Baichuan-Omni Technical Report

The salient multimodal capabilities and interactive experience of GPT-4o highlight its critical role in practical applications, yet it lacks a high-performing open-source counterpart. In this paper, we introduce Baichuan-Omni, the first open-source 7B Multimodal Large Language Model (MLLM) adept at concurrently processing and analyzing modalities of image, video, audio, and text, while delivering an advanced multimodal interactive experience and strong performance. We propose an effective multimodal training schema starting with 7B model and proceeding through two stages of multimodal alignment and multitask fine-tuning across audio, image, video, and text modal. This approach equips the language model with the ability to handle visual and audio data effectively. Demonstrating strong performance across various omni-modal and multimodal benchmarks, we aim for this contribution to serve as a competitive baseline for the open-source community in advancing multimodal understanding and real-time interaction.

DiVE: DiT-based Video Generation with Enhanced Control

Generating high-fidelity, temporally consistent videos in autonomous driving scenarios faces a significant challenge, e.g. problematic maneuvers in corner cases. Despite recent video generation works are proposed to tackcle the mentioned problem, i.e. models built on top of Diffusion Transformers (DiT), works are still missing which are targeted on exploring the potential for multi-view videos generation scenarios. Noticeably, we propose the first DiT-based framework specifically designed for generating temporally and multi-view consistent videos which precisely match the given bird's-eye view layouts control. Specifically, the proposed framework leverages a parameter-free spatial view-inflated attention mechanism to guarantee the cross-view consistency, where joint cross-attention modules and ControlNet-Transformer are integrated to further improve the precision of control. To demonstrate our advantages, we extensively investigate the qualitative comparisons on nuScenes dataset, particularly in some most challenging corner cases. In summary, the effectiveness of our proposed method in producing long, controllable, and highly consistent videos under difficult conditions is proven to be effective.

BioKGBench: A Knowledge Graph Checking Benchmark of AI Agent for Biomedical Science

Pursuing artificial intelligence for biomedical science, a.k.a. AI Scientist, draws increasing attention, where one common approach is to build a copilot agent driven by Large Language Models (LLMs). However, to evaluate such systems, people either rely on direct Question-Answering (QA) to the LLM itself, or in a biomedical experimental manner. How to precisely benchmark biomedical agents from an AI Scientist perspective remains largely unexplored. To this end, we draw inspiration from one most important abilities of scientists, understanding the literature, and introduce BioKGBench. In contrast to traditional evaluation benchmark that only focuses on factual QA, where the LLMs are known to have hallucination issues, we first disentangle "Understanding Literature" into two atomic abilities, i) "Understanding" the unstructured text from research papers by performing scientific claim verification, and ii) Ability to interact with structured Knowledge-Graph Question-Answering (KGQA) as a form of "Literature" grounding. We then formulate a novel agent task, dubbed KGCheck, using KGQA and domain-based Retrieval-Augmented Generation (RAG) to identify the factual errors of existing large-scale knowledge graph databases. We collect over two thousand data for two atomic tasks and 225 high-quality annotated data for the agent task. Surprisingly, we discover that state-of-the-art agents, both daily scenarios and biomedical ones, have either failed or inferior performance on our benchmark. We then introduce a simple yet effective baseline, dubbed BKGAgent. On the widely used popular knowledge graph, we discover over 90 factual errors which provide scenarios for agents to make discoveries and demonstrate the effectiveness of our approach. The code and data are available at https://github.com/westlake-autolab/BioKGBench.

M3GIA: A Cognition Inspired Multilingual and Multimodal General Intelligence Ability Benchmark

As recent multi-modality large language models (MLLMs) have shown formidable proficiency on various complex tasks, there has been increasing attention on debating whether these models could eventually mirror human intelligence. However, existing benchmarks mainly focus on evaluating solely on task performance, such as the accuracy of identifying the attribute of an object. Combining well-developed cognitive science to understand the intelligence of MLLMs beyond superficial achievements remains largely unexplored. To this end, we introduce the first cognitive-driven multi-lingual and multi-modal benchmark to evaluate the general intelligence ability of MLLMs, dubbed M3GIA. Specifically, we identify five key cognitive factors based on the well-recognized Cattell-Horn-Carrol (CHC) model of intelligence and propose a novel evaluation metric. In addition, since most MLLMs are trained to perform in different languages, a natural question arises: is language a key factor influencing the cognitive ability of MLLMs? As such, we go beyond English to encompass other languages based on their popularity, including Chinese, French, Spanish, Portuguese and Korean, to construct our M3GIA. We make sure all the data relevant to the cultural backgrounds are collected from their native context to avoid English-centric bias. We collected a significant corpus of data from human participants, revealing that the most advanced MLLM reaches the lower boundary of human intelligence in English. Yet, there remains a pronounced disparity in the other five languages assessed. We also reveals an interesting winner takes all phenomenon that are aligned with the discovery in cognitive studies. Our benchmark will be open-sourced, with the aspiration of facilitating the enhancement of cognitive capabilities in MLLMs.

Unleashing Generalization of End-to-End Autonomous Driving with Controllable Long Video Generation

Using generative models to synthesize new data has become a de-facto standard in autonomous driving to address the data scarcity issue. Though existing approaches are able to boost perception models, we discover that these approaches fail to improve the performance of planning of end-to-end autonomous driving models as the generated videos are usually less than 8 frames and the spatial and temporal inconsistencies are not negligible. To this end, we propose Delphi, a novel diffusion-based long video generation method with a shared noise modeling mechanism across the multi-views to increase spatial consistency, and a feature-aligned module to achieves both precise controllability and temporal consistency. Our method can generate up to 40 frames of video without loss of consistency which is about 5 times longer compared with state-of-the-art methods. Instead of randomly generating new data, we further design a sampling policy to let Delphi generate new data that are similar to those failure cases to improve the sample efficiency. This is achieved by building a failure-case driven framework with the help of pre-trained visual language models. Our extensive experiment demonstrates that our Delphi generates a higher quality of long videos surpassing previous state-of-the-art methods. Consequentially, with only generating 4% of the training dataset size, our framework is able to go beyond perception and prediction tasks, for the first time to the best of our knowledge, boost the planning performance of the end-to-end autonomous driving model by a margin of 25%.

AlignMiF: Geometry-Aligned Multimodal Implicit Field for LiDAR-Camera Joint Synthesis

Neural implicit fields have been a de facto standard in novel view synthesis. Recently, there exist some methods exploring fusing multiple modalities within a single field, aiming to share implicit features from different modalities to enhance reconstruction performance. However, these modalities often exhibit misaligned behaviors: optimizing for one modality, such as LiDAR, can adversely affect another, like camera performance, and vice versa. In this work, we conduct comprehensive analyses on the multimodal implicit field of LiDAR-camera joint synthesis, revealing the underlying issue lies in the misalignment of different sensors. Furthermore, we introduce AlignMiF, a geometrically aligned multimodal implicit field with two proposed modules: Geometry-Aware Alignment (GAA) and Shared Geometry Initialization (SGI). These modules effectively align the coarse geometry across different modalities, significantly enhancing the fusion process between LiDAR and camera data. Through extensive experiments across various datasets and scenes, we demonstrate the effectiveness of our approach in facilitating better interaction between LiDAR and camera modalities within a unified neural field. Specifically, our proposed AlignMiF, achieves remarkable improvement over recent implicit fusion methods (+2.01 and +3.11 image PSNR on the KITTI-360 and Waymo datasets) and consistently surpasses single modality performance (13.8% and 14.2% reduction in LiDAR Chamfer Distance on the respective datasets).

OpenSight: A Simple Open-Vocabulary Framework for LiDAR-Based Object Detection

Traditional LiDAR-based object detection research primarily focuses on closed-set scenarios, which falls short in complex real-world applications. Directly transferring existing 2D open-vocabulary models with some known LiDAR classes for open-vocabulary ability, however, tends to suffer from over-fitting problems: The obtained model will detect the known objects, even presented with a novel category. In this paper, we propose OpenSight, a more advanced 2D-3D modeling framework for LiDAR-based open-vocabulary detection. OpenSight utilizes 2D-3D geometric priors for the initial discernment and localization of generic objects, followed by a more specific semantic interpretation of the detected objects. The process begins by generating 2D boxes for generic objects from the accompanying camera images of LiDAR. These 2D boxes, together with LiDAR points, are then lifted back into the LiDAR space to estimate corresponding 3D boxes. For better generic object perception, our framework integrates both temporal and spatial-aware constraints. Temporal awareness correlates the predicted 3D boxes across consecutive timestamps, recalibrating the missed or inaccurate boxes. The spatial awareness randomly places some ``precisely'' estimated 3D boxes at varying distances, increasing the visibility of generic objects. To interpret the specific semantics of detected objects, we develop a cross-modal alignment and fusion module to first align 3D features with 2D image embeddings and then fuse the aligned 3D-2D features for semantic decoding. Our experiments indicate that our method establishes state-of-the-art open-vocabulary performance on widely used 3D detection benchmarks and effectively identifies objects for new categories of interest.

BEVHeight++: Toward Robust Visual Centric 3D Object Detection

While most recent autonomous driving system focuses on developing perception methods on ego-vehicle sensors, people tend to overlook an alternative approach to leverage intelligent roadside cameras to extend the perception ability beyond the visual range. We discover that the state-of-the-art vision-centric bird's eye view detection methods have inferior performances on roadside cameras. This is because these methods mainly focus on recovering the depth regarding the camera center, where the depth difference between the car and the ground quickly shrinks while the distance increases. In this paper, we propose a simple yet effective approach, dubbed BEVHeight++, to address this issue. In essence, we regress the height to the ground to achieve a distance-agnostic formulation to ease the optimization process of camera-only perception methods. By incorporating both height and depth encoding techniques, we achieve a more accurate and robust projection from 2D to BEV spaces. On popular 3D detection benchmarks of roadside cameras, our method surpasses all previous vision-centric methods by a significant margin. In terms of the ego-vehicle scenario, our BEVHeight++ possesses superior over depth-only methods. Specifically, it yields a notable improvement of +1.9% NDS and +1.1% mAP over BEVDepth when evaluated on the nuScenes validation set. Moreover, on the nuScenes test set, our method achieves substantial advancements, with an increase of +2.8% NDS and +1.7% mAP, respectively.

FusionFormer: A Multi-sensory Fusion in Bird's-Eye-View and Temporal Consistent Transformer for 3D Objection

Multi-sensor modal fusion has demonstrated strong advantages in 3D object detection tasks. However, existing methods that fuse multi-modal features through a simple channel concatenation require transformation features into bird's eye view space and may lose the information on Z-axis thus leads to inferior performance. To this end, we propose FusionFormer, an end-to-end multi-modal fusion framework that leverages transformers to fuse multi-modal features and obtain fused BEV features. And based on the flexible adaptability of FusionFormer to the input modality representation, we propose a depth prediction branch that can be added to the framework to improve detection performance in camera-based detection tasks. In addition, we propose a plug-and-play temporal fusion module based on transformers that can fuse historical frame BEV features for more stable and reliable detection results. We evaluate our method on the nuScenes dataset and achieve 72.6% mAP and 75.1% NDS for 3D object detection tasks, outperforming state-of-the-art methods.

Towards Large-scale 3D Representation Learning with Multi-dataset Point Prompt Training

The rapid advancement of deep learning models often attributes to their ability to leverage massive training data. In contrast, such privilege has not yet fully benefited 3D deep learning, mainly due to the limited availability of large-scale 3D datasets. Merging multiple available data sources and letting them collaboratively train a single model is a potential solution. However, due to the large domain gap between 3D point cloud datasets, such mixed supervision could adversely affect the model's performance and lead to degenerated performance (i.e., negative transfer) compared to single-dataset training. In view of this challenge, we introduce Point Prompt Training (PPT), a novel framework for multi-dataset synergistic learning in the context of 3D representation learning that supports multiple pre-training paradigms. Based on this framework, we propose Prompt-driven Normalization, which adapts the model to different datasets with domain-specific prompts and Language-guided Categorical Alignment that decently unifies the multiple-dataset label spaces by leveraging the relationship between label text. Extensive experiments verify that PPT can overcome the negative transfer associated with synergistic learning and produce generalizable representations. Notably, it achieves state-of-the-art performance on each dataset using a single weight-shared model with supervised multi-dataset training. Moreover, when served as a pre-training framework, it outperforms other pre-training approaches regarding representation quality and attains remarkable state-of-the-art performance across over ten diverse downstream tasks spanning both indoor and outdoor 3D scenarios.