OODTE: A Differential Testing Engine for the ONNX Optimizer

With $700$ stars on GitHub and part of the official ONNX repository, the ONNX Optimizer consists of the standard method to apply graph-based optimizations on ONNX models. However, its ability to preserve model accuracy across optimizations, has not been rigorously explored. We propose OODTE, a utility to automatically and thoroughly assess the correctness of the ONNX Optimizer. OODTE follows a simple, yet effective differential testing and evaluation approach that can be easily adopted to other compiler optimizers. In particular, OODTE utilizes a number of ONNX models, then optimizes them and executes both the original and the optimized variants across a user-defined set of inputs, while automatically logging any issues with the optimization process. Finally, for successfully optimized models, OODTE compares the results, and, if any accuracy deviations are observed, it iteratively repeats the process for each pass of the ONNX Optimizer, to localize the root cause of the differences observed. Using OODTE, we sourced well-known $130$ models from the official ONNX Model Hub, used for a wide variety of tasks (classification, object detection, semantic segmentation, text summarization, question and answering, sentiment analysis) from the official ONNX model hub. We detected 15 issues, 14 of which were previously unknown, associated with optimizer crashes and accuracy deviations. We also observed $9.2$% of all model instances presenting issues leading into the crash of the optimizer, or the generation of an invalid model while using the primary optimizer strategies. In addition, $30$% of the classification models presented accuracy differences across the original and the optimized model variants, while $16.6$% of semantic segmentation and object detection models are also affected, at least to a limited extent.

DriveNetBench: An Affordable and Configurable Single-Camera Benchmarking System for Autonomous Driving Networks

Validating autonomous driving neural networks often demands expensive equipment and complex setups, limiting accessibility for researchers and educators. We introduce DriveNetBench, an affordable and configurable benchmarking system designed to evaluate autonomous driving networks using a single-camera setup. Leveraging low-cost, off-the-shelf hardware, and a flexible software stack, DriveNetBench enables easy integration of various driving models, such as object detection and lane following, while ensuring standardized evaluation in real-world scenarios. Our system replicates common driving conditions and provides consistent, repeatable metrics for comparing network performance. Through preliminary experiments with representative vision models, we illustrate how DriveNetBench effectively measures inference speed and accuracy within a controlled test environment. The key contributions of this work include its affordability, its replicability through open-source software, and its seamless integration into existing workflows, making autonomous vehicle research more accessible.

DualDiff: Dual-branch Diffusion Model for Autonomous Driving with Semantic Fusion

Accurate and high-fidelity driving scene reconstruction relies on fully leveraging scene information as conditioning. However, existing approaches, which primarily use 3D bounding boxes and binary maps for foreground and background control, fall short in capturing the complexity of the scene and integrating multi-modal information. In this paper, we propose DualDiff, a dual-branch conditional diffusion model designed to enhance multi-view driving scene generation. We introduce Occupancy Ray Sampling (ORS), a semantic-rich 3D representation, alongside numerical driving scene representation, for comprehensive foreground and background control. To improve cross-modal information integration, we propose a Semantic Fusion Attention (SFA) mechanism that aligns and fuses features across modalities. Furthermore, we design a foreground-aware masked (FGM) loss to enhance the generation of tiny objects. DualDiff achieves state-of-the-art performance in FID score, as well as consistently better results in downstream BEV segmentation and 3D object detection tasks.

CMAWRNet: Multiple Adverse Weather Removal via a Unified Quaternion Neural Architecture

Images used in real-world applications such as image or video retrieval, outdoor surveillance, and autonomous driving suffer from poor weather conditions. When designing robust computer vision systems, removing adverse weather such as haze, rain, and snow is a significant problem. Recently, deep-learning methods offered a solution for a single type of degradation. Current state-of-the-art universal methods struggle with combinations of degradations, such as haze and rain-streak. Few algorithms have been developed that perform well when presented with images containing multiple adverse weather conditions. This work focuses on developing an efficient solution for multiple adverse weather removal using a unified quaternion neural architecture called CMAWRNet. It is based on a novel texture-structure decomposition block, a novel lightweight encoder-decoder quaternion transformer architecture, and an attentive fusion block with low-light correction. We also introduce a quaternion similarity loss function to preserve color information better. The quantitative and qualitative evaluation of the current state-of-the-art benchmarking datasets and real-world images shows the performance advantages of the proposed CMAWRNet compared to other state-of-the-art weather removal approaches dealing with multiple weather artifacts. Extensive computer simulations validate that CMAWRNet improves the performance of downstream applications such as object detection. This is the first time the decomposition approach has been applied to the universal weather removal task.

CDFormer: Cross-Domain Few-Shot Object Detection Transformer Against Feature Confusion

Cross-domain few-shot object detection (CD-FSOD) aims to detect novel objects across different domains with limited class instances. Feature confusion, including object-background confusion and object-object confusion, presents significant challenges in both cross-domain and few-shot settings. In this work, we introduce CDFormer, a cross-domain few-shot object detection transformer against feature confusion, to address these challenges. The method specifically tackles feature confusion through two key modules: object-background distinguishing (OBD) and object-object distinguishing (OOD). The OBD module leverages a learnable background token to differentiate between objects and background, while the OOD module enhances the distinction between objects of different classes. Experimental results demonstrate that CDFormer outperforms previous state-of-the-art approaches, achieving 12.9% mAP, 11.0% mAP, and 10.4% mAP improvements under the 1/5/10 shot settings, respectively, when fine-tuned.

UNet-3D with Adaptive TverskyCE Loss for Pancreas Medical Image Segmentation

Pancreatic cancer, which has a low survival rate, is the most intractable one among all cancers. Most diagnoses of this cancer heavily depend on abdominal computed tomography (CT) scans. Therefore, pancreas segmentation is crucial but challenging. Because of the obscure position of the pancreas, surrounded by other large organs, and its small area, the pancreas has often been impeded and difficult to detect. With these challenges , the segmentation results based on Deep Learning (DL) models still need to be improved. In this research, we propose a novel adaptive TverskyCE loss for DL model training, which combines Tversky loss with cross-entropy loss using learnable weights. Our method enables the model to adjust the loss contribution automatically and find the best objective function during training. All experiments were conducted on the National Institutes of Health (NIH) Pancreas-CT dataset. We evaluated the adaptive TverskyCE loss on the UNet-3D and Dilated UNet-3D, and our method achieved a Dice Similarity Coefficient (DSC) of 85.59%, with peak performance up to 95.24%, and the score of 85.14%. DSC and the score were improved by 9.47% and 8.98% respectively compared with the baseline UNet-3D with Tversky loss for pancreas segmentation. Keywords: Pancreas segmentation, Tversky loss, Cross-entropy loss, UNet-3D, Dilated UNet-3D

MC3D-AD: A Unified Geometry-aware Reconstruction Model for Multi-category 3D Anomaly Detection

3D Anomaly Detection (AD) is a promising means of controlling the quality of manufactured products. However, existing methods typically require carefully training a task-specific model for each category independently, leading to high cost, low efficiency, and weak generalization. Therefore, this paper presents a novel unified model for Multi-Category 3D Anomaly Detection (MC3D-AD) that aims to utilize both local and global geometry-aware information to reconstruct normal representations of all categories. First, to learn robust and generalized features of different categories, we propose an adaptive geometry-aware masked attention module that extracts geometry variation information to guide mask attention. Then, we introduce a local geometry-aware encoder reinforced by the improved mask attention to encode group-level feature tokens. Finally, we design a global query decoder that utilizes point cloud position embeddings to improve the decoding process and reconstruction ability. This leads to local and global geometry-aware reconstructed feature tokens for the AD task. MC3D-AD is evaluated on two publicly available Real3D-AD and Anomaly-ShapeNet datasets, and exhibits significant superiority over current state-of-the-art single-category methods, achieving 3.1\% and 9.3\% improvement in object-level AUROC over Real3D-AD and Anomaly-ShapeNet, respectively. The source code will be released upon acceptance.

Inconsistency-based Active Learning for LiDAR Object Detection

Deep learning models for object detection in autonomous driving have recently achieved impressive performance gains and are already being deployed in vehicles worldwide. However, current models require increasingly large datasets for training. Acquiring and labeling such data is costly, necessitating the development of new strategies to optimize this process. Active learning is a promising approach that has been extensively researched in the image domain. In our work, we extend this concept to the LiDAR domain by developing several inconsistency-based sample selection strategies and evaluate their effectiveness in various settings. Our results show that using a naive inconsistency approach based on the number of detected boxes, we achieve the same mAP as the random sampling strategy with 50% of the labeled data.

HeAL3D: Heuristical-enhanced Active Learning for 3D Object Detection

Active Learning has proved to be a relevant approach to perform sample selection for training models for Autonomous Driving. Particularly, previous works on active learning for 3D object detection have shown that selection of samples in uncontrolled scenarios is challenging. Furthermore, current approaches focus exclusively on the theoretical aspects of the sample selection problem but neglect the practical insights that can be obtained from the extensive literature and application of 3D detection models. In this paper, we introduce HeAL (Heuristical-enhanced Active Learning for 3D Object Detection) which integrates those heuristical features together with Localization and Classification to deliver the most contributing samples to the model's training. In contrast to previous works, our approach integrates heuristical features such as object distance and point-quantity to estimate the uncertainty, which enhance the usefulness of selected samples to train detection models. Our quantitative evaluation on KITTI shows that HeAL presents competitive mAP with respect to the State-of-the-Art, and achieves the same mAP as the full-supervised baseline with only 24% of the samples.

Efficient On-Chip Implementation of 4D Radar-Based 3D Object Detection on Hailo-8L

4D radar has attracted attention in autonomous driving due to its ability to enable robust 3D object detection even under adverse weather conditions. To practically deploy such technologies, it is essential to achieve real-time processing within low-power embedded environments. Addressing this, we present the first on-chip implementation of a 4D radar-based 3D object detection model on the Hailo-8L AI accelerator. Although conventional 3D convolutional neural network (CNN) architectures require 5D inputs, the Hailo-8L only supports 4D tensors, posing a significant challenge. To overcome this limitation, we introduce a tensor transformation method that reshapes 5D inputs into 4D formats during the compilation process, enabling direct deployment without altering the model structure. The proposed system achieves 46.47% AP_3D and 52.75% AP_BEV, maintaining comparable accuracy to GPU-based models while achieving an inference speed of 13.76 Hz. These results demonstrate the applicability of 4D radar-based perception technologies to autonomous driving systems.