s in both scenarios.

Graph Prompt Learning: A Comprehensive Survey and Beyond

Artificial General Intelligence (AGI) has revolutionized numerous fields, yet its integration with graph data, a cornerstone in our interconnected world, remains nascent. This paper presents a pioneering survey on the emerging domain of graph prompts in AGI, addressing key challenges and opportunities in harnessing graph data for AGI applications. Despite substantial advancements in AGI across natural language processing and computer vision, the application to graph data is relatively underexplored. This survey critically evaluates the current landscape of AGI in handling graph data, highlighting the distinct challenges in cross-modality, cross-domain, and cross-task applications specific to graphs. Our work is the first to propose a unified framework for understanding graph prompt learning, offering clarity on prompt tokens, token structures, and insertion patterns in the graph domain. We delve into the intrinsic properties of graph prompts, exploring their flexibility, expressiveness, and interplay with existing graph models. A comprehensive taxonomy categorizes over 100 works in this field, aligning them with pre-training tasks across node-level, edge-level, and graph-level objectives. Additionally, we present, ProG, a Python library, and an accompanying website, to support and advance research in graph prompting. The survey culminates in a discussion of current challenges and future directions, offering a roadmap for research in graph prompting within AGI. Through this comprehensive analysis, we aim to catalyze further exploration and practical applications of AGI in graph data, underlining its potential to reshape AGI fields and beyond. ProG and the website can be accessed by \url{https://github.com/WxxShirley/Awesome-Graph-Prompt}, and \url{https://github.com/sheldonresearch/ProG}, respectively.

ProbTS: A Unified Toolkit to Probe Deep Time-series Forecasting

Time-series forecasting serves as a linchpin in a myriad of applications, spanning various domains. With the growth of deep learning, this arena has bifurcated into two salient branches: one focuses on crafting specific neural architectures tailored for time series, and the other harnesses advanced deep generative models for probabilistic forecasting. While both branches have made significant progress, their differences across data scenarios, methodological focuses, and decoding schemes pose profound, yet unexplored, research questions. To bridge this knowledge chasm, we introduce ProbTS, a pioneering toolkit developed to synergize and compare these two distinct branches. Endowed with a unified data module, a modularized model module, and a comprehensive evaluator module, ProbTS allows us to revisit and benchmark leading methods from both branches. The scrutiny with ProbTS highlights their distinct characteristics, relative strengths and weaknesses, and areas that need further exploration. Our analyses point to new avenues for research, aiming for more effective time-series forecasting.

Warpformer: A Multi-scale Modeling Approach for Irregular Clinical Time Series

Irregularly sampled multivariate time series are ubiquitous in various fields, particularly in healthcare, and exhibit two key characteristics: intra-series irregularity and inter-series discrepancy. Intra-series irregularity refers to the fact that time-series signals are often recorded at irregular intervals, while inter-series discrepancy refers to the significant variability in sampling rates among diverse series. However, recent advances in irregular time series have primarily focused on addressing intra-series irregularity, overlooking the issue of inter-series discrepancy. To bridge this gap, we present Warpformer, a novel approach that fully considers these two characteristics. In a nutshell, Warpformer has several crucial designs, including a specific input representation that explicitly characterizes both intra-series irregularity and inter-series discrepancy, a warping module that adaptively unifies irregular time series in a given scale, and a customized attention module for representation learning. Additionally, we stack multiple warping and attention modules to learn at different scales, producing multi-scale representations that balance coarse-grained and fine-grained signals for downstream tasks. We conduct extensive experiments on widely used datasets and a new large-scale benchmark built from clinical databases. The results demonstrate the superiority of Warpformer over existing state-of-the-art approaches.

Can Open Domain Question Answering Systems Answer Visual Knowledge Questions?

The task of Outside Knowledge Visual Question Answering (OKVQA) requires an automatic system to answer natural language questions about pictures and images using external knowledge. We observe that many visual questions, which contain deictic referential phrases referring to entities in the image, can be rewritten as "non-grounded" questions and can be answered by existing text-based question answering systems. This allows for the reuse of existing text-based Open Domain Question Answering (QA) Systems for visual question answering. In this work, we propose a potentially data-efficient approach that reuses existing systems for (a) image analysis, (b) question rewriting, and (c) text-based question answering to answer such visual questions. Given an image and a question pertaining to that image (a visual question), we first extract the entities present in the image using pre-trained object and scene classifiers. Using these detected entities, the visual questions can be rewritten so as to be answerable by open domain QA systems. We explore two rewriting strategies: (1) an unsupervised method using BERT for masking and rewriting, and (2) a weakly supervised approach that combines adaptive rewriting and reinforcement learning techniques to use the implicit feedback from the QA system. We test our strategies on the publicly available OKVQA dataset and obtain a competitive performance with state-of-the-art models while using only 10% of the training data.