Milestones in Autonomous Driving and Intelligent Vehicles Part II: Perception and Planning

Growing interest in autonomous driving (AD) and intelligent vehicles (IVs) is fueled by their promise for enhanced safety, efficiency, and economic benefits. While previous surveys have captured progress in this field, a comprehensive and forward-looking summary is needed. Our work fills this gap through three distinct articles. The first part, a "Survey of Surveys" (SoS), outlines the history, surveys, ethics, and future directions of AD and IV technologies. The second part, "Milestones in Autonomous Driving and Intelligent Vehicles Part I: Control, Computing System Design, Communication, HD Map, Testing, and Human Behaviors" delves into the development of control, computing system, communication, HD map, testing, and human behaviors in IVs. This part, the third part, reviews perception and planning in the context of IVs. Aiming to provide a comprehensive overview of the latest advancements in AD and IVs, this work caters to both newcomers and seasoned researchers. By integrating the SoS and Part I, we offer unique insights and strive to serve as a bridge between past achievements and future possibilities in this dynamic field.

Vector-based Representation is the Key: A Study on Disentanglement and Compositional Generalization

Recognizing elementary underlying concepts from observations (disentanglement) and generating novel combinations of these concepts (compositional generalization) are fundamental abilities for humans to support rapid knowledge learning and generalize to new tasks, with which the deep learning models struggle. Towards human-like intelligence, various works on disentangled representation learning have been proposed, and recently some studies on compositional generalization have been presented. However, few works study the relationship between disentanglement and compositional generalization, and the observed results are inconsistent. In this paper, we study several typical disentangled representation learning works in terms of both disentanglement and compositional generalization abilities, and we provide an important insight: vector-based representation (using a vector instead of a scalar to represent a concept) is the key to empower both good disentanglement and strong compositional generalization. This insight also resonates the neuroscience research that the brain encodes information in neuron population activity rather than individual neurons. Motivated by this observation, we further propose a method to reform the scalar-based disentanglement works ($\beta$-TCVAE and FactorVAE) to be vector-based to increase both capabilities. We investigate the impact of the dimensions of vector-based representation and one important question: whether better disentanglement indicates higher compositional generalization. In summary, our study demonstrates that it is possible to achieve both good concept recognition and novel concept composition, contributing an important step towards human-like intelligence.

Skill-Based Few-Shot Selection for In-Context Learning

In-Context learning is the paradigm that adapts large language models to downstream tasks by providing a few examples. Few-shot selection -- selecting appropriate examples for each test instance separately -- is important for in-context learning. In this paper, we propose Skill-KNN, a skill-based few-shot selection method for in-context learning. The key advantages of Skill-KNN include: (1) it addresses the problem that existing methods based on pre-trained embeddings can be easily biased by surface natural language features that are not important for the target task; (2) it does not require training or fine-tuning of any models, making it suitable for frequently expanding or changing example banks. The key insight is to optimize the inputs fed into the embedding model, rather than tuning the model itself. Technically, Skill-KNN generates the skill-based representations for each test case and candidate example by utilizing a pre-processing few-shot prompting, thus eliminating unimportant surface features. Experimental results across four cross-domain semantic parsing tasks and four backbone models show that Skill-KNN significantly outperforms existing methods.

Milestones in Autonomous Driving and Intelligent Vehicles Part \uppercase\expandafter{\romannumeral1}: Control, Computing System Design, Communication, HD Map, Testing, and Human Behaviors

Interest in autonomous driving (AD) and intelligent vehicles (IVs) is growing at a rapid pace due to the convenience, safety, and economic benefits. Although a number of surveys have reviewed research achievements in this field, they are still limited in specific tasks and lack systematic summaries and research directions in the future. Our work is divided into 3 independent articles and the first part is a Survey of Surveys (SoS) for total technologies of AD and IVs that involves the history, summarizes the milestones, and provides the perspectives, ethics, and future research directions. This is the second part (Part \uppercase\expandafter{\romannumeral1} for this technical survey) to review the development of control, computing system design, communication, High Definition map (HD map), testing, and human behaviors in IVs. In addition, the third part (Part \uppercase\expandafter{\romannumeral2} for this technical survey) is to review the perception and planning sections. The objective of this paper is to involve all the sections of AD, summarize the latest technical milestones, and guide abecedarians to quickly understand the development of AD and IVs. Combining the SoS and Part \uppercase\expandafter{\romannumeral2}, we anticipate that this work will bring novel and diverse insights to researchers and abecedarians, and serve as a bridge between past and future.

How Do In-Context Examples Affect Compositional Generalization?

Compositional generalization--understanding unseen combinations of seen primitives--is an essential reasoning capability in human intelligence. The AI community mainly studies this capability by fine-tuning neural networks on lots of training samples, while it is still unclear whether and how in-context learning--the prevailing few-shot paradigm based on large language models--exhibits compositional generalization. In this paper, we present CoFe, a test suite to investigate in-context compositional generalization. We find that the compositional generalization performance can be easily affected by the selection of in-context examples, thus raising the research question what the key factors are to make good in-context examples for compositional generalization. We study three potential factors: similarity, diversity and complexity. Our systematic experiments indicate that in-context examples should be structurally similar to the test case, diverse from each other, and individually simple. Furthermore, two strong limitations are observed: in-context compositional generalization on fictional words is much weaker than that on commonly used ones; it is still critical that the in-context examples should cover required linguistic structures, even though the backbone model has been pre-trained on large corpus. We hope our analysis would facilitate the understanding and utilization of in-context learning paradigm.

Learning Trajectories are Generalization Indicators

The aim of this paper is to investigate the connection between learning trajectories of the Deep Neural Networks (DNNs) and their corresponding generalization capabilities when being optimized with broadly used gradient descent and stochastic gradient descent algorithms. In this paper, we construct Linear Approximation Function to model the trajectory information and we propose a new generalization bound with richer trajectory information based on it. Our proposed generalization bound relies on the complexity of learning trajectory and the ratio between the bias and diversity of training set. Experimental results indicate that the proposed method effectively captures the generalization trend across various training steps, learning rates, and label noise levels.

Quadric Representations for LiDAR Odometry, Mapping and Localization

Current LiDAR odometry, mapping and localization methods leverage point-wise representations of 3D scenes and achieve high accuracy in autonomous driving tasks. However, the space-inefficiency of methods that use point-wise representations limits their development and usage in practical applications. In particular, scan-submap matching and global map representation methods are restricted by the inefficiency of nearest neighbor searching (NNS) for large-volume point clouds. To improve space-time efficiency, we propose a novel method of describing scenes using quadric surfaces, which are far more compact representations of 3D objects than conventional point clouds. In contrast to point cloud-based methods, our quadric representation-based method decomposes a 3D scene into a collection of sparse quadric patches, which improves storage efficiency and avoids the slow point-wise NNS process. Our method first segments a given point cloud into patches and fits each of them to a quadric implicit function. Each function is then coupled with other geometric descriptors of the patch, such as its center position and covariance matrix. Collectively, these patch representations fully describe a 3D scene, which can be used in place of the original point cloud and employed in LiDAR odometry, mapping and localization algorithms. We further design a novel incremental growing method for quadric representations, which eliminates the need to repeatedly re-fit quadric surfaces from the original point cloud. Extensive odometry, mapping and localization experiments on large-volume point clouds in the KITTI and UrbanLoco datasets demonstrate that our method maintains low latency and memory utility while achieving competitive, and even superior, accuracy.

MMRDN: Consistent Representation for Multi-View Manipulation Relationship Detection in Object-Stacked Scenes

Manipulation relationship detection (MRD) aims to guide the robot to grasp objects in the right order, which is important to ensure the safety and reliability of grasping in object stacked scenes. Previous works infer manipulation relationship by deep neural network trained with data collected from a predefined view, which has limitation in visual dislocation in unstructured environments. Multi-view data provide more comprehensive information in space, while a challenge of multi-view MRD is domain shift. In this paper, we propose a novel multi-view fusion framework, namely multi-view MRD network (MMRDN), which is trained by 2D and 3D multi-view data. We project the 2D data from different views into a common hidden space and fit the embeddings with a set of Von-Mises-Fisher distributions to learn the consistent representations. Besides, taking advantage of position information within the 3D data, we select a set of $K$ Maximum Vertical Neighbors (KMVN) points from the point cloud of each object pair, which encodes the relative position of these two objects. Finally, the features of multi-view 2D and 3D data are concatenated to predict the pairwise relationship of objects. Experimental results on the challenging REGRAD dataset show that MMRDN outperforms the state-of-the-art methods in multi-view MRD tasks. The results also demonstrate that our model trained by synthetic data is capable to transfer to real-world scenarios.

VPFusion: Towards Robust Vertical Representation Learning for 3D Object Detection

Efficient point cloud representation is a fundamental element of Lidar-based 3D object detection. Recent grid-based detectors usually divide point clouds into voxels or pillars and construct single-stream networks in Bird's Eye View. However, these point cloud encoding paradigms underestimate the point representation in the vertical direction, which cause the loss of semantic or fine-grained information, especially for vertical sensitive objects like pedestrian and cyclists. In this paper, we propose an explicit vertical multi-scale representation learning framework, VPFusion, to combine the complementary information from both voxel and pillar streams. Specifically, VPFusion first builds upon a sparse voxel-pillar-based backbone. The backbone divides point clouds into voxels and pillars, then encodes features with 3D and 2D sparse convolution simultaneously. Next, we introduce the Sparse Fusion Layer (SFL), which establishes a bidirectional pathway for sparse voxel and pillar features to enable the interaction between them. Additionally, we present the Dense Fusion Neck (DFN) to effectively combine the dense feature maps from voxel and pillar branches with multi-scale. Extensive experiments on the large-scale Waymo Open Dataset and nuScenes Dataset demonstrate that VPFusion surpasses the single-stream baselines by a large margin and achieves state-of-the-art performance with real-time inference speed.