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Existing open-vocabulary object detectors typically require a predefined set of categories from users significantly confining their application scenarios. In this paper we introduce DetCLIPv3 a high-performing detector that excels not only at both open-vocabulary object detection but also generating hierarchical labels for detected objects. DetCLIPv3 is characterized by three core designs: 1. Versatile model architecture: we derive a robust open-set detection framework which is further empowered with generation ability via the integration of a caption head. 2. High information density data: we develop an auto-annotation pipeline leveraging visual large language model to refine captions for large-scale image-text pairs providing rich multi-granular object labels to enhance the training. 3. Efficient training strategy: we employ a pre-training stage with low-resolution inputs that enables the object captioner to efficiently learn a broad spectrum of visual concepts from extensive image-text paired data. This is followed by a fine-tuning stage that leverages a small number of high-resolution samples to further enhance detection performance. With these effective designs DetCLIPv3 demonstrates superior open-vocabulary detection performance e.g. our Swin-T backbone model achieves a notable 47.0 zero-shot fixed AP on the LVIS minival benchmark outperforming GLIPv2 GroundingDINO and DetCLIPv2 by 18.0/19.6/6.6 AP respectively. DetCLIPv3 also achieves a state-of-the-art 19.7 AP in dense captioning task on VG dataset showcasing its strong generative capability.

Artifact-free super-resolution (SR) aims to translate low-resolution images into their high-resolution counterparts with a strict integrity of the original content, eliminating any distortions or synthetic details. While traditional diffusion-based SR techniques have demonstrated remarkable abilities to enhance image detail, they are prone to artifact introduction during iterative procedures. Such artifacts, ranging from trivial noise to unauthentic textures, deviate from the true structure of the source image, thus challenging the integrity of the super-resolution process. In this work, we propose Self-Adaptive Reality-Guided Diffusion (SARGD), a training-free method that delves into the latent space to effectively identify and mitigate the propagation of artifacts. Our SARGD begins by using an artifact detector to identify implausible pixels, creating a binary mask that highlights artifacts. Following this, the Reality Guidance Refinement (RGR) process refines artifacts by integrating this mask with realistic latent representations, improving alignment with the original image. Nonetheless, initial realistic-latent representations from lower-quality images result in over-smoothing in the final output. To address this, we introduce a Self-Adaptive Guidance (SAG) mechanism. It dynamically computes a reality score, enhancing the sharpness of the realistic latent. These alternating mechanisms collectively achieve artifact-free super-resolution. Extensive experiments demonstrate the superiority of our method, delivering detailed artifact-free high-resolution images while reducing sampling steps by 2X. We release our code at https://github.com/ProAirVerse/Self-Adaptive-Guidance-Diffusion.git.

Despite the success of generating high-quality images given any text prompts by diffusion-based generative models, prior works directly generate the entire images, but cannot provide object-wise manipulation capability. To support wider real applications like professional graphic design and digital artistry, images are frequently created and manipulated in multiple layers to offer greater flexibility and control. Therefore in this paper, we propose a layer-collaborative diffusion model, named LayerDiff, specifically designed for text-guided, multi-layered, composable image synthesis. The composable image consists of a background layer, a set of foreground layers, and associated mask layers for each foreground element. To enable this, LayerDiff introduces a layer-based generation paradigm incorporating multiple layer-collaborative attention modules to capture inter-layer patterns. Specifically, an inter-layer attention module is designed to encourage information exchange and learning between layers, while a text-guided intra-layer attention module incorporates layer-specific prompts to direct the specific-content generation for each layer. A layer-specific prompt-enhanced module better captures detailed textual cues from the global prompt. Additionally, a self-mask guidance sampling strategy further unleashes the model's ability to generate multi-layered images. We also present a pipeline that integrates existing perceptual and generative models to produce a large dataset of high-quality, text-prompted, multi-layered images. Extensive experiments demonstrate that our LayerDiff model can generate high-quality multi-layered images with performance comparable to conventional whole-image generation methods. Moreover, LayerDiff enables a broader range of controllable generative applications, including layer-specific image editing and style transfer.

3D reconstruction has been widely used in autonomous navigation fields of mobile robotics. However, the former research can only provide the basic geometry structure without the capability of open-world scene understanding, limiting advanced tasks like human interaction and visual navigation. Moreover, traditional 3D scene understanding approaches rely on expensive labeled 3D datasets to train a model for a single task with supervision. Thus, geometric reconstruction with zero-shot scene understanding i.e. Open vocabulary 3D Understanding and Reconstruction, is crucial for the future development of mobile robots. In this paper, we propose OpenOcc, a novel framework unifying the 3D scene reconstruction and open vocabulary understanding with neural radiance fields. We model the geometric structure of the scene with occupancy representation and distill the pre-trained open vocabulary model into a 3D language field via volume rendering for zero-shot inference. Furthermore, a novel semantic-aware confidence propagation (SCP) method has been proposed to relieve the issue of language field representation degeneracy caused by inconsistent measurements in distilled features. Experimental results show that our approach achieves competitive performance in 3D scene understanding tasks, especially for small and long-tail objects.

Vision-and-Language Navigation (VLN), as a crucial research problem of Embodied AI, requires an embodied agent to navigate through complex 3D environments following natural language instructions. Recent research has highlighted the promising capacity of large language models (LLMs) in VLN by improving navigational reasoning accuracy and interpretability. However, their predominant use in an offline manner usually suffers from substantial domain gap between the VLN task and the LLM training corpus. This paper introduces a novel strategy called Navigational Chain-of-Thought (NavCoT), where we fulfill parameter-efficient in-domain training to enable self-guided navigational decision, leading to a significant mitigation of the domain gap in a cost-effective manner. Specifically, at each timestep, the LLM is prompted to forecast the navigational chain-of-thought by: 1) acting as a world model to imagine the next observation according to the instruction, 2) selecting the candidate observation that best aligns with the imagination, and 3) determining the action based on the reasoning from the prior steps. Through constructing formalized labels for training, the LLM can learn to generate desired and reasonable chain-of-thought outputs for improving the action decision. Experimental results across various training settings and popular VLN benchmarks (e.g., Room-to-Room (R2R), Room-across-Room (RxR), Room-for-Room (R4R)) show the significant superiority of NavCoT over the direct action prediction variants. Through simple parameter-efficient finetuning, our NavCoT outperforms a recent GPT4-based approach with ~7% relative improvement on the R2R dataset. We believe that NavCoT will help unlock more task-adaptive and scalable LLM-based embodied agents, which are helpful for developing real-world robotics applications. Code is available at https://github.com/expectorlin/NavCoT.

The distinction between humans and animals lies in the unique ability of humans to use and create tools. Tools empower humans to overcome physiological limitations, fostering the creation of magnificent civilizations. Similarly, enabling foundational models like Large Language Models (LLMs) with the capacity to learn external tool usage may serve as a pivotal step toward realizing artificial general intelligence. Previous studies in this field have predominantly pursued two distinct approaches to augment the tool invocation capabilities of LLMs. The first approach emphasizes the construction of relevant datasets for model fine-tuning. The second approach, in contrast, aims to fully exploit the inherent reasoning abilities of LLMs through in-context learning strategies. In this work, we introduce a novel tool invocation pipeline designed to control massive real-world APIs. This pipeline mirrors the human task-solving process, addressing complicated real-life user queries. At each step, we guide LLMs to summarize the achieved results and determine the next course of action. We term this pipeline `from Summary to action', Sum2Act for short. Empirical evaluations of our Sum2Act pipeline on the ToolBench benchmark show significant performance improvements, outperforming established methods like ReAct and DFSDT. This highlights Sum2Act's effectiveness in enhancing LLMs for complex real-world tasks.

Deep Reinforcement Learning (DRL) has emerged as a promising approach for handling highly dynamic and nonlinear Active Flow Control (AFC) problems. However, the computational cost associated with training DRL models presents a significant performance bottleneck. To address this challenge and enable efficient scaling on high-performance computing architectures, this study focuses on optimizing DRL-based algorithms in parallel settings. We validate an existing state-of-the-art DRL framework used for AFC problems and discuss its efficiency bottlenecks. Subsequently, by deconstructing the overall framework and conducting extensive scalability benchmarks for individual components, we investigate various hybrid parallelization configurations and propose efficient parallelization strategies. Moreover, we refine input/output (I/O) operations in multi-environment DRL training to tackle critical overhead associated with data movement. Finally, we demonstrate the optimized framework for a typical AFC problem where near-linear scaling can be obtained for the overall framework. We achieve a significant boost in parallel efficiency from around 49% to approximately 78%, and the training process is accelerated by approximately 47 times using 60 CPU cores. These findings are expected to provide valuable insights for further advancements in DRL-based AFC studies.

The extraction of road network is essential for the generation of high-definition maps since it enables the precise localization of road landmarks and their interconnections. However, generating road network poses a significant challenge due to the conflicting underlying combination of Euclidean (e.g., road landmarks location) and non-Euclidean (e.g., road topological connectivity) structures. Existing methods struggle to merge the two types of data domains effectively, but few of them address it properly. Instead, our work establishes a unified representation of both types of data domain by projecting both Euclidean and non-Euclidean data into an integer series called RoadNet Sequence. Further than modeling an auto-regressive sequence-to-sequence Transformer model to understand RoadNet Sequence, we decouple the dependency of RoadNet Sequence into a mixture of auto-regressive and non-autoregressive dependency. Building on this, our proposed non-autoregressive sequence-to-sequence approach leverages non-autoregressive dependencies while fixing the gap towards auto-regressive dependencies, resulting in success on both efficiency and accuracy. Extensive experiments on nuScenes dataset demonstrate the superiority of RoadNet Sequence representation and the non-autoregressive approach compared to existing state-of-the-art alternatives. The code is open-source on https://github.com/fudan-zvg/RoadNetworkTRansformer., Comment: ICCV 2023 Oral Presentation

3D Shape represented as point cloud has achieve advancements in multimodal pre-training to align image and language descriptions, which is curial to object identification, classification, and retrieval. However, the discrete representations of point cloud lost the object's surface shape information and creates a gap between rendering results and 2D correspondences. To address this problem, we propose GS-CLIP for the first attempt to introduce 3DGS (3D Gaussian Splatting) into multimodal pre-training to enhance 3D representation. GS-CLIP leverages a pre-trained vision-language model for a learned common visual and textual space on massive real world image-text pairs and then learns a 3D Encoder for aligning 3DGS optimized per object. Additionally, a novel Gaussian-Aware Fusion is proposed to extract and fuse global explicit feature. As a general framework for language-image-3D pre-training, GS-CLIP is agnostic to 3D backbone networks. Experiments on challenging shows that GS-CLIP significantly improves the state-of-the-art, outperforming the previously best results., Comment: The content of the technical report needs to be updated and retracted to avoid other impacts

Masked Autoencoder~(MAE) is a prevailing self-supervised learning method that achieves promising results in model pre-training. However, when the various downstream tasks have data distributions different from the pre-training data, the semantically irrelevant pre-training information might result in negative transfer, impeding MAE's scalability. To address this issue, we propose a novel MAE-based pre-training paradigm, Mixture of Cluster-conditional Experts (MoCE), which can be trained once but provides customized pre-training models for diverse downstream tasks. Different from the mixture of experts (MoE), our MoCE trains each expert only with semantically relevant images by using cluster-conditional gates. Thus, each downstream task can be allocated to its customized model pre-trained with data most similar to the downstream data. Experiments on a collection of 11 downstream tasks show that MoCE outperforms the vanilla MAE by 2.45\% on average. It also obtains new state-of-the-art self-supervised learning results on detection and segmentation., Comment: Accepted by ICLR 2023

Understanding road structures is crucial for autonomous driving. Intricate road structures are often depicted using lane graphs, which include centerline curves and connections forming a Directed Acyclic Graph (DAG). Accurate extraction of lane graphs relies on precisely estimating vertex and edge information within the DAG. Recent research highlights Transformer-based language models' impressive sequence prediction abilities, making them effective for learning graph representations when graph data are encoded as sequences. However, existing studies focus mainly on modeling vertices explicitly, leaving edge information simply embedded in the network. Consequently, these approaches fall short in the task of lane graph extraction. To address this, we introduce LaneGraph2Seq, a novel approach for lane graph extraction. It leverages a language model with vertex-edge encoding and connectivity enhancement. Our serialization strategy includes a vertex-centric depth-first traversal and a concise edge-based partition sequence. Additionally, we use classifier-free guidance combined with nucleus sampling to improve lane connectivity. We validate our method on prominent datasets, nuScenes and Argoverse 2, showcasing consistent and compelling results. Our LaneGraph2Seq approach demonstrates superior performance compared to state-of-the-art techniques in lane graph extraction., Comment: AAAI 2024

We study deterministic matrix completion problem, i.e., recovering a low-rank matrix from a few observed entries where the sampling set is chosen as the edge set of a Ramanujan graph. We first investigate projected gradient descent (PGD) applied to a Burer-Monteiro least-squares problem and show that it converges linearly to the incoherent ground-truth with respect to the condition number \k{appa} of ground-truth under a benign initialization and large samples. We next apply the scaled variant of PGD to deal with the ill-conditioned case when \k{appa} is large, and we show the algorithm converges at a linear rate independent of the condition number \k{appa} under similar conditions. Finally, we provide numerical experiments to corroborate our results., Comment: 41 pages, 3figures

Open-vocabulary 3D Object Detection (OV-3DDet) addresses the detection of objects from an arbitrary list of novel categories in 3D scenes, which remains a very challenging problem. In this work, we propose CoDAv2, a unified framework designed to innovatively tackle both the localization and classification of novel 3D objects, under the condition of limited base categories. For localization, the proposed 3D Novel Object Discovery (3D-NOD) strategy utilizes 3D geometries and 2D open-vocabulary semantic priors to discover pseudo labels for novel objects during training. 3D-NOD is further extended with an Enrichment strategy that significantly enriches the novel object distribution in the training scenes, and then enhances the model's ability to localize more novel objects. The 3D-NOD with Enrichment is termed 3D-NODE. For classification, the Discovery-driven Cross-modal Alignment (DCMA) module aligns features from 3D point clouds and 2D/textual modalities, employing both class-agnostic and class-specific alignments that are iteratively refined to handle the expanding vocabulary of objects. Besides, 2D box guidance boosts the classification accuracy against complex background noises, which is coined as Box-DCMA. Extensive evaluation demonstrates the superiority of CoDAv2. CoDAv2 outperforms the best-performing method by a large margin (AP_Novel of 9.17 vs. 3.61 on SUN-RGBD and 9.12 vs. 3.74 on ScanNetv2). Source code and pre-trained models are available at the GitHub project page., Comment: Code Page: https://github.com/yangcaoai/CoDA_NeurIPS2023 This paper has been submitted to IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) for possible publication

Vision-Language Navigation (VLN) requires the agent to follow language instructions to reach a target position. A key factor for successful navigation is to align the landmarks implied in the instruction with diverse visual observations. However, previous VLN agents fail to perform accurate modality alignment especially in unexplored scenes, since they learn from limited navigation data and lack sufficient open-world alignment knowledge. In this work, we propose a new VLN paradigm, called COrrectable LaNdmark DiScOvery via Large ModEls (CONSOLE). In CONSOLE, we cast VLN as an open-world sequential landmark discovery problem, by introducing a novel correctable landmark discovery scheme based on two large models ChatGPT and CLIP. Specifically, we use ChatGPT to provide rich open-world landmark cooccurrence commonsense, and conduct CLIP-driven landmark discovery based on these commonsense priors. To mitigate the noise in the priors due to the lack of visual constraints, we introduce a learnable cooccurrence scoring module, which corrects the importance of each cooccurrence according to actual observations for accurate landmark discovery. We further design an observation enhancement strategy for an elegant combination of our framework with different VLN agents, where we utilize the corrected landmark features to obtain enhanced observation features for action decision. Extensive experimental results on multiple popular VLN benchmarks (R2R, REVERIE, R4R, RxR) show the significant superiority of CONSOLE over strong baselines. Especially, our CONSOLE establishes the new state-of-the-art results on R2R and R4R in unseen scenarios. Code is available at https://github.com/expectorlin/CONSOLE., Comment: Accepted by TPAMI 2024

As an emerging task that integrates perception and reasoning, topology reasoning in autonomous driving scenes has recently garnered widespread attention. However, existing work often emphasizes "perception over reasoning": they typically boost reasoning performance by enhancing the perception of lanes and directly adopt MLP to learn lane topology from lane query. This paradigm overlooks the geometric features intrinsic to the lanes themselves and are prone to being influenced by inherent endpoint shifts in lane detection. To tackle this issue, we propose an interpretable method for lane topology reasoning based on lane geometric distance and lane query similarity, named TopoLogic. This method mitigates the impact of endpoint shifts in geometric space, and introduces explicit similarity calculation in semantic space as a complement. By integrating results from both spaces, our methods provides more comprehensive information for lane topology. Ultimately, our approach significantly outperforms the existing state-of-the-art methods on the mainstream benchmark OpenLane-V2 (23.9 v.s. 10.9 in TOP$_{ll}$ and 44.1 v.s. 39.8 in OLS on subset_A. Additionally, our proposed geometric distance topology reasoning method can be incorporated into well-trained models without re-training, significantly boost the performance of lane topology reasoning. The code is released at https://github.com/Franpin/TopoLogic.

Counterfactual regret minimization (CFR) is a family of algorithms for effectively solving imperfect-information games. It decomposes the total regret into counterfactual regrets, utilizing local regret minimization algorithms, such as Regret Matching (RM) or RM+, to minimize them. Recent research establishes a connection between Online Mirror Descent (OMD) and RM+, paving the way for an optimistic variant PRM+ and its extension PCFR+. However, PCFR+ assigns uniform weights for each iteration when determining regrets, leading to substantial regrets when facing dominated actions. This work explores minimizing weighted counterfactual regret with optimistic OMD, resulting in a novel CFR variant PDCFR+. It integrates PCFR+ and Discounted CFR (DCFR) in a principled manner, swiftly mitigating negative effects of dominated actions and consistently leveraging predictions to accelerate convergence. Theoretical analyses prove that PDCFR+ converges to a Nash equilibrium, particularly under distinct weighting schemes for regrets and average strategies. Experimental results demonstrate PDCFR+'s fast convergence in common imperfect-information games. The code is available at https://github.com/rpSebastian/PDCFRPlus., Comment: Accepted to 33rd International Joint Conference on Artificial Intelligence (IJCAI 2024)

Lane detection has evolved highly functional autonomous driving system to understand driving scenes even under complex environments. In this paper, we work towards developing a generalized computer vision system able to detect lanes without using any annotation. We make the following contributions: (i) We illustrate how to perform unsupervised 3D lane segmentation by leveraging the distinctive intensity of lanes on the LiDAR point cloud frames, and then obtain the noisy lane labels in the 2D plane by projecting the 3D points; (ii) We propose a novel self-supervised training scheme, dubbed LaneCorrect, that automatically corrects the lane label by learning geometric consistency and instance awareness from the adversarial augmentations; (iii) With the self-supervised pre-trained model, we distill to train a student network for arbitrary target lane (e.g., TuSimple) detection without any human labels; (iv) We thoroughly evaluate our self-supervised method on four major lane detection benchmarks (including TuSimple, CULane, CurveLanes and LLAMAS) and demonstrate excellent performance compared with existing supervised counterpart, whilst showing more effective results on alleviating the domain gap, i.e., training on CULane and test on TuSimple.

The emerging field of soft robotics has attracted growing multi-disciplinary interest from materials science, bio-medical, and mechanical engineering. Soft robots are often made of soft elastic materials or compliant architectures. Their unique characteristics of continuum, flexibility, and adaptability offer soft robots multiple degrees of freedom in complex motion and actuation, but also make it difficult to carry out accurate deformation control, ontology and external perception., Résumé de la communication présentée lors du congrès international tenu conjointement par Canadian Society for Mechanical Engineering (CSME) et Computational Fluid Dynamics Society of Canada (CFD Canada), à l’Université de Sherbrooke (Québec), du 28 au 31 mai 2023.

Hang Xu,1,2,&ast; Tianhai Lin,1,2,&ast; Jianzhong Ai,1,2,&ast; Jiapeng Zhang,1,2 Shiyu Zhang,1,2 Yifan Li,1,2 Xiaonan Zheng,1,2 Peng Zhang,1,2 Qiang Wei,1,2 Ping Tan,1,2 Lu Yang1,2 1Department of Urology, West China Hospital, Sichuan University, Sichuan, People’s Republic of China; 2Institute of Urology, West China Hospital, Sichuan University, Sichuan, People’s Republic of China&ast;These authors contributed equally to this workCorrespondence: Ping Tan; Lu Yang, Department of Urology, West China Hospital, Sichuan University, Sichuan, People’s Republic of China, Tel +86 18980606829 ; +86 15208212056, Email uro_tanping@163.com; wycleflue@scu.edu.cnPurpose: Previous studies have suggested that the preoperative lactate dehydrogenase-to-albumin ratio (LAR) is correlated with survival in several cancers except bladder cancer (BCa). This study aimed to determine the prognostic value of the LAR in patients with urothelial carcinoma of the bladder (UCB) after radical cystectomy (RC).Patients and Methods: A total of 595 UCB patients with RC in West China Hospital from December 2010 to May 2020 were enrolled. A receiver operating characteristic (ROC) curve was used to determine the optimal cutoff value of the LAR. Kaplan–Meier curves and Cox regression analyses were applied to evaluate the association of the LAR with overall survival (OS) and recurrence-free survival. Independent factors in multivariate analyses were selected to construct nomograms. Calibration curves, ROC curves, concordance index (C-index) and decision curve analyses were used to evaluate the performance of the nomograms.Results: The optimal cutoff value of the LAR was determined to be 3.8. Preoperative low LAR was associated with decreased OS (P < 0.001) and RFS (P < 0.001), especially in patients with ≥ pT2 disease. LAR was an independent factor for OS (hazard ratio [HR]: 1.719; P < 0.001) and RFS (HR: 1.429; P = 0.012). The addition of the LAR into nomograms could resul

The hydroboration of alkynes with bis(pinacolato)diboron is a useful method for the synthesis of vinyl boronate esters, which are essential intermediates in organic syntheses. Copper catalysts have been used extensively in these reactions. However, previously reported Cu-catalyst systems inevitably require additives and elevated temperatures. Herein, we report, for the first time, a simple and efficient hydroboration of alkynes under additive-free and mild reaction conditions (i.e., at a temperature of 30 °C) using a copper nitride nanocube (Cu3N NC) catalyst. A wide range of alkynes can be transformed into their corresponding boronate esters. Cu3N NCs are also applicable in the hydroboration of alkynes with tetrahydroxydiboron to synthesize vinyl boronic acids. Moreover, the Cu3N NCs were easily separated by simple filtration and could be reused several times without any loss of their original activity. Hence, these highly active and reusable Cu3N NC catalysts offer an environmentally friendly route for the efficient production of vinyl boronates.

In this paper, we investigate two-loop non-planar triangle Feynman integrals involving elliptic curves. In contrast to the Sunrise and Banana integral families, the triangle families involve non-trivial sub-sectors. We show that the methodology developed in the context of Banana integrals can also be extended to these cases and obtain $\varepsilon$-factorized differential equations for all sectors. The letters are combinations of modular forms on the corresponding elliptic curves and algebraic functions arising from the sub-sectors. With uniform transcendental boundary conditions, we express our results in terms of iterated integrals order-by-order in the dimensional regulator, which can be evaluated efficiently. Our method can be straightforwardly generalized to other elliptic integral families and have important applications to precision physics at current and future high-energy colliders., Comment: 43 pages, 9 figures

Open-vocabulary 3D Object Detection (OV-3DDet) aims to detect objects from an arbitrary list of categories within a 3D scene, which remains seldom explored in the literature. There are primarily two fundamental problems in OV-3DDet, i.e., localizing and classifying novel objects. This paper aims at addressing the two problems simultaneously via a unified framework, under the condition of limited base categories. To localize novel 3D objects, we propose an effective 3D Novel Object Discovery strategy, which utilizes both the 3D box geometry priors and 2D semantic open-vocabulary priors to generate pseudo box labels of the novel objects. To classify novel object boxes, we further develop a cross-modal alignment module based on discovered novel boxes, to align feature spaces between 3D point cloud and image/text modalities. Specifically, the alignment process contains a class-agnostic and a class-discriminative alignment, incorporating not only the base objects with annotations but also the increasingly discovered novel objects, resulting in an iteratively enhanced alignment. The novel box discovery and cross-modal alignment are jointly learned to collaboratively benefit each other. The novel object discovery can directly impact the cross-modal alignment, while a better feature alignment can, in turn, boost the localization capability, leading to a unified OV-3DDet framework, named CoDA, for simultaneous novel object localization and classification. Extensive experiments on two challenging datasets (i.e., SUN-RGBD and ScanNet) demonstrate the effectiveness of our method and also show a significant mAP improvement upon the best-performing alternative method by 80%. Codes and pre-trained models are released on the project page. © 2023 Neural information processing systems foundation. All rights reserved.

This paper presents DetCLIPv2, an efficient and scalable training framework that incorporates large-scale imagetext pairs to achieve open-vocabulary object detection (OVD). Unlike previous OVD frameworks that typically rely on a pre-trained vision-language model (e.g., CLIP) or exploit image-text pairs via a pseudo labeling process, DetCLIPv2 directly learns the fine-grained word-region alignment from massive image-text pairs in an end-to-end manner. To accomplish this, we employ a maximum word-region similarity between region proposals and textual words to guide the contrastive objective. To enable the model to gain localization capability while learning broad concepts, DetCLIPv2 is trained with a hybrid supervision from detection, grounding and image-text pair data under a unified data formulation. By jointly training with an alternating scheme and adopting low-resolution input for image-text pairs, DetCLIPv2 exploits image-text pair data efficiently and effectively: DetCLIPv2 utilizes 13 × more image-text pairs than DetCLIP with a similar training time and improves performance. With 13M image-text pairs for pre-training, DetCLIPv2 demonstrates superior open-vocabulary detection performance, e.g., DetCLIPv2 with Swin-T backbone achieves 40.4% zero-shot AP on the LVIS benchmark, which outperforms previous works GLIP/GLIPv2/DetCLIP by 14.4/11.4/4.5% AP, respectively, and even beats its fully-supervised counterpart by a large margin. © 2023 IEEE.

Contrastive Language-Image Pre-training, benefiting from large-scale unlabeled text-image pairs, has demonstrated great performance in open-world vision understanding tasks. However, due to the limited Text-3D data pairs, adapting the success of 2D Vision-Language Models (VLM) to the 3D space remains an open problem. Existing works that leverage VLM for 3D understanding generally resort to constructing intermediate 2D representations for the 3D data, but at the cost of losing 3D geometry information. To take a step toward open-world 3D vision understanding, we propose Contrastive Language-Image-Point Cloud Pretraining (CLIP^2) to directly learn the transferable 3D point cloud representation in realistic scenarios with a novel proxy alignment mechanism. Specifically, we exploit naturally-existed correspondences in 2D and 3D scenarios, and build well-aligned and instance-based text-image-point proxies from those complex scenarios. On top of that, we propose a cross-modal contrastive objective to learn semantic and instance-level aligned point cloud representation. Experimental results on both indoor and outdoor scenarios show that our learned 3D representation has great transfer ability in downstream tasks, including zero-shot and few-shot 3D recognition, which boosts the state-of-the-art methods by large margins. Furthermore, we provide analyses of the capability of different representations in real scenarios and present the optional ensemble scheme.

Masked Autoencoder (MAE) has demonstrated superior performance on various vision tasks via randomly masking image patches and reconstruction. However, effective data augmentation strategies for MAE still remain open questions, different from those in contrastive learning that serve as the most important part. This paper studies the prevailing mixing augmentation for MAE. We first demonstrate that naive mixing will in contrast degenerate model performance due to the increase of mutual information (MI). To address, we propose homologous recognition, an auxiliary pretext task, not only to alleviate the MI increasement by explicitly requiring each patch to recognize homologous patches, but also to perform object-aware self-supervised pre-training for better downstream dense perception performance. With extensive experiments, we demonstrate that our proposed Mixed Autoencoder (MixedAE) achieves the state-of-the-art transfer results among masked image modeling (MIM) augmentations on different downstream tasks with significant efficiency. Specifically, our MixedAE outperforms MAE by +0.3% accuracy, +1.7 mIoU and +0.9 AP on ImageNet-1K, ADE20K and COCO respectively with a standard ViT-Base. Moreover, MixedAE surpasses iBOT, a strong MIM method combined with instance discrimination, while accelerating training by 2x. To our best knowledge, this is the very first work to consider mixing for MIM from the perspective of pretext task design. Code will be made available.

Existing open-world universal segmentation approaches usually leverage CLIP and pre-computed proposal masks to treat open-world segmentation tasks as proposal classification. However, 1) these works cannot handle universal segmentation in an end-to-end manner, and 2) the limited scale of panoptic datasets restricts the open-world segmentation ability on things classes. In this paper, we present Vision-Language Omni-Supervised Segmentation (VLOSS). VLOSS starts from a Mask2Former universal segmentation framework with CLIP text encoder. To improve the open-world segmentation ability, we leverage omni-supervised data (i.e., panoptic segmentation data, object detection data, and image-text pairs data) into training, thus enriching the open-world segmentation ability and achieving better segmentation accuracy. To better improve the training efficiency and fully release the power of omni-supervised data, we propose several advanced techniques, i.e., FPN-style encoder, switchable training technique, and positive classification loss. Benefiting from the end-to-end training manner with proposed techniques, VLOSS can be applied to various open-world segmentation tasks without further adaptation. Experimental results on different open-world panoptic and instance segmentation benchmarks demonstrate the effectiveness of VLOSS. Notably, with fewer parameters, our VLOSS with Swin-Tiny backbone surpasses MaskCLIP by ~2% in terms of mask AP on LVIS v1 dataset.

Benefiting from large-scale vision-language pre-training on image-text pairs, open-world detection methods have shown superior generalization ability under the zero-shot or few-shot detection settings. However, a pre-defined category space is still required during the inference stage of existing methods and only the objects belonging to that space will be predicted. To introduce a "real" open-world detector, in this paper, we propose a novel method named CapDet to either predict under a given category list or directly generate the category of predicted bounding boxes. Specifically, we unify the open-world detection and dense caption tasks into a single yet effective framework by introducing an additional dense captioning head to generate the region-grounded captions. Besides, adding the captioning task will in turn benefit the generalization of detection performance since the captioning dataset covers more concepts. Experiment results show that by unifying the dense caption task, our CapDet has obtained significant performance improvements (e.g., +2.1% mAP on LVIS rare classes) over the baseline method on LVIS (1203 classes). Besides, our CapDet also achieves state-of-the-art performance on dense captioning tasks, e.g., 15.44% mAP on VG V1.2 and 13.98% on the VG-COCO dataset., Comment: Accepted by CVPR2023

Multi-task learning has emerged as a powerful paradigm to solve a range of tasks simultaneously with good efficiency in both computation resources and inference time. However, these algorithms are designed for different tasks mostly not within the scope of autonomous driving, thus making it hard to compare multi-task methods in autonomous driving. Aiming to enable the comprehensive evaluation of present multi-task learning methods in autonomous driving, we extensively investigate the performance of popular multi-task methods on the large-scale driving dataset, which covers four common perception tasks, i.e., object detection, semantic segmentation, drivable area segmentation, and lane detection. We provide an in-depth analysis of current multi-task learning methods under different common settings and find out that the existing methods make progress but there is still a large performance gap compared with single-task baselines. To alleviate this dilemma in autonomous driving, we present an effective multi-task framework, VE-Prompt, which introduces visual exemplars via task-specific prompting to guide the model toward learning high-quality task-specific representations. Specifically, we generate visual exemplars based on bounding boxes and color-based markers, which provide accurate visual appearances of target categories and further mitigate the performance gap. Furthermore, we bridge transformer-based encoders and convolutional layers for efficient and accurate unified perception in autonomous driving. Comprehensive experimental results on the diverse self-driving dataset BDD100K show that the VE-Prompt improves the multi-task baseline and further surpasses single-task models., Comment: Accepted at CVPR 2023

Existing text-guided image manipulation methods aim to modify the appearance of the image or to edit a few objects in a virtual or simple scenario, which is far from practical applications. In this work, we study a novel task on text-guided image manipulation on the entity level in the real world (eL-TGIM). The task imposes three basic requirements, (1) to edit the entity consistent with the text descriptions, (2) to preserve the entity-irrelevant regions, and (3) to merge the manipulated entity into the image naturally. To this end, we propose an elegant framework, dubbed as SeMani, forming the Semantic Manipulation of real-world images that can not only edit the appearance of entities but also generate new entities corresponding to the text guidance. To solve eL-TGIM, SeMani decomposes the task into two phases: the semantic alignment phase and the image manipulation phase. In the semantic alignment phase, SeMani incorporates a semantic alignment module to locate the entity-relevant region to be manipulated. In the image manipulation phase, SeMani adopts a generative model to synthesize new images conditioned on the entity-irrelevant regions and target text descriptions. We discuss and propose two popular generation processes that can be utilized in SeMani, the discrete auto-regressive generation with transformers and the continuous denoising generation with diffusion models, yielding SeMani-Trans and SeMani-Diff, respectively. We conduct extensive experiments on the real datasets CUB, Oxford, and COCO datasets to verify that SeMani can distinguish the entity-relevant and -irrelevant regions and achieve more precise and flexible manipulation in a zero-shot manner compared with baseline methods. Our codes and models will be released at https://github.com/Yikai-Wang/SeMani., Comment: Extension of our CVPR 2022 oral paper: 2204.04428. Yikai Wang and Jianan Wang contribute equally. The arxiv version uses small size figures for fast preview, the full size pdf version can be found in our project page: https://yikai-wang.github.io/semani/. arXiv admin note: substantial text overlap with arXiv:2204.04428

Recently, great success has been made in learning visual representations from text supervision, facilitating the emergence of text-supervised semantic segmentation. However, existing works focus on pixel grouping and cross-modal semantic alignment, while ignoring the correspondence among multiple augmented views of the same image. To overcome such limitation, we propose multi-\textbf{View} \textbf{Co}nsistent learning (ViewCo) for text-supervised semantic segmentation. Specifically, we first propose text-to-views consistency modeling to learn correspondence for multiple views of the same input image. Additionally, we propose cross-view segmentation consistency modeling to address the ambiguity issue of text supervision by contrasting the segment features of Siamese visual encoders. The text-to-views consistency benefits the dense assignment of the visual features by encouraging different crops to align with the same text, while the cross-view segmentation consistency modeling provides additional self-supervision, overcoming the limitation of ambiguous text supervision for segmentation masks. Trained with large-scale image-text data, our model can directly segment objects of arbitrary categories in a zero-shot manner. Extensive experiments show that ViewCo outperforms state-of-the-art methods on average by up to 2.9\%, 1.6\%, and 2.4\% mIoU on PASCAL VOC2012, PASCAL Context, and COCO, respectively.

Recent advances in text-to-image diffusion models have achieved remarkable success in generating high-quality, realistic images from textual descriptions. However, these approaches have faced challenges in precisely aligning the generated visual content with the textual concepts described in the prompts. In this paper, we propose a two-stage coarse-to-fine semantic re-alignment method, named RealignDiff, aimed at improving the alignment between text and images in text-to-image diffusion models. In the coarse semantic re-alignment phase, a novel caption reward, leveraging the BLIP-2 model, is proposed to evaluate the semantic discrepancy between the generated image caption and the given text prompt. Subsequently, the fine semantic re-alignment stage employs a local dense caption generation module and a re-weighting attention modulation module to refine the previously generated images from a local semantic view. Experimental results on the MS-COCO benchmark demonstrate that the proposed two-stage coarse-to-fine semantic re-alignment method outperforms other baseline re-alignment techniques by a substantial margin in both visual quality and semantic similarity with the input prompt.

In recent years, the field of computer vision has seen significant advancements thanks to the development of large language models (LLMs). These models have enabled more effective and sophisticated interactions between humans and machines, paving the way for novel techniques that blur the lines between human and machine intelligence. In this paper, we introduce a new paradigm for object detection that we call reasoning-based object detection. Unlike conventional object detection methods that rely on specific object names, our approach enables users to interact with the system using natural language instructions, allowing for a higher level of interactivity. Our proposed method, called DetGPT, leverages state-of-the-art multi-modal models and open-vocabulary object detectors to perform reasoning within the context of the user's instructions and the visual scene. This enables DetGPT to automatically locate the object of interest based on the user's expressed desires, even if the object is not explicitly mentioned. For instance, if a user expresses a desire for a cold beverage, DetGPT can analyze the image, identify a fridge, and use its knowledge of typical fridge contents to locate the beverage. This flexibility makes our system applicable across a wide range of fields, from robotics and automation to autonomous driving. Overall, our proposed paradigm and DetGPT demonstrate the potential for more sophisticated and intuitive interactions between humans and machines. We hope that our proposed paradigm and approach will provide inspiration to the community and open the door to more interative and versatile object detection systems. Our project page is launched at detgpt.github.io.

Oriented object detection has been developed rapidly in the past few years, where rotation equivariance is crucial for detectors to predict rotated boxes. It is expected that the prediction can maintain the corresponding rotation when objects rotate, but severe mutation in angular prediction is sometimes observed when objects rotate near the boundary angle, which is well-known boundary discontinuity problem. The problem has been long believed to be caused by the sharp loss increase at the angular boundary, and widely used joint-optim IoU-like methods deal with this problem by loss-smoothing. However, we experimentally find that even state-of-the-art IoU-like methods actually fail to solve the problem. On further analysis, we find that the key to solution lies in encoding mode of the smoothing function rather than in joint or independent optimization. In existing IoU-like methods, the model essentially attempts to fit the angular relationship between box and object, where the break point at angular boundary makes the predictions highly unstable.To deal with this issue, we propose a dual-optimization paradigm for angles. We decouple reversibility and joint-optim from single smoothing function into two distinct entities, which for the first time achieves the objectives of both correcting angular boundary and blending angle with other parameters.Extensive experiments on multiple datasets show that boundary discontinuity problem is well-addressed. Moreover, typical IoU-like methods are improved to the same level without obvious performance gap. The code is available at https://github.com/hangxu-cv/cvpr24acm., Comment: cvpr 2024

Contrastive Language-Image Pre-training (CLIP) has become the standard for learning cross-modal representations between images and text. Efforts to improve its capabilities typically demand the collection of additional data and retraining with new loss functions. While effective, the added requirements limit their practical use due to the increased resource and time investments needed. In this work, we present HELIP, a cost-effective strategy tailored to enhance the performance of existing CLIP models without the need for training a model from scratch or collecting additional data. Our method allows for effortless integration with existing models' training pipelines, providing an instant boost by training them with selected challenging text-image pairs from their original training datasets. HELIP treats each text-image pair as a single point in the joint vision-language space, identifying those in close proximity as hard pairs. By incorporating the challenging data, pre-trained CLIP models are refined using both the traditional contrastive loss and the newly introduced hard negative margin loss, ensuring the challenging data is fully utilized. On comprehensive benchmarks, HELIP consistently boosts existing models to achieve leading performance. In particular, it improves the zero-shot classification accuracy on ImageNet for SLIP models pre-trained on CC3M, CC12M and YFCC15M datasets. The improvements are 3.05%, 4.47%, and 10.1% respectively, achieved within two epochs of training. In addition, across fine-grained classification datasets, HELIP improves the zero-shot performance of pre-trained CLIP and SLIP by an average of 8.4% and 18.6%, and their linear probe performance by an average of 9.5% and 3.0%., Comment: The code is publicly available at https://github.com/haonan3/HELIP

Medical artificial general intelligence (MAGI) enables one foundation model to solve different medical tasks, which is very practical in the medical domain. It can significantly reduce the requirement of large amounts of task-specific data by sufficiently sharing medical knowledge among different tasks. However, due to the challenges of designing strongly generalizable models with limited and complex medical data, most existing approaches tend to develop task-specific models. To take a step towards MAGI, we propose a new paradigm called Medical-knOwledge-enhanced mulTimOdal pretRaining (MOTOR). In MOTOR, we combine two kinds of basic medical knowledge, i.e., general and specific knowledge, in a complementary manner to boost the general pretraining process. As a result, the foundation model with comprehensive basic knowledge can learn compact representations from pretraining radiographic data for better cross-modal alignment. MOTOR unifies the understanding and generation, which are two kinds of core intelligence of an AI system, into a single medical foundation model, to flexibly handle more diverse medical tasks. To enable a comprehensive evaluation and facilitate further research, we construct a medical multimodal benchmark including a wide range of downstream tasks, such as chest x-ray report generation and medical visual question answering. Extensive experiments on our benchmark show that MOTOR obtains promising results through simple task-oriented adaptation. The visualization shows that the injected knowledge successfully highlights key information in the medical data, demonstrating the excellent interpretability of MOTOR. Our MOTOR successfully mimics the human practice of fulfilling a "medical student" to accelerate the process of becoming a "specialist". We believe that our work makes a significant stride in realizing MAGI., Comment: Project page: https://github.com/chenzcv7/MOTOR

This paper investigates policy resilience to training-environment poisoning attacks on reinforcement learning (RL) policies, with the goal of recovering the deployment performance of a poisoned RL policy. Due to the fact that the policy resilience is an add-on concern to RL algorithms, it should be resource-efficient, time-conserving, and widely applicable without compromising the performance of RL algorithms. This paper proposes such a policy-resilience mechanism based on an idea of knowledge sharing. We summarize the policy resilience as three stages: preparation, diagnosis, recovery. Specifically, we design the mechanism as a federated architecture coupled with a meta-learning manner, pursuing an efficient extraction and sharing of the environment knowledge. With the shared knowledge, a poisoned agent can quickly identify the deployment condition and accordingly recover its policy performance. We empirically evaluate the resilience mechanism for both model-based and model-free RL algorithms, showing its effectiveness and efficiency in restoring the deployment performance of a poisoned policy.

Accurately depicting the complex traffic scene is a vital component for autonomous vehicles to execute correct judgments. However, existing benchmarks tend to oversimplify the scene by solely focusing on lane perception tasks. Observing that human drivers rely on both lanes and traffic signals to operate their vehicles safely, we present OpenLane-V2, the first dataset on topology reasoning for traffic scene structure. The objective of the presented dataset is to advance research in understanding the structure of road scenes by examining the relationship between perceived entities, such as traffic elements and lanes. Leveraging existing datasets, OpenLane-V2 consists of 2,000 annotated road scenes that describe traffic elements and their correlation to the lanes. It comprises three primary sub-tasks, including the 3D lane detection inherited from OpenLane, accompanied by corresponding metrics to evaluate the model's performance. We evaluate various state-of-the-art methods, and present their quantitative and qualitative results on OpenLane-V2 to indicate future avenues for investigating topology reasoning in traffic scenes., Comment: Accepted by NeurIPS 2023 Track on Datasets and Benchmarks | OpenLane-V2 Dataset: https://github.com/OpenDriveLab/OpenLane-V2

Understanding the road genome is essential to realize autonomous driving. This highly intelligent problem contains two aspects - the connection relationship of lanes, and the assignment relationship between lanes and traffic elements, where a comprehensive topology reasoning method is vacant. On one hand, previous map learning techniques struggle in deriving lane connectivity with segmentation or laneline paradigms; or prior lane topology-oriented approaches focus on centerline detection and neglect the interaction modeling. On the other hand, the traffic element to lane assignment problem is limited in the image domain, leaving how to construct the correspondence from two views an unexplored challenge. To address these issues, we present TopoNet, the first end-to-end framework capable of abstracting traffic knowledge beyond conventional perception tasks. To capture the driving scene topology, we introduce three key designs: (1) an embedding module to incorporate semantic knowledge from 2D elements into a unified feature space; (2) a curated scene graph neural network to model relationships and enable feature interaction inside the network; (3) instead of transmitting messages arbitrarily, a scene knowledge graph is devised to differentiate prior knowledge from various types of the road genome. We evaluate TopoNet on the challenging scene understanding benchmark, OpenLane-V2, where our approach outperforms all previous works by a great margin on all perceptual and topological metrics. The code is released at https://github.com/OpenDriveLab/TopoNet

Cross-modal pre-training has shown impressive performance on a wide range of downstream tasks, benefiting from massive image-text pairs collected from the Internet. In practice, online data are growing constantly, highlighting the importance of the ability of pre-trained model to learn from data that is continuously growing. Existing works on cross-modal pre-training mainly focus on training a network with fixed architecture. However, it is impractical to limit the model capacity when considering the continuously growing nature of pre-training data in real-world applications. On the other hand, it is important to utilize the knowledge in the current model to obtain efficient training and better performance. To address the above issues, in this paper, we propose GrowCLIP, a data-driven automatic model growing algorithm for contrastive language-image pre-training with continuous image-text pairs as input. Specially, we adopt a dynamic growth space and seek out the optimal architecture at each growth step to adapt to online learning scenarios. And the shared encoder is proposed in our growth space to enhance the degree of cross-modal fusion. Besides, we explore the effect of growth in different dimensions, which could provide future references for the design of cross-modal model architecture. Finally, we employ parameter inheriting with momentum (PIM) to maintain the previous knowledge and address the issue of the local minimum dilemma. Compared with the existing methods, GrowCLIP improves 2.3% average top-1 accuracy on zero-shot image classification of 9 downstream tasks. As for zero-shot image retrieval, GrowCLIP can improve 1.2% for top-1 image-to-text recall on Flickr30K dataset.

Current large-scale diffusion models represent a giant leap forward in conditional image synthesis, capable of interpreting diverse cues like text, human poses, and edges. However, their reliance on substantial computational resources and extensive data collection remains a bottleneck. On the other hand, the integration of existing diffusion models, each specialized for different controls and operating in unique latent spaces, poses a challenge due to incompatible image resolutions and latent space embedding structures, hindering their joint use. Addressing these constraints, we present "PanGu-Draw", a novel latent diffusion model designed for resource-efficient text-to-image synthesis that adeptly accommodates multiple control signals. We first propose a resource-efficient Time-Decoupling Training Strategy, which splits the monolithic text-to-image model into structure and texture generators. Each generator is trained using a regimen that maximizes data utilization and computational efficiency, cutting data preparation by 48% and reducing training resources by 51%. Secondly, we introduce "Coop-Diffusion", an algorithm that enables the cooperative use of various pre-trained diffusion models with different latent spaces and predefined resolutions within a unified denoising process. This allows for multi-control image synthesis at arbitrary resolutions without the necessity for additional data or retraining. Empirical validations of Pangu-Draw show its exceptional prowess in text-to-image and multi-control image generation, suggesting a promising direction for future model training efficiencies and generation versatility. The largest 5B T2I PanGu-Draw model is released on the Ascend platform. Project page: $\href{https://pangu-draw.github.io}{this~https~URL}$, Comment: 16 pages, 16 figures

Instruction tuning of Large Vision-language Models (LVLMs) has revolutionized the development of versatile models with zero-shot generalization across a wide range of downstream vision-language tasks. However, the diversity of training tasks of different sources and formats would lead to inevitable task conflicts, where different tasks conflict for the same set of model parameters, resulting in sub-optimal instructionfollowing abilities. To address that, we propose the Mixture of Clusterconditional LoRA Experts (MoCLE), a novel Mixture of Experts (MoE) architecture designed to activate the task-customized model parameters based on the instruction clusters. A separate universal expert is further incorporated to improve generalization capabilities of MoCLE for novel instructions. Extensive experiments on 11 zero-shot tasks demonstrate the effectiveness of MoCLE., Comment: Project website: https://gyhdog99.github.io/projects/mocle

In this work, we present a novel self-supervised method for Low Dose Computed Tomography (LDCT) reconstruction. Reducing the radiation dose to patients during a CT scan is a crucial challenge since the quality of the reconstruction highly degrades because of low photons or limited measurements. Supervised deep learning methods have shown the ability to remove noise in images but require accurate ground truth which can be obtained only by performing additional high-radiation CT scans. Therefore, we propose a novel self-supervised framework for LDCT, in which ground truth is not required for training the convolutional neural network (CNN). Based on the Noise2Inverse (N2I) method, we enforce in the training loss the equivariant property of rotation transformation, which is induced by the CT imaging system, to improve the quality of the CT image in a lower dose. Numerical and experimental results show that the reconstruction accuracy of N2I with sparse views is degrading while the proposed rotational augmented Noise2Inverse (RAN2I) method keeps better image quality over a different range of sampling angles. Finally, the quantitative results demonstrate that RAN2I achieves higher image quality compared to N2I, and experimental results of RAN2I on real projection data show comparable performance to supervised learning., Comment: 14 pages, 12 figures, accepted manuscript in IEEE Transactions on Radiation and Plasma Medical Sciences

Large language models (LLMs) have shown remarkable proficiency in human-level reasoning and generation capabilities, which encourages extensive research on their application in mathematical problem solving. However, current work has been largely focused on text-based mathematical problems, with limited investigation in problems involving geometric information. Addressing this gap, we aim to enable LLMs to solve geometric problems by understanding image input. We first analyze the limitations of current Multimodal Large Language Models (MLLMs) in this area: they struggle to accurately comprehending basic geometric elements and their relationships. To overcome these challenges, we take advantage of the unique characteristics of geometric problems (such as unique geometric logical form, and geometric scalability) and the capacity of the textual LLMs to build an enriched multimodal geometry dataset based on existing data. The augmented dataset, Geo170K, contains more than 170K geometric image-caption and question-answer pairs. Utilizing our constructed Geo170K dataset, we develop G-LLaVA, which demonstrates exceptional performance in solving geometric problems, significantly outperforming GPT-4-V on the MathVista benchmark with only 7B parameters., Comment: 10 pages

We investigate the phase retrieval problem perturbed by dense bounded noise and sparse outliers that can change an adversarially chosen $s$-fraction of the measurement vector. The adversarial sparse outliers may exhibit dependence on both the observation and the measurement. We demonstrate that the nonlinear least absolute deviation based on amplitude measurement can tolerate adversarial outliers at a fraction of $s^{*,1}\approx0.2043$, while the intensity-based model can tolerate a fraction of $s^{*,2}\approx0.1185$. Furthermore, we construct adaptive counterexamples to show that the thresholds are theoretically sharp, thereby showing the presentation of phase transition in the adversarial phase retrieval problem when the corruption fraction exceeds the sharp thresholds. This implies that the amplitude-based model exhibits superior adversarial robustness in comparison with the intensity-based model. Corresponding experimental results are presented to further illustrate our theoretical findings. To the best of our knowledge, our results provide the first theoretical examination of the distinction in robustness performance between amplitude and intensity measurement. A crucial point of our analysis is that we explore the exact distribution of some combination of two non-independent Gaussian random variables and present the novel probability density functions to derive the sharp thresholds., Comment: 32 pages