Topology Reasoning for Driving Scenes

Understanding the road genome is essential to realize autonomous driving. This highly intelligent problem contains two aspects - the connection relationship of lanes, and the assignment relationship between lanes and traffic elements, where a comprehensive topology reasoning method is vacant. On one hand, previous map learning techniques struggle in deriving lane connectivity with segmentation or laneline paradigms; or prior lane topology-oriented approaches focus on centerline detection and neglect the interaction modeling. On the other hand, the traffic element to lane assignment problem is limited in the image domain, leaving how to construct the correspondence from two views an unexplored challenge. To address these issues, we present TopoNet, the first end-to-end framework capable of abstracting traffic knowledge beyond conventional perception tasks. To capture the driving scene topology, we introduce three key designs: (1) an embedding module to incorporate semantic knowledge from 2D elements into a unified feature space; (2) a curated scene graph neural network to model relationships and enable feature interaction inside the network; (3) instead of transmitting messages arbitrarily, a scene knowledge graph is devised to differentiate prior knowledge from various types of the road genome. We evaluate TopoNet on the challenging scene understanding benchmark, OpenLane-V2, where our approach outperforms all previous works by a great margin on all perceptual and topological metrics. The code would be released soon.

Communication-Efficient Design for Quantized Decentralized Federated Learning

Decentralized federated learning (DFL) is a variant of federated learning, where edge nodes only communicate with their one-hop neighbors to learn the optimal model. However, as information exchange is restricted in a range of one-hop in DFL, inefficient information exchange leads to more communication rounds to reach the targeted training loss. This greatly reduces the communication efficiency. In this paper, we propose a new non-uniform quantization of model parameters to improve DFL convergence. Specifically, we apply the Lloyd-Max algorithm to DFL (LM-DFL) first to minimize the quantization distortion by adjusting the quantization levels adaptively. Convergence guarantee of LM-DFL is established without convex loss assumption. Based on LM-DFL, we then propose a new doubly-adaptive DFL, which jointly considers the ascending number of quantization levels to reduce the amount of communicated information in the training and adapts the quantization levels for non-uniform gradient distributions. Experiment results based on MNIST and CIFAR-10 datasets illustrate the superiority of LM-DFL with the optimal quantized distortion and show that doubly-adaptive DFL can greatly improve communication efficiency.

Two-stage Neural Network for ICASSP 2023 Speech Signal Improvement Challenge

In ICASSP 2023 speech signal improvement challenge, we developed a dual-stage neural model which improves speech signal quality induced by different distortions in a stage-wise divide-and-conquer fashion. Specifically, in the first stage, the speech improvement network focuses on recovering the missing components of the spectrum, while in the second stage, our model aims to further suppress noise, reverberation, and artifacts introduced by the first-stage model. Achieving 0.446 in the final score and 0.517 in the P.835 score, our system ranks 4th in the non-real-time track.

Two-step Band-split Neural Network Approach for Full-band Residual Echo Suppression

This paper describes a Two-step Band-split Neural Network (TBNN) approach for full-band acoustic echo cancellation. Specifically, after linear filtering, we split the full-band signal into wide-band (16KHz) and high-band (16-48KHz) for residual echo removal with lower modeling difficulty. The wide-band signal is processed by an updated gated convolutional recurrent network (GCRN) with U$^2$ encoder while the high-band signal is processed by a high-band post-filter net with lower complexity. Our approach submitted to ICASSP 2023 AEC Challenge has achieved an overall mean opinion score (MOS) of 4.344 and a word accuracy (WAcc) ratio of 0.795, leading to the 2$^{nd}$ (tied) in the ranking of the non-personalized track.

REASONER: An Explainable Recommendation Dataset with Multi-aspect Real User Labeled Ground Truths Towards more Measurable Explainable Recommendation

Explainable recommendation has attracted much attention from the industry and academic communities. It has shown great potential for improving the recommendation persuasiveness, informativeness and user satisfaction. Despite a lot of promising explainable recommender models have been proposed in the past few years, the evaluation strategies of these models suffer from several limitations. For example, the explanation ground truths are not labeled by real users, the explanations are mostly evaluated based on only one aspect and the evaluation strategies can be hard to unify. To alleviate the above problems, we propose to build an explainable recommendation dataset with multi-aspect real user labeled ground truths. In specific, we firstly develop a video recommendation platform, where a series of questions around the recommendation explainability are carefully designed. Then, we recruit about 3000 users with different backgrounds to use the system, and collect their behaviors and feedback to our questions. In this paper, we detail the construction process of our dataset and also provide extensive analysis on its characteristics. In addition, we develop a library, where ten well-known explainable recommender models are implemented in a unified framework. Based on this library, we build several benchmarks for different explainable recommendation tasks. At last, we present many new opportunities brought by our dataset, which are expected to shed some new lights to the explainable recommendation field. Our dataset, library and the related documents have been released at https://reasoner2023.github.io/.

Two-Stage Hierarchical Beam Training for Near-Field Communications

Extremely large-scale array (XL-array) has emerged as a promising technology to improve the spectrum efficiency and spatial resolution of future wireless systems. However, the huge number of antennas renders the users more likely to locate in the near-field (instead of the far-field) region of the XL-array with spherical wavefront propagation. This inevitably incurs prohibitively high beam training overhead since it requires a two-dimensional (2D) beam search over both the angular and distance domains. To address this issue, we propose in this paper an efficient two-stage hierarchical beam training method for near-field communications. Specifically, in the first stage, we employ the central sub-array of the XL-array to search for a coarse user direction in the angular domain with conventional far-field hierarchical codebook. Then, in the second stage, given the coarse user direction, we progressively search for the fine-grained user direction-and-distance in the polar domain with a dedicatedly designed codebook. Numerical results show that our proposed two-stage hierarchical beam training method can achieve over 99% training overhead reduction as compared to the 2D exhaustive search, yet achieving comparable rate performance.

Personalized speech enhancement combining band-split RNN and speaker attentive module

Target speaker information can be utilized in speech enhancement (SE) models to more effectively extract the desired speech. Previous works introduce the speaker embedding into speech enhancement models by means of concatenation or affine transformation. In this paper, we propose a speaker attentive module to calculate the attention scores between the speaker embedding and the intermediate features, which are used to rescale the features. By merging this module in the state-of-the-art SE model, we construct the personalized SE model for ICASSP Signal Processing Grand Challenge: DNS Challenge 5 (2023). Our system achieves a final score of 0.529 on the blind test set of track1 and 0.549 on track2.

SwiftAvatar: Efficient Auto-Creation of Parameterized Stylized Character on Arbitrary Avatar Engines

The creation of a parameterized stylized character involves careful selection of numerous parameters, also known as the "avatar vectors" that can be interpreted by the avatar engine. Existing unsupervised avatar vector estimation methods that auto-create avatars for users, however, often fail to work because of the domain gap between realistic faces and stylized avatar images. To this end, we propose SwiftAvatar, a novel avatar auto-creation framework that is evidently superior to previous works. SwiftAvatar introduces dual-domain generators to create pairs of realistic faces and avatar images using shared latent codes. The latent codes can then be bridged with the avatar vectors as pairs, by performing GAN inversion on the avatar images rendered from the engine using avatar vectors. Through this way, we are able to synthesize paired data in high-quality as many as possible, consisting of avatar vectors and their corresponding realistic faces. We also propose semantic augmentation to improve the diversity of synthesis. Finally, a light-weight avatar vector estimator is trained on the synthetic pairs to implement efficient auto-creation. Our experiments demonstrate the effectiveness and efficiency of SwiftAvatar on two different avatar engines. The superiority and advantageous flexibility of SwiftAvatar are also verified in both subjective and objective evaluations.

Mixed Near- and Far-Field Communications for Extremely Large-Scale Array: An Interference Perspective

Extremely large-scale array (XL-array) is envisioned to achieve super-high spectral efficiency in future wireless networks. Different from the existing works that mostly focus on the near-field communications, we consider in this paper a new and practical scenario, called mixed near- and far-field communications, where there exist both near- and far-field users in the network. For this scenario, we first obtain a closed-form expression for the inter-user interference at the near-field user caused by the far-field beam by using Fresnel functions, based on which the effects of the number of BS antennas, far-field user (FU) angle, near-field user (NU) angle and distance are analyzed. We show that the strong interference exists when the number of the BS antennas and the NU distance are relatively small, and/or the NU and FU angle-difference is small. Then, we further obtain the achievable rate of the NU as well as its rate loss caused by the FU interference. Last, numerical results are provided to corroborate our analytical results.

Policy Pre-training for End-to-end Autonomous Driving via Self-supervised Geometric Modeling

Witnessing the impressive achievements of pre-training techniques on large-scale data in the field of computer vision and natural language processing, we wonder whether this idea could be adapted in a grab-and-go spirit, and mitigate the sample inefficiency problem for visuomotor driving. Given the highly dynamic and variant nature of the input, the visuomotor driving task inherently lacks view and translation invariance, and the visual input contains massive irrelevant information for decision making, resulting in predominant pre-training approaches from general vision less suitable for the autonomous driving task. To this end, we propose PPGeo (Policy Pre-training via Geometric modeling), an intuitive and straightforward fully self-supervised framework curated for the policy pretraining in visuomotor driving. We aim at learning policy representations as a powerful abstraction by modeling 3D geometric scenes on large-scale unlabeled and uncalibrated YouTube driving videos. The proposed PPGeo is performed in two stages to support effective self-supervised training. In the first stage, the geometric modeling framework generates pose and depth predictions simultaneously, with two consecutive frames as input. In the second stage, the visual encoder learns driving policy representation by predicting the future ego-motion and optimizing with the photometric error based on current visual observation only. As such, the pre-trained visual encoder is equipped with rich driving policy related representations and thereby competent for multiple visuomotor driving tasks. Extensive experiments covering a wide span of challenging scenarios have demonstrated the superiority of our proposed approach, where improvements range from 2% to even over 100% with very limited data. Code and models will be available at https://github.com/OpenDriveLab/PPGeo.