DriveMLM: Aligning Multi-Modal Large Language Models with Behavioral Planning States for Autonomous Driving

Large language models (LLMs) have opened up new possibilities for intelligent agents, endowing them with human-like thinking and cognitive abilities. In this work, we delve into the potential of large language models (LLMs) in autonomous driving (AD). We introduce DriveMLM, an LLM-based AD framework that can perform close-loop autonomous driving in realistic simulators. To this end, (1) we bridge the gap between the language decisions and the vehicle control commands by standardizing the decision states according to the off-the-shelf motion planning module. (2) We employ a multi-modal LLM (MLLM) to model the behavior planning module of a module AD system, which uses driving rules, user commands, and inputs from various sensors (e.g., camera, lidar) as input and makes driving decisions and provide explanations; This model can plug-and-play in existing AD systems such as Apollo for close-loop driving. (3) We design an effective data engine to collect a dataset that includes decision state and corresponding explanation annotation for model training and evaluation. We conduct extensive experiments and show that our model achieves 76.1 driving score on the CARLA Town05 Long, and surpasses the Apollo baseline by 4.7 points under the same settings, demonstrating the effectiveness of our model. We hope this work can serve as a baseline for autonomous driving with LLMs. Code and models shall be released at https://github.com/OpenGVLab/DriveMLM.

Deep Dynamic Epidemiological Modelling for COVID-19 Forecasting in Multi-level Districts

Objective: COVID-19 has spread worldwide and made a huge influence across the world. Modeling the infectious spread situation of COVID-19 is essential to understand the current condition and to formulate intervention measurements. Epidemiological equations based on the SEIR model simulate disease development. The traditional parameter estimation method to solve SEIR equations could not precisely fit real-world data due to different situations, such as social distancing policies and intervention strategies. Additionally, learning-based models achieve outstanding fitting performance, but cannot visualize mechanisms. Methods: Thus, we propose a deep dynamic epidemiological (DDE) method that combines epidemiological equations and deep-learning advantages to obtain high accuracy and visualization. The DDE contains deep networks to fit the effect function to simulate the ever-changing situations based on the neural ODE method in solving variants' equations, ensuring the fitting performance of multi-level areas. Results: We introduce four SEIR variants to fit different situations in different countries and regions. We compare our DDE method with traditional parameter estimation methods (Nelder-Mead, BFGS, Powell, Truncated Newton Conjugate-Gradient, Neural ODE) in fitting the real-world data in the cases of countries (the USA, Columbia, South Africa) and regions (Wuhan in China, Piedmont in Italy). Our DDE method achieves the best Mean Square Error and Pearson coefficient in all five areas. Further, compared with the state-of-art learning-based approaches, the DDE outperforms all techniques, including LSTM, RNN, GRU, Random Forest, Extremely Random Trees, and Decision Tree. Conclusion: DDE presents outstanding predictive ability and visualized display of the changes in infection rates in different regions and countries.

Rethinking Vision Transformers for MobileNet Size and Speed

With the success of Vision Transformers (ViTs) in computer vision tasks, recent arts try to optimize the performance and complexity of ViTs to enable efficient deployment on mobile devices. Multiple approaches are proposed to accelerate attention mechanism, improve inefficient designs, or incorporate mobile-friendly lightweight convolutions to form hybrid architectures. However, ViT and its variants still have higher latency or considerably more parameters than lightweight CNNs, even true for the years-old MobileNet. In practice, latency and size are both crucial for efficient deployment on resource-constraint hardware. In this work, we investigate a central question, can transformer models run as fast as MobileNet and maintain a similar size? We revisit the design choices of ViTs and propose an improved supernet with low latency and high parameter efficiency. We further introduce a fine-grained joint search strategy that can find efficient architectures by optimizing latency and number of parameters simultaneously. The proposed models, EfficientFormerV2, achieve about $4\%$ higher top-1 accuracy than MobileNetV2 and MobileNetV2$\times1.4$ on ImageNet-1K with similar latency and parameters. We demonstrate that properly designed and optimized vision transformers can achieve high performance with MobileNet-level size and speed.

EfficientFormer: Vision Transformers at MobileNet Speed

Vision Transformers (ViT) have shown rapid progress in computer vision tasks, achieving promising results on various benchmarks. However, due to the massive number of parameters and model design, e.g., attention mechanism, ViT-based models are generally times slower than lightweight convolutional networks. Therefore, the deployment of ViT for real-time applications is particularly challenging, especially on resource-constrained hardware such as mobile devices. Recent efforts try to reduce the computation complexity of ViT through network architecture search or hybrid design with MobileNet block, yet the inference speed is still unsatisfactory. This leads to an important question: can transformers run as fast as MobileNet while obtaining high performance? To answer this, we first revisit the network architecture and operators used in ViT-based models and identify inefficient designs. Then we introduce a dimension-consistent pure transformer (without MobileNet blocks) as design paradigm. Finally, we perform latency-driven slimming to get a series of final models dubbed EfficientFormer. Extensive experiments show the superiority of EfficientFormer in performance and speed on mobile devices. Our fastest model, EfficientFormer-L1, achieves 79.2% top-1 accuracy on ImageNet-1K with only 1.6 ms inference latency on iPhone 12 (compiled with CoreML), which is even a bit faster than MobileNetV2 (1.7 ms, 71.8% top-1), and our largest model, EfficientFormer-L7, obtains 83.3% accuracy with only 7.0 ms latency. Our work proves that properly designed transformers can reach extremely low latency on mobile devices while maintaining high performance

Panoptic-PHNet: Towards Real-Time and High-Precision LiDAR Panoptic Segmentation via Clustering Pseudo Heatmap

As a rising task, panoptic segmentation is faced with challenges in both semantic segmentation and instance segmentation. However, in terms of speed and accuracy, existing LiDAR methods in the field are still limited. In this paper, we propose a fast and high-performance LiDAR-based framework, referred to as Panoptic-PHNet, with three attractive aspects: 1) We introduce a clustering pseudo heatmap as a new paradigm, which, followed by a center grouping module, yields instance centers for efficient clustering without object-level learning tasks. 2) A knn-transformer module is proposed to model the interaction among foreground points for accurate offset regression. 3) For backbone design, we fuse the fine-grained voxel features and the 2D Bird's Eye View (BEV) features with different receptive fields to utilize both detailed and global information. Extensive experiments on both SemanticKITTI dataset and nuScenes dataset show that our Panoptic-PHNet surpasses state-of-the-art methods by remarkable margins with a real-time speed. We achieve the 1st place on the public leaderboard of SemanticKITTI and leading performance on the recently released leaderboard of nuScenes.

Medical Datasets Collections for Artificial Intelligence-based Medical Image Analysis

We collected 32 public datasets, of which 28 for medical imaging and 4 for natural images, to conduct study. The images of these datasets are captured by different cameras, thus vary from each other in modality, frame size and capacity. For data accessibility, we also provide the websites of most datasets and hope this will help the readers reach the datasets.