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Understanding the Robustness of 3D Object Detection with Bird’s-Eye-View Representations in Autonomous Driving

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arXiv 2023年

作者： Zhu, Zijian Zhang, Yichi Chen, Hai Dong, Yinpeng Zhao, Shu Ding, Wenbo Zhong, Jiachen Zheng, Shibao Institute of Image Communication and Network Engineering Shanghai Jiao Tong University China Dept. of Comp. Sci. and Tech. Institute for AI THBI Lab BNRist Center Tsinghua University China Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education School of Computer Science and Technology Anhui University Information Materials and Intelligent Sensing Laboratory of Anhui Province China SAIC Motor AI Lab China Zhongguancun Laboratory China

3D object detection is an essential perception task in autonomous driving to understand the environments. The Bird’s-Eye-View (BEV) representations have significantly improved the performance of 3D detectors with camera inputs on popular benchmarks. However, there still lacks a systematic understanding of the robustness of these vision-dependent BEV models, which is closely related to the safety of autonomous driving systems. In this paper, we evaluate the natural and adversarial robustness of various representative models under extensive settings, to fully understand their behaviors influenced by explicit BEV features compared with those without BEV. In addition to the classic settings, we propose a 3D consistent patch attack by applying adversarial patches in the 3D space to guarantee the spatiotemporal consistency, which is more realistic for the scenario of autonomous driving. With substantial experiments, we draw several findings: 1) BEV models tend to be more stable than previous methods under different natural conditions and common corruptions due to the expressive spatial representations;2) BEV models are more vulnerable to adversarial noises, mainly caused by the redundant BEV features;3) Camera-LiDAR fusion models have superior performance under different settings with multi-modal inputs, but BEV fusion model is still vulnerable to adversarial noises of both point cloud and image. These findings alert the safety issue in the applications of BEV detectors and could facilitate the development of more robust models. Code available at https: //***/zzj403/BEV_Robust. Copyright © 2023, The Authors. All rights reserved.

关键词： Birds

In-situ synthesized SiC/TiC/SiTiOC hybrid nanofiber mats for broad-range temperature microwave absorption

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Science China Technological Sciences 2025年第6期 183-196页

作者： Yashan HUO Yuetong QIAN Minshan ZHAO Lei ZHANG Yujia TAN Zhihui HE Peng MIAO Fuchun ZHANG Wei CUI Renchao CHE School of Physics and Electronic Information Yan'an University Shaanxi Key Laboratory of Intelligent Processing for Big Energy Data Laboratory of Advanced Materials Shanghai Key Lab of Molecular Catalysis and Innovative Materials Academy for Engineering &Technology Advanced Coatings Research Center of Ministry of Education of China Fudan University School of Materials and Chemical Engineering Xi'an Technological University School of Materials Science & Engineering Tongji University College of Physics Donghua University

Efficient, temperature-insensitive electromagnetic attenuation materials are critical for high microwave absorption at high temperatures. This study presents SiC/TiC/SiTiOC hybrid nanofiber mats constructed using an in-situ synthesis method;these mats incorporate SiC/TiC as the microwave loss unit and SiTiOC as the antioxidant unit, offering an innovative approach to high-temperature microwave absorption. The introduction of high-conductivity TiC not only optimizes the dielectric constant and impedance matching of the material but also enhances its thermal cycling stability. This design ensures steady electromagnetic attenuation, enabling the hybrid nanofiber mats to maintain robust absorption performance in the X-band, even at high temperatures. At 873 K, the material demonstrates an effective absorption bandwidth of 3.6 GHz and a minimum reflection loss of-45.55 dB. Compared to single-system absorbers, such as SiC/C nanofiber materials, with a single system, the multicomponent SiC/TiC/SiTiOC hybrid nanofiber mats deliver reliable absorption performance in the temperature range of 293–873 K. This study confirms that highly conductive titanium-based ceramic materials used for dielectric property regulation effectively address the challenges of poor temperature stability and limited reusability in high-temperature carbon-ceramic absorbing materials, providing valuable insights and guidance for designing efficient microwave absorbers that can operate across a wide temperature range.

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ResFormer: Scaling ViTs with Multi-Resolution Training

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arXiv 2022年

作者： Tian, Rui Wu, Zuxuan Dai, Qi Hu, Han Qiao, Yu Jiang, Yu-Gang Shanghai Key Lab of Intell. Info. Processing School of CS Fudan University China Shanghai Collaborative Innovation Center of Intelligent Visual Computing China Microsoft Research Asia China Shanghai AI Laboratory China

Vision Transformers (ViTs) have achieved overwhelming success, yet they suffer from vulnerable resolution scalability, i.e., the performance drops drastically when presented with input resolutions that are unseen during training. We introduce, ResFormer, a framework that is built upon the seminal idea of multi-resolution training for improved performance on a wide spectrum of, mostly unseen, testing resolutions. In particular, ResFormer operates on replicated images of different resolutions and enforces a scale consistency loss to engage interactive information across different scales. More importantly, to alternate among varying resolutions effectively, especially novel ones in testing, we propose a global-local positional embedding strategy that changes smoothly conditioned on input sizes. We conduct extensive experiments for image classification on ImageNet. The results provide strong quantitative evidence that ResFormer has promising scaling abilities towards a wide range of resolutions. For instance, ResFormer-B-MR achieves a Top-1 accuracy of 75.86% and 81.72% when evaluated on relatively low and high resolutions respectively (i.e., 96 and 640), which are 48% and 7.49% better than DeiT-B. We also demonstrate, moreover, ResFormer is flexible and can be easily extended to semantic segmentation, object detection and video action recognition. Code is available at https://***/ruitian12/resformer. © 2022, CC BY.

关键词： Object detection

Single-cell omics: experimental workflow, data analyses and applications

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Science China(Life Sciences) 2025年第1期68卷 5-102页

作者： Fengying Sun Haoyan Li Dongqing Sun Shaliu Fu Lei Gu Xin Shao Qinqin Wang Xin Dong Bin Duan Feiyang Xing Jun Wu Minmin Xiao Fangqing Zhao Jing-Dong J.Han Qi Liu Xiaohui Fan Chen Li Chenfei Wang Tieliu Shi Department of Clinical Laboratory the Affiliated Wuhu Hospital of East China Normal University(The Second People’s Hospital of Wuhu City)Wuhu 241000China Pharmaceutical Informatics Institute College of Pharmaceutical SciencesZhejiang UniversityHangzhou 310058China Key Laboratory of Spine and Spinal Cord Injury Repair and Regeneration(Tongji University) Ministry of EducationOrthopaedic DepartmentTongji HospitalBioinformatics DepartmentSchool of Life Sciences and TechnologyTongji UniversityShanghai 200082China Frontier Science Center for Stem Cells School of Life Sciences and TechnologyTongji UniversityShanghai 200092China Translational Medical Center for Stem Cell Therapy and Institute for Regenerative Medicine Shanghai East HospitalBioinformatics DepartmentSchool of Life Sciences and TechnologyTongji UniversityShanghai 200082China Research Institute of Intelligent Computing Zhejiang LabHangzhou 311121China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai 201210China Center for Single-cell Omics School of Public HealthShanghai Jiao Tong University School of MedicineShanghai 200025China National Key Laboratory of Chinese Medicine Modernization Innovation Center of Yangtze River DeltaZhejiang UniversityJiaxing 314103China Center for Bioinformatics and Computational Biology Shanghai Key Laboratory of Regulatory Biologythe Institute of Biomedical Sciences and School of Life SciencesEast China Normal UniversityShanghai 200241China Beijing Institutes of Life Science Chinese Academy of SciencesBeijing 100101China Peking-Tsinghua Center for Life Sciences Academy for Advanced Interdisciplinary StudiesCenter for Quantitative Biology(CQB)Peking UniversityBeijing 100871China Zhejiang Key Laboratory of Precision Diagnosis and Therapy for Major Gynecological Diseases Women’s HospitalZhejiang University School of MedicineHangzhou 310006China Key Laboratory of Advanced Theory and Application in Statistics and Data Science-MOE School of StatisticsEast China Normal U

Cells are the fundamental units of biological systems and exhibit unique development trajectories and molecular *** exploration of how the genomes orchestrate the formation and maintenance of each cell,and control the cellular phenotypes of various organismsis,is both captivating and *** the inception of the first single-cell RNA technology,technologies related to single-cell sequencing have experienced rapid advancements in recent *** technologies have expanded horizontally to include single-cell genome,epigenome,proteome,and metabolome,while vertically,they have progressed to integrate multiple omics data and incorporate additional information such as spatial scRNA-seq and CRISPR ***-cell omics represent a groundbreaking advancement in the biomedical field,offering profound insights into the understanding of complex diseases,including ***,we comprehensively summarize recent advances in single-cell omics technologies,with a specific focus on the methodology *** overview aims to guide researchers in selecting appropriate methods for single-cell sequencing and related data analysis.

关键词： single-cell sequencing genome epigenome proteomics metabolomics multimodal spatial transcriptomics CRISPR screening

Notmetoo: An Autonomous Agent of Preventing Sexual Harassment and Crime

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SSRN

SSRN 2021年

作者： Qiaojuan, Huang Luo, Xudong Key Lab of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences Beijing China Guangxi Key Lab of MultiSource Information Mining & Security School of Computer Science and Engineering Guangxi Normal University Guilin China

Nowadays more and more cars are around us, offering us great convenience in daily life. For example, Uber taxis in western countries and Didi taxis in China allow passengers to hail a ride anytime, anywhere, cheaper and convenient. However, many female passengers have been sexually harassed and even killed by evil taxi drivers in recent years. As a result, females are so afraid of taking a taxi out. Thus, in this paper, we develop an autonomous agent system to protect females (predominantly female passengers) from sexual Harassment and crime. Specifically, we first build the keyword library of criminal trends based on similar cases reported in the news. Then our system recognises a driver’s crime tendency through what the driver talks about with a female passenger. Once our system recognises a criminal tendency, it automatically takes the corresponding warning or makes distress calls to the police when necessary. Finally, we do many experiments to evaluate our system, showing that the system is effective in crime prevention. © 2021, The Authors. All rights reserved.

关键词： Crime

Adaptive Multi-modal Fusion of Spatially Variant Kernel Refinement with Diffusion Model for Blind Image Super-Resolution

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arXiv 2024年

作者： Lin, Junxiong Wang, Yan Tao, Zeng Wang, Boyang Zhao, Qing Wang, Haorang Tong, Xuan Mai, Xinji Lin, Yuxuan Song, Wei Yu, Jiawen Yan, Shaoqi Zhang, Wenqiang Shanghai Engineering Research Center of AI & Robotics Academy for Engineering & Technology Fudan University Shanghai China East China University of Science and Technology Shanghai China College of Information Technology Shanghai Ocean University Shanghai China Engineering Research Center of AI & Robotics Ministry of Education Academy for Engineering & Technology Fudan University Shanghai China Shanghai Key Lab of Intelligent Information Processing School of Computer Science Fudan University Shanghai China

Pre-trained diffusion models utilized for image generation encapsulate a substantial reservoir of a priori knowledge pertaining to intricate textures. Harnessing the potential of leveraging this a priori knowledge in the context of image super-resolution presents a compelling avenue. Nonetheless, prevailing diffusion-based methodologies presently overlook the constraints imposed by degradation information on the diffusion process. Furthermore, these methods fail to consider the spatial variability inherent in the estimated blur kernel, stemming from factors such as motion jitter and out-of-focus elements in open-environment scenarios. This oversight results in a notable deviation of the image super-resolution effect from fundamental realities. To address these concerns, we introduce a framework known as Adaptive Multi-modal Fusion of Spatially Variant Kernel Refinement with Diffusion Model for Blind Image Super-Resolution (SSR). Within the SSR framework, we propose a Spatially Variant Kernel Refinement (SVKR) module. SVKR estimates a Depth-Informed Kernel, which takes the depth information into account and is spatially variant. Additionally, SVKR enhance the accuracy of depth information acquired from LR images, allowing for mutual enhancement between the depth map and blur kernel estimates. Finally, we introduce the Adaptive Multi-Modal Fusion (AMF) module to align the information from three modalities: low-resolution images, depth maps, and blur kernels. This alignment can constrain the diffusion model to generate more authentic SR results. Copyright © 2024, The Authors. All rights reserved.

关键词： Image enhancement

A3lign-DFER: Pioneering Comprehensive Dynamic Affective Alignment for Dynamic Facial Expression Recognition with CLIP

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arXiv 2024年

作者： Tao, Zeng Wang, Yan Lin, Junxiong Wang, Haoran Mai, Xinji Yu, Jiawen Tong, Xuan Zhou, Ziheng Yan, Shaoqi Zhao, Qing Han, Liyuan Zhang, Wenqiang Shanghai Engineering Research Center of AI & Robotics Academy for Engineering & Technology Fudan University Shanghai China School of Information Science and Technology Fudan University Shanghai China Institute of Automation Chinese Academy of Sciences Beijing China Engineering Research Center of AI & Robotics Ministry of Education Academy for Engineering & Technology Fudan University Shanghai China Shanghai Key Lab of Intelligent Information Processing School of Computer Science Fudan University Shanghai China

The performance of CLIP in dynamic facial expression recognition (DFER) task doesn’t yield exceptional results as observed in other CLIP-based classification tasks. While CLIP’s primary objective is to achieve alignment between images and text in the feature space, DFER poses challenges due to the abstract nature of text and the dynamic nature of video, making label representation limited and perfect alignment difficult. To address this issue, we have designed A3lign-DFER, which introduces a new DFER labeling paradigm to comprehensively achieve alignment, thus enhancing CLIP’s suitability for the DFER task. Specifically, our A3lign-DFER method is designed with multiple modules that work together to obtain the most suitable expanded-dimensional embeddings for classification and to achieve alignment in three key aspects: affective, dynamic, and bidirectional. We replace the input label text with a learnable Multi-Dimensional Alignment Token (MAT), enabling alignment of text to facial expression video samples in both affective and dynamic dimensions. After CLIP feature extraction, we introduce the Joint Dynamic Alignment Synchronizer (JAS), further facilitating synchronization and alignment in the temporal dimension. Additionally, we implement a Bidirectional Alignment Training Paradigm (BAP) to ensure gradual and steady training of parameters for both modalities. Our insightful and concise A3lign-DFER method achieves state-of-the-art results on multiple DFER datasets, including DFEW, FERV39k, and MAFW. Extensive ablation experiments and visualization studies demonstrate the effectiveness of A3lign-DFER. The code will be available in the future. © 2024, CC BY.

关键词： Alignment

Syntax-enhanced pre-trained model 59

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Syntax-enhanced pre-trained model

Joint Conference of the 59th Annual Meeting of the Association for Computational Linguistics and the 11th International Joint Conference on Natural Language processing, ACL-IJCNLP 2021

作者： Xu, Zenan Guo, Daya Tang, Duyu Su, Qinliang Shou, Linjun Gong, Ming Zhong, Wanjun Quan, Xiaojun Jiang, Daxin Duan, Nan School of Computer Science and Engineering Sun Yat-Sen University Guangzhou China Microsoft Research Asia Beijing China Microsoft Search Technology Center Asia Beijing China Guangdong Key Laboratory of Big Data Analysis and Processing Guangzhou China Key Lab. of Machine Intelligence and Advanced Computing Ministry of Education China

ISBN: (纸本)9781954085527

We study the problem of leveraging the syntactic structure of text to enhance pre-trained models such as BERT and RoBERTa. Existing methods utilize syntax of text either in the pre-training stage or in the fine-tuning stage, so that they suffer from discrepancy between the two stages. Such a problem would lead to the necessity of having human-annotated syntactic information, which limits the application of existing methods to broader scenarios. To address this, we present a model that utilizes the syntax of text in both pre-training and fine-tuning stages. Our model is based on Transformer with a syntax-aware attention layer that considers the dependency tree of the text. We further introduce a new pre-training task of predicting the syntactic distance among tokens in the dependency tree. We evaluate the model on three downstream tasks, including relation classification, entity typing, and question answering. Results show that our model achieves state-of-the-art performance on six public benchmark datasets. We have two major findings. First, we demonstrate that infusing automatically produced syntax of text improves pre-trained models. Second, global syntactic distances among tokens bring larger performance gains compared to local head relations between contiguous tokens. © 2021 Association for Computational Linguistics

关键词： Syntactics

OpenAUC: towards AUC-oriented open-set recognition 22

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OpenAUC: towards AUC-oriented open-set recognition

Proceedings of the 36th International Conference on Neural information processing Systems

作者： Zitai Wang Qianqian Xu Zhiyong Yang Yuan He Xiaochun Cao Qingming Huang SKLOIS Institute of Information Engineering CAS and School of Cyber Security University of Chinese Academy of Sciences Key Lab. of Intelligent Information Processing Institute of Computing Tech. CAS School of Computer Science and Tech. University of Chinese Academy of Sciences Alibaba Group School of Cyber Science and Tech. Shenzhen Campus Sun Yat-sen University and SKLOIS Institute of Information Engineering CAS School of Computer Science and Tech. University of Chinese Academy of Sciences and Key Lab. of Intelligent Information Processing Institute of Computing Tech. CAS and BDKM University of Chinese Academy of Sciences and Peng Cheng Laboratory

ISBN: (纸本)9781713871088

Traditional machine learning follows a close-set assumption that the training and test set share the same label space. While in many practical scenarios, it is inevitable that some test samples belong to unknown classes (open-set). To fix this issue, Open-Set Recognition (OSR), whose goal is to make correct predictions on both close-set samples and open-set samples, has attracted rising attention. In this direction, the vast majority of literature focuses on the pattern of open-set samples. However, how to evaluate model performance in this challenging task is still unsolved. In this paper, a systematic analysis reveals that most existing metrics are essentially inconsistent with the aforementioned goal of OSR: (1) For metrics extended from close-set classification, such as Open-set F-score, Youden's index, and Normalized Accuracy, a poor open-set prediction can escape from a low performance score with a superior close-set prediction. (2) Novelty detection AUC, which measures the ranking performance between close-set and open-set samples, ignores the close-set performance. To fix these issues, we propose a novel metric named OpenAUC. Compared with existing metrics, OpenAUC enjoys a concise pairwise formulation that evaluates open-set performance and close-set performance in a coupling manner. Further analysis shows that OpenAUC is free from the aforementioned inconsistency properties. Finally, an end-to-end learning method is proposed to minimize the OpenAUC risk, and the experimental results on popular benchmark datasets speak to its effectiveness.

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