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Add to EdgeFREA: Feasibility-Guided Generation of Safety-Critical Scenarios with Reasonable Adversariality
Jun 05, 2024
Generating safety-critical scenarios, which are essential yet difficult to collect at scale, offers an effective method to evaluate the robustness of autonomous vehicles (AVs). Existing methods focus on optimizing adversariality while preserving the naturalness of scenarios, aiming to achieve a balance through data-driven approaches. However, without an appropriate upper bound for adversariality, the scenarios might exhibit excessive adversariality, potentially leading to unavoidable collisions. In this paper, we introduce FREA, a novel safety-critical scenarios generation method that incorporates the Largest Feasible Region (LFR) of AV as guidance to ensure the reasonableness of the adversarial scenarios. Concretely, FREA initially pre-calculates the LFR of AV from offline datasets. Subsequently, it learns a reasonable adversarial policy that controls critical background vehicles (CBVs) in the scene to generate adversarial yet AV-feasible scenarios by maximizing a novel feasibility-dependent objective function. Extensive experiments illustrate that FREA can effectively generate safety-critical scenarios, yielding considerable near-miss events while ensuring AV's feasibility. Generalization analysis also confirms the robustness of FREA in AV testing across various surrogate AV methods and traffic environments.
SparseDrive: End-to-End Autonomous Driving via Sparse Scene Representation
May 31, 2024The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end paradigms unify multi-tasks into a fully differentiable framework, allowing for optimization in a planning-oriented spirit. Despite the great potential of end-to-end paradigms, both the performance and efficiency of existing methods are not satisfactory, particularly in terms of planning safety. We attribute this to the computationally expensive BEV (bird's eye view) features and the straightforward design for prediction and planning. To this end, we explore the sparse representation and review the task design for end-to-end autonomous driving, proposing a new paradigm named SparseDrive. Concretely, SparseDrive consists of a symmetric sparse perception module and a parallel motion planner. The sparse perception module unifies detection, tracking and online mapping with a symmetric model architecture, learning a fully sparse representation of the driving scene. For motion prediction and planning, we review the great similarity between these two tasks, leading to a parallel design for motion planner. Based on this parallel design, which models planning as a multi-modal problem, we propose a hierarchical planning selection strategy , which incorporates a collision-aware rescore module, to select a rational and safe trajectory as the final planning output. With such effective designs, SparseDrive surpasses previous state-of-the-arts by a large margin in performance of all tasks, while achieving much higher training and inference efficiency. Code will be avaliable at https://github.com/swc-17/SparseDrive for facilitating future research.
AccidentBlip2: Accident Detection With Multi-View MotionBlip2
Apr 19, 2024
Multimodal Large Language Models (MLLMs) have shown outstanding capabilities in many areas of multimodal reasoning. Therefore, we use the reasoning ability of Multimodal Large Language Models for environment description and scene understanding in complex transportation environments. In this paper, we propose AccidentBlip2, a multimodal large language model that can predict in real time whether an accident risk will occur. Our approach involves feature extraction based on the temporal scene of the six-view surround view graphs and temporal inference using the temporal blip framework through the vision transformer. We then input the generated temporal token into the MLLMs for inference to determine whether an accident will occur or not. Since AccidentBlip2 does not rely on any BEV images and LiDAR, the number of inference parameters and the inference cost of MLLMs can be significantly reduced, and it also does not incur a large training overhead during training. AccidentBlip2 outperforms existing solutions on the DeepAccident dataset and can also provide a reference solution for end-to-end automated driving accident prediction.
PepHarmony: A Multi-View Contrastive Learning Framework for Integrated Sequence and Structure-Based Peptide Encoding
Jan 21, 2024Recent advances in protein language models have catalyzed significant progress in peptide sequence representation. Despite extensive exploration in this field, pre-trained models tailored for peptide-specific needs remain largely unaddressed due to the difficulty in capturing the complex and sometimes unstable structures of peptides. This study introduces a novel multi-view contrastive learning framework PepHarmony for the sequence-based peptide encoding task. PepHarmony innovatively combines both sequence- and structure-level information into a sequence-level encoding module through contrastive learning. We carefully select datasets from the Protein Data Bank (PDB) and AlphaFold database to encompass a broad spectrum of peptide sequences and structures. The experimental data highlights PepHarmony's exceptional capability in capturing the intricate relationship between peptide sequences and structures compared with the baseline and fine-tuned models. The robustness of our model is confirmed through extensive ablation studies, which emphasize the crucial roles of contrastive loss and strategic data sorting in enhancing predictive performance. The proposed PepHarmony framework serves as a notable contribution to peptide representations, and offers valuable insights for future applications in peptide drug discovery and peptide engineering. We have made all the source code utilized in this study publicly accessible via GitHub at https://github.com/zhangruochi/PepHarmony or http://www.healthinformaticslab.org/supp/.
FedNS: A Fast Sketching Newton-Type Algorithm for Federated Learning
Jan 05, 2024Recent Newton-type federated learning algorithms have demonstrated linear convergence with respect to the communication rounds. However, communicating Hessian matrices is often unfeasible due to their quadratic communication complexity. In this paper, we introduce a novel approach to tackle this issue while still achieving fast convergence rates. Our proposed method, named as Federated Newton Sketch methods (FedNS), approximates the centralized Newton's method by communicating the sketched square-root Hessian instead of the exact Hessian. To enhance communication efficiency, we reduce the sketch size to match the effective dimension of the Hessian matrix. We provide convergence analysis based on statistical learning for the federated Newton sketch approaches. Specifically, our approaches reach super-linear convergence rates w.r.t. the communication rounds for the first time. We validate the effectiveness of our algorithms through various experiments, which coincide with our theoretical findings.
Semantic Complete Scene Forecasting from a 4D Dynamic Point Cloud Sequence
Dec 15, 2023We study a new problem of semantic complete scene forecasting (SCSF) in this work. Given a 4D dynamic point cloud sequence, our goal is to forecast the complete scene corresponding to the future next frame along with its semantic labels. To tackle this challenging problem, we properly model the synergetic relationship between future forecasting and semantic scene completion through a novel network named SCSFNet. SCSFNet leverages a hybrid geometric representation for high-resolution complete scene forecasting. To leverage multi-frame observation as well as the understanding of scene dynamics to ease the completion task, SCSFNet introduces an attention-based skip connection scheme. To ease the need to model occlusion variations and to better focus on the occluded part, SCSFNet utilizes auxiliary visibility grids to guide the forecasting task. To evaluate the effectiveness of SCSFNet, we conduct experiments on various benchmarks including two large-scale indoor benchmarks we contributed and the outdoor SemanticKITTI benchmark. Extensive experiments show SCSFNet outperforms baseline methods on multiple metrics by a large margin, and also prove the synergy between future forecasting and semantic scene completion.
PepLand: a large-scale pre-trained peptide representation model for a comprehensive landscape of both canonical and non-canonical amino acids
Nov 08, 2023In recent years, the scientific community has become increasingly interested on peptides with non-canonical amino acids due to their superior stability and resistance to proteolytic degradation. These peptides present promising modifications to biological, pharmacological, and physiochemical attributes in both endogenous and engineered peptides. Notwithstanding their considerable advantages, the scientific community exhibits a conspicuous absence of an effective pre-trained model adept at distilling feature representations from such complex peptide sequences. We herein propose PepLand, a novel pre-training architecture for representation and property analysis of peptides spanning both canonical and non-canonical amino acids. In essence, PepLand leverages a comprehensive multi-view heterogeneous graph neural network tailored to unveil the subtle structural representations of peptides. Empirical validations underscore PepLand's effectiveness across an array of peptide property predictions, encompassing protein-protein interactions, permeability, solubility, and synthesizability. The rigorous evaluation confirms PepLand's unparalleled capability in capturing salient synthetic peptide features, thereby laying a robust foundation for transformative advances in peptide-centric research domains. We have made all the source code utilized in this study publicly accessible via GitHub at https://github.com/zhangruochi/pepland
What Truly Matters in Trajectory Prediction for Autonomous Driving?
Jun 27, 2023
In the autonomous driving system, trajectory prediction plays a vital role in ensuring safety and facilitating smooth navigation. However, we observe a substantial discrepancy between the accuracy of predictors on fixed datasets and their driving performance when used in downstream tasks. This discrepancy arises from two overlooked factors in the current evaluation protocols of trajectory prediction: 1) the dynamics gap between the dataset and real driving scenario; and 2) the computational efficiency of predictors. In real-world scenarios, prediction algorithms influence the behavior of autonomous vehicles, which, in turn, alter the behaviors of other agents on the road. This interaction results in predictor-specific dynamics that directly impact prediction results. As other agents' responses are predetermined on datasets, a significant dynamics gap arises between evaluations conducted on fixed datasets and actual driving scenarios. Furthermore, focusing solely on accuracy fails to address the demand for computational efficiency, which is critical for the real-time response required by the autonomous driving system. Therefore, in this paper, we demonstrate that an interactive, task-driven evaluation approach for trajectory prediction is crucial to reflect its efficacy for autonomous driving.
ChatGPT or Grammarly? Evaluating ChatGPT on Grammatical Error Correction Benchmark
Mar 15, 2023
ChatGPT is a cutting-edge artificial intelligence language model developed by OpenAI, which has attracted a lot of attention due to its surprisingly strong ability in answering follow-up questions. In this report, we aim to evaluate ChatGPT on the Grammatical Error Correction(GEC) task, and compare it with commercial GEC product (e.g., Grammarly) and state-of-the-art models (e.g., GECToR). By testing on the CoNLL2014 benchmark dataset, we find that ChatGPT performs not as well as those baselines in terms of the automatic evaluation metrics (e.g., $F_{0.5}$ score), particularly on long sentences. We inspect the outputs and find that ChatGPT goes beyond one-by-one corrections. Specifically, it prefers to change the surface expression of certain phrases or sentence structure while maintaining grammatical correctness. Human evaluation quantitatively confirms this and suggests that ChatGPT produces less under-correction or mis-correction issues but more over-corrections. These results demonstrate that ChatGPT is severely under-estimated by the automatic evaluation metrics and could be a promising tool for GEC.
Matching-based Term Semantics Pre-training for Spoken Patient Query Understanding
Mar 02, 2023
Medical Slot Filling (MSF) task aims to convert medical queries into structured information, playing an essential role in diagnosis dialogue systems. However, the lack of sufficient term semantics learning makes existing approaches hard to capture semantically identical but colloquial expressions of terms in medical conversations. In this work, we formalize MSF into a matching problem and propose a Term Semantics Pre-trained Matching Network (TSPMN) that takes both terms and queries as input to model their semantic interaction. To learn term semantics better, we further design two self-supervised objectives, including Contrastive Term Discrimination (CTD) and Matching-based Mask Term Modeling (MMTM). CTD determines whether it is the masked term in the dialogue for each given term, while MMTM directly predicts the masked ones. Experimental results on two Chinese benchmarks show that TSPMN outperforms strong baselines, especially in few-shot settings.