Collaborative Perception Datasets for Autonomous Driving: A Review

Collaborative perception has attracted growing interest from academia and industry due to its potential to enhance perception accuracy, safety, and robustness in autonomous driving through multi-agent information fusion. With the advancement of Vehicle-to-Everything (V2X) communication, numerous collaborative perception datasets have emerged, varying in cooperation paradigms, sensor configurations, data sources, and application scenarios. However, the absence of systematic summarization and comparative analysis hinders effective resource utilization and standardization of model evaluation. As the first comprehensive review focused on collaborative perception datasets, this work reviews and compares existing resources from a multi-dimensional perspective. We categorize datasets based on cooperation paradigms, examine their data sources and scenarios, and analyze sensor modalities and supported tasks. A detailed comparative analysis is conducted across multiple dimensions. We also outline key challenges and future directions, including dataset scalability, diversity, domain adaptation, standardization, privacy, and the integration of large language models. To support ongoing research, we provide a continuously updated online repository of collaborative perception datasets and related literature: https://github.com/frankwnb/Collaborative-Perception-Datasets-for-Autonomous-Driving.

MiniMax-01: Scaling Foundation Models with Lightning Attention

We introduce MiniMax-01 series, including MiniMax-Text-01 and MiniMax-VL-01, which are comparable to top-tier models while offering superior capabilities in processing longer contexts. The core lies in lightning attention and its efficient scaling. To maximize computational capacity, we integrate it with Mixture of Experts (MoE), creating a model with 32 experts and 456 billion total parameters, of which 45.9 billion are activated for each token. We develop an optimized parallel strategy and highly efficient computation-communication overlap techniques for MoE and lightning attention. This approach enables us to conduct efficient training and inference on models with hundreds of billions of parameters across contexts spanning millions of tokens. The context window of MiniMax-Text-01 can reach up to 1 million tokens during training and extrapolate to 4 million tokens during inference at an affordable cost. Our vision-language model, MiniMax-VL-01 is built through continued training with 512 billion vision-language tokens. Experiments on both standard and in-house benchmarks show that our models match the performance of state-of-the-art models like GPT-4o and Claude-3.5-Sonnet while offering 20-32 times longer context window. We publicly release MiniMax-01 at https://github.com/MiniMax-AI.

SkipcrossNets: Adaptive Skip-cross Fusion for Road Detection

Multi-modal fusion is increasingly being used for autonomous driving tasks, as images from different modalities provide unique information for feature extraction. However, the existing two-stream networks are only fused at a specific network layer, which requires a lot of manual attempts to set up. As the CNN goes deeper, the two modal features become more and more advanced and abstract, and the fusion occurs at the feature level with a large gap, which can easily hurt the performance. In this study, we propose a novel fusion architecture called skip-cross networks (SkipcrossNets), which combines adaptively LiDAR point clouds and camera images without being bound to a certain fusion epoch. Specifically, skip-cross connects each layer to each layer in a feed-forward manner, and for each layer, the feature maps of all previous layers are used as input and its own feature maps are used as input to all subsequent layers for the other modality, enhancing feature propagation and multi-modal features fusion. This strategy facilitates selection of the most similar feature layers from two data pipelines, providing a complementary effect for sparse point cloud features during fusion processes. The network is also divided into several blocks to reduce the complexity of feature fusion and the number of model parameters. The advantages of skip-cross fusion were demonstrated through application to the KITTI and A2D2 datasets, achieving a MaxF score of 96.85% on KITTI and an F1 score of 84.84% on A2D2. The model parameters required only 2.33 MB of memory at a speed of 68.24 FPS, which could be viable for mobile terminals and embedded devices.

Towards Better Instruction Following Language Models for Chinese: Investigating the Impact of Training Data and Evaluation

Recently, significant public efforts have been directed towards developing low-cost models with capabilities akin to ChatGPT, thereby fostering the growth of open-source conversational models. However, there remains a scarcity of comprehensive and in-depth evaluations of these models' performance. In this study, we examine the influence of training data factors, including quantity, quality, and linguistic distribution, on model performance. Our analysis is grounded in several publicly accessible, high-quality instruction datasets, as well as our own Chinese multi-turn conversations. We assess various models using a evaluation set of 1,000 samples, encompassing nine real-world scenarios. Our goal is to supplement manual evaluations with quantitative analyses, offering valuable insights for the continued advancement of open-source chat models. Furthermore, to enhance the performance and training and inference efficiency of models in the Chinese domain, we extend the vocabulary of LLaMA - the model with the closest open-source performance to proprietary language models like GPT-3 - and conduct secondary pre-training on 3.4B Chinese words. We make our model, data, as well as code publicly available.

Exploring the Impact of Instruction Data Scaling on Large Language Models: An Empirical Study on Real-World Use Cases

The success of ChatGPT has recently attracted numerous efforts to replicate it, with instruction-tuning strategies being a key factor in achieving remarkable results. Instruction-tuning not only significantly enhances the model's performance and generalization but also makes the model's generated results more consistent with human speech patterns. However current research rarely studies the impact of different amounts of instruction data on model performance, especially in the real-world use cases. In this paper we explore the performance of large language models based on instruction tuning across different scales of instruction data. An evaluation dataset consisting of 12 major online use cases is constructed in the experiment. With Bloomz-7B1-mt as the base model, the results show that 1) merely increasing the amount of instruction data leads to continuous improvement in tasks such as open-ended generation, 2) in tasks such as math and code, the model performance curve remains quite flat while increasing data size. We further analyze the possible causes of these phenomena and propose potential future research directions such as effectively selecting high-quality training data, scaling base models and training methods specialized for hard tasks. We will release our training and evaluation datasets, as well as model checkpoints.

Exploring ChatGPT's Ability to Rank Content: A Preliminary Study on Consistency with Human Preferences

As a natural language assistant, ChatGPT is capable of performing various tasks, including but not limited to article generation, code completion, and data analysis. Furthermore, ChatGPT has consistently demonstrated a remarkable level of accuracy and reliability in terms of content evaluation, exhibiting the capability of mimicking human preferences. To further explore ChatGPT's potential in this regard, a study is conducted to assess its ability to rank content. In order to do so, a test set consisting of prompts is created, covering a wide range of use cases, and five models are utilized to generate corresponding responses. ChatGPT is then instructed to rank the responses generated by these models. The results on the test set show that ChatGPT's ranking preferences are consistent with human to a certain extent. This preliminary experimental finding implies that ChatGPT's zero-shot ranking capability could be used to reduce annotation pressure in a number of ranking tasks.

CLIP-RR: Improved CLIP Network for Relation-Focused Cross-Modal Information Retrieval

Relation-focused cross-modal information retrieval focuses on retrieving information based on relations expressed in user queries, and it is particularly important in information retrieval applications and next-generation search engines. To date, CLIP (Contrastive Language-Image Pre-training) achieved state-of-the-art performance in cross-modal learning tasks due to its efficient learning of visual concepts from natural language supervision. However, CLIP learns visual representations from natural language at a global level without the capability of focusing on image-object relations. This paper proposes a novel CLIP-based network for Relation Reasoning, CLIP-RR, that tackles relation-focused cross-modal information retrieval. The proposed network utilises CLIP to leverage its pre-trained knowledge, and it additionally comprises two main parts: (1) extends the capabilities of CLIP to extract and reason with object relations in images; and (2) aggregates the reasoned results for predicting the similarity scores between images and descriptions. Experiments were carried out by applying the proposed network to relation-focused cross-modal information retrieval tasks on the RefCOCOg, CLEVR, and Flickr30K datasets. The results revealed that the proposed network outperformed various other state-of-the-art networks including CLIP, VSE$\infty$, and VSRN++ on both image-to-text and text-to-image cross-modal information retrieval tasks.

Multi-modal Fusion Technology based on Vehicle Information: A Survey

Multi-modal fusion is a basic task of autonomous driving system perception, which has attracted many scholars' interest in recent years. The current multi-modal fusion methods mainly focus on camera data and LiDAR data, but pay little attention to the kinematic information provided by the bottom sensors of the vehicle, such as acceleration, vehicle speed, angle of rotation. These information are not affected by complex external scenes, so it is more robust and reliable. In this paper, we introduce the existing application fields of vehicle bottom information and the research progress of related methods, as well as the multi-modal fusion methods based on bottom information. We also introduced the relevant information of the vehicle bottom information data set in detail to facilitate the research as soon as possible. In addition, new future ideas of multi-modal fusion technology for autonomous driving tasks are proposed to promote the further utilization of vehicle bottom information.

LSEH: Semantically Enhanced Hard Negatives for Cross-modal Information Retrieval

Visual Semantic Embedding (VSE) aims to extract the semantics of images and their descriptions, and embed them into the same latent space for cross-modal information retrieval. Most existing VSE networks are trained by adopting a hard negatives loss function which learns an objective margin between the similarity of relevant and irrelevant image-description embedding pairs. However, the objective margin in the hard negatives loss function is set as a fixed hyperparameter that ignores the semantic differences of the irrelevant image-description pairs. To address the challenge of measuring the optimal similarities between image-description pairs before obtaining the trained VSE networks, this paper presents a novel approach that comprises two main parts: (1) finds the underlying semantics of image descriptions; and (2) proposes a novel semantically enhanced hard negatives loss function, where the learning objective is dynamically determined based on the optimal similarity scores between irrelevant image-description pairs. Extensive experiments were carried out by integrating the proposed methods into five state-of-the-art VSE networks that were applied to three benchmark datasets for cross-modal information retrieval tasks. The results revealed that the proposed methods achieved the best performance and can also be adopted by existing and future VSE networks.

A CNN Segmentation-Based Approach to Object Detection and Tracking in Ultrasound Scans with Application to the Vagus Nerve Detection

Ultrasound scanning is essential in several medical diagnostic and therapeutic applications. It is used to visualize and analyze anatomical features and structures that influence treatment plans. However, it is both labor intensive, and its effectiveness is operator dependent. Real-time accurate and robust automatic detection and tracking of anatomical structures while scanning would significantly impact diagnostic and therapeutic procedures to be consistent and efficient. In this paper, we propose a deep learning framework to automatically detect and track a specific anatomical target structure in ultrasound scans. Our framework is designed to be accurate and robust across subjects and imaging devices, to operate in real-time, and to not require a large training set. It maintains a localization precision and recall higher than 90% when trained on training sets that are as small as 20% in size of the original training set. The framework backbone is a weakly trained segmentation neural network based on U-Net. We tested the framework on two different ultrasound datasets with the aim to detect and track the Vagus nerve, where it outperformed current state-of-the-art real-time object detection networks.