Enhancing Safety in Mixed Traffic: Learning-Based Modeling and Efficient Control of Autonomous and Human-Driven Vehicles

With the increasing presence of autonomous vehicles (AVs) on public roads, developing robust control strategies to navigate the uncertainty of human-driven vehicles (HVs) is crucial. This paper introduces an advanced method for modeling HV behavior, combining a first-principles model with Gaussian process (GP) learning to enhance velocity prediction accuracy and provide a measurable uncertainty. We validated this innovative HV model using real-world data from field experiments and applied it to develop a GP-enhanced model predictive control (GP-MPC) strategy. This strategy aims to improve safety in mixed vehicle platoons by integrating uncertainty assessment into distance constraints. Comparative simulation studies with a conventional model predictive control (MPC) approach demonstrated that our GP-MPC strategy ensures more reliable safe distancing and fosters efficient vehicular dynamics, achieving notably higher speeds within the platoon. By incorporating a sparse GP technique in HV modeling and adopting a dynamic GP prediction within the MPC framework, we significantly reduced the computation time of GP-MPC, marking it only 4.6% higher than that of the conventional MPC. This represents a substantial improvement, making the process about 100 times faster than our preliminary work without these approximations. Our findings underscore the effectiveness of learning-based HV modeling in enhancing both safety and operational efficiency in mixed-traffic environments, paving the way for more harmonious AV-HV interactions.

Rethinking Diffusion Model for Multi-Contrast MRI Super-Resolution

Recently, diffusion models (DM) have been applied in magnetic resonance imaging (MRI) super-resolution (SR) reconstruction, exhibiting impressive performance, especially with regard to detailed reconstruction. However, the current DM-based SR reconstruction methods still face the following issues: (1) They require a large number of iterations to reconstruct the final image, which is inefficient and consumes a significant amount of computational resources. (2) The results reconstructed by these methods are often misaligned with the real high-resolution images, leading to remarkable distortion in the reconstructed MR images. To address the aforementioned issues, we propose an efficient diffusion model for multi-contrast MRI SR, named as DiffMSR. Specifically, we apply DM in a highly compact low-dimensional latent space to generate prior knowledge with high-frequency detail information. The highly compact latent space ensures that DM requires only a few simple iterations to produce accurate prior knowledge. In addition, we design the Prior-Guide Large Window Transformer (PLWformer) as the decoder for DM, which can extend the receptive field while fully utilizing the prior knowledge generated by DM to ensure that the reconstructed MR image remains undistorted. Extensive experiments on public and clinical datasets demonstrate that our DiffMSR outperforms state-of-the-art methods.

Attack Deterministic Conditional Image Generative Models for Diverse and Controllable Generation

Existing generative adversarial network (GAN) based conditional image generative models typically produce fixed output for the same conditional input, which is unreasonable for highly subjective tasks, such as large-mask image inpainting or style transfer. On the other hand, GAN-based diverse image generative methods require retraining/fine-tuning the network or designing complex noise injection functions, which is computationally expensive, task-specific, or struggle to generate high-quality results. Given that many deterministic conditional image generative models have been able to produce high-quality yet fixed results, we raise an intriguing question: is it possible for pre-trained deterministic conditional image generative models to generate diverse results without changing network structures or parameters? To answer this question, we re-examine the conditional image generation tasks from the perspective of adversarial attack and propose a simple and efficient plug-in projected gradient descent (PGD) like method for diverse and controllable image generation. The key idea is attacking the pre-trained deterministic generative models by adding a micro perturbation to the input condition. In this way, diverse results can be generated without any adjustment of network structures or fine-tuning of the pre-trained models. In addition, we can also control the diverse results to be generated by specifying the attack direction according to a reference text or image. Our work opens the door to applying adversarial attack to low-level vision tasks, and experiments on various conditional image generation tasks demonstrate the effectiveness and superiority of the proposed method.

PNeSM: Arbitrary 3D Scene Stylization via Prompt-Based Neural Style Mapping

3D scene stylization refers to transform the appearance of a 3D scene to match a given style image, ensuring that images rendered from different viewpoints exhibit the same style as the given style image, while maintaining the 3D consistency of the stylized scene. Several existing methods have obtained impressive results in stylizing 3D scenes. However, the models proposed by these methods need to be re-trained when applied to a new scene. In other words, their models are coupled with a specific scene and cannot adapt to arbitrary other scenes. To address this issue, we propose a novel 3D scene stylization framework to transfer an arbitrary style to an arbitrary scene, without any style-related or scene-related re-training. Concretely, we first map the appearance of the 3D scene into a 2D style pattern space, which realizes complete disentanglement of the geometry and appearance of the 3D scene and makes our model be generalized to arbitrary 3D scenes. Then we stylize the appearance of the 3D scene in the 2D style pattern space via a prompt-based 2D stylization algorithm. Experimental results demonstrate that our proposed framework is superior to SOTA methods in both visual quality and generalization.

3DGStream: On-the-Fly Training of 3D Gaussians for Efficient Streaming of Photo-Realistic Free-Viewpoint Videos

Constructing photo-realistic Free-Viewpoint Videos (FVVs) of dynamic scenes from multi-view videos remains a challenging endeavor. Despite the remarkable advancements achieved by current neural rendering techniques, these methods generally require complete video sequences for offline training and are not capable of real-time rendering. To address these constraints, we introduce 3DGStream, a method designed for efficient FVV streaming of real-world dynamic scenes. Our method achieves fast on-the-fly per-frame reconstruction within 12 seconds and real-time rendering at 200 FPS. Specifically, we utilize 3D Gaussians (3DGs) to represent the scene. Instead of the na\"ive approach of directly optimizing 3DGs per-frame, we employ a compact Neural Transformation Cache (NTC) to model the translations and rotations of 3DGs, markedly reducing the training time and storage required for each FVV frame. Furthermore, we propose an adaptive 3DG addition strategy to handle emerging objects in dynamic scenes. Experiments demonstrate that 3DGStream achieves competitive performance in terms of rendering speed, image quality, training time, and model storage when compared with state-of-the-art methods.

Implement services for business scenarios by combining basic emulators

This article mainly introduces how to use various basic emulators to form a combined emulator in the Jiutian Intelligence Network Simulation Platform to realize simulation service functions in different business scenarios. Among them, the combined emulator is included. The business scenarios include different practical applications such as multi-objective antenna optimization, high traffic of business, CSI (channel state information) compression feedback, etc.

ArtBank: Artistic Style Transfer with Pre-trained Diffusion Model and Implicit Style Prompt Bank

Artistic style transfer aims to repaint the content image with the learned artistic style. Existing artistic style transfer methods can be divided into two categories: small model-based approaches and pre-trained large-scale model-based approaches. Small model-based approaches can preserve the content strucuture, but fail to produce highly realistic stylized images and introduce artifacts and disharmonious patterns; Pre-trained large-scale model-based approaches can generate highly realistic stylized images but struggle with preserving the content structure. To address the above issues, we propose ArtBank, a novel artistic style transfer framework, to generate highly realistic stylized images while preserving the content structure of the content images. Specifically, to sufficiently dig out the knowledge embedded in pre-trained large-scale models, an Implicit Style Prompt Bank (ISPB), a set of trainable parameter matrices, is designed to learn and store knowledge from the collection of artworks and behave as a visual prompt to guide pre-trained large-scale models to generate highly realistic stylized images while preserving content structure. Besides, to accelerate training the above ISPB, we propose a novel Spatial-Statistical-based self-Attention Module (SSAM). The qualitative and quantitative experiments demonstrate the superiority of our proposed method over state-of-the-art artistic style transfer methods.

Is Inverse Reinforcement Learning Harder than Standard Reinforcement Learning?

Inverse Reinforcement Learning (IRL) -- the problem of learning reward functions from demonstrations of an \emph{expert policy} -- plays a critical role in developing intelligent systems, such as those that understand and imitate human behavior. While widely used in applications, theoretical understandings of IRL admit unique challenges and remain less developed compared with standard RL theory. For example, it remains open how to do IRL efficiently in standard \emph{offline} settings with pre-collected data, where states are obtained from a \emph{behavior policy} (which could be the expert policy itself), and actions are sampled from the expert policy. This paper provides the first line of results for efficient IRL in vanilla offline and online settings using polynomial samples and runtime. We first design a new IRL algorithm for the offline setting, Reward Learning with Pessimism (RLP), and show that it achieves polynomial sample complexity in terms of the size of the MDP, a concentrability coefficient between the behavior policy and the expert policy, and the desired accuracy. Building on RLP, we further design an algorithm Reward Learning with Exploration (RLE), which operates in a natural online setting where the learner can both actively explore the environment and query the expert policy, and obtain a stronger notion of IRL guarantee from polynomial samples. We establish sample complexity lower bounds for both settings showing that RLP and RLE are nearly optimal. Finally, as an application, we show that the learned reward functions can \emph{transfer} to another target MDP with suitable guarantees when the target MDP satisfies certain similarity assumptions with the original (source) MDP.

CogVLM: Visual Expert for Pretrained Language Models

We introduce CogVLM, a powerful open-source visual language foundation model. Different from the popular shallow alignment method which maps image features into the input space of language model, CogVLM bridges the gap between the frozen pretrained language model and image encoder by a trainable visual expert module in the attention and FFN layers. As a result, CogVLM enables deep fusion of vision language features without sacrificing any performance on NLP tasks. CogVLM-17B achieves state-of-the-art performance on 10 classic cross-modal benchmarks, including NoCaps, Flicker30k captioning, RefCOCO, RefCOCO+, RefCOCOg, Visual7W, GQA, ScienceQA, VizWiz VQA and TDIUC, and ranks the 2nd on VQAv2, OKVQA, TextVQA, COCO captioning, etc., surpassing or matching PaLI-X 55B. Codes and checkpoints are available at https://github.com/THUDM/CogVLM.

X-HRNet: Towards Lightweight Human Pose Estimation with Spatially Unidimensional Self-Attention

High-resolution representation is necessary for human pose estimation to achieve high performance, and the ensuing problem is high computational complexity. In particular, predominant pose estimation methods estimate human joints by 2D single-peak heatmaps. Each 2D heatmap can be horizontally and vertically projected to and reconstructed by a pair of 1D heat vectors. Inspired by this observation, we introduce a lightweight and powerful alternative, Spatially Unidimensional Self-Attention (SUSA), to the pointwise (1x1) convolution that is the main computational bottleneck in the depthwise separable 3c3 convolution. Our SUSA reduces the computational complexity of the pointwise (1x1) convolution by 96% without sacrificing accuracy. Furthermore, we use the SUSA as the main module to build our lightweight pose estimation backbone X-HRNet, where `X' represents the estimated cross-shape attention vectors. Extensive experiments on the COCO benchmark demonstrate the superiority of our X-HRNet, and comprehensive ablation studies show the effectiveness of the SUSA modules. The code is publicly available at https://github.com/cool-xuan/x-hrnet.