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CLIP, as a vision-language model, has significantly advanced Open-Vocabulary Semantic Segmentation (OVSS) with its zero-shot capabilities. Despite its success, its application to OVSS faces challenges due to its initial image-level alignment training, which affects its performance in tasks requiring detailed local context. Our study delves into the impact of CLIP's [CLS] token on patch feature correlations, revealing a dominance of "global" patches that hinders local feature discrimination. To overcome this, we propose CLIPtrase, a novel training-free semantic segmentation strategy that enhances local feature awareness through recalibrated self-correlation among patches. This approach demonstrates notable improvements in segmentation accuracy and the ability to maintain semantic coherence across objects.Experiments show that we are 22.3% ahead of CLIP on average on 9 segmentation benchmarks, outperforming existing state-of-the-art training-free methods.The code are made publicly available at: https://github.com/leaves162/CLIPtrase., Comment: ECCV24 accepted

Combinatorial Optimization (CO) problems are fundamentally crucial in numerous practical applications across diverse industries, characterized by entailing enormous solution space and demanding time-sensitive response. Despite significant advancements made by recent neural solvers, their limited expressiveness does not conform well to the multi-modal nature of CO landscapes. While some research has pivoted towards diffusion models, they require simulating a Markov chain with many steps to produce a sample, which is time-consuming and does not meet the efficiency requirement of real applications, especially at scale. We propose DISCO, an efficient DIffusion Solver for Combinatorial Optimization problems that excels in both solution quality and inference speed. DISCO's efficacy is two-pronged: Firstly, it achieves rapid denoising of solutions through an analytically solvable form, allowing for direct sampling from the solution space with very few reverse-time steps, thereby drastically reducing inference time. Secondly, DISCO enhances solution quality by restricting the sampling space to a more constrained, meaningful domain guided by solution residues, while still preserving the inherent multi-modality of the output probabilistic distributions. DISCO achieves state-of-the-art results on very large Traveling Salesman Problems with 10000 nodes and challenging Maximal Independent Set benchmarks, with its per-instance denoising time up to 44.8 times faster. Through further combining a divide-and-conquer strategy, DISCO can be generalized to solve arbitrary-scale problem instances off the shelf, even outperforming models trained specifically on corresponding scales.

Mixture-of-Experts (MoE) has been demonstrated as an efficient method to scale up models. By dynamically and sparsely selecting activated experts, MoE can effectively reduce computational costs. Despite the success, we observe that many tokens in the MoE models have uncertain routing results. These tokens have nearly equal scores for choosing each expert, and we demonstrate that this uncertainty can lead to incorrect selections. Inspired by the Global Workspace Theory (GWT), we propose a new fine-tuning method, GW-MoE, to address this issue. The core idea is to broadcast the uncertain tokens across experts during fine-tuning. Therefore, these tokens can acquire the necessary knowledge from any expert during inference and become less sensitive to the choice. GW-MoE does not introduce additional inference overhead. We validate that GW can mitigate the uncertain problem and consistently improve in different tasks (text classification, question answering, summarization, code generation, and mathematical problem solving) and model sizes (650M and 8B parameters).

Parkour is a grand challenge for legged locomotion, even for quadruped robots, requiring active perception and various maneuvers to overcome multiple challenging obstacles. Existing methods for humanoid locomotion either optimize a trajectory for a single parkour track or train a reinforcement learning policy only to walk with a significant amount of motion references. In this work, we propose a framework for learning an end-to-end vision-based whole-body-control parkour policy for humanoid robots that overcomes multiple parkour skills without any motion prior. Using the parkour policy, the humanoid robot can jump on a 0.42m platform, leap over hurdles, 0.8m gaps, and much more. It can also run at 1.8m/s in the wild and walk robustly on different terrains. We test our policy in indoor and outdoor environments to demonstrate that it can autonomously select parkour skills while following the rotation command of the joystick. We override the arm actions and show that this framework can easily transfer to humanoid mobile manipulation tasks. Videos can be found at https://humanoid4parkour.github.io

Time series forecasting has become an increasingly popular research area due to its critical applications in various real-world domains such as traffic management, weather prediction, and financial analysis. Despite significant advancements, existing models face notable challenges, including the necessity of manual hyperparameter tuning for different datasets, and difficulty in effectively distinguishing signal from redundant features in data characterized by strong seasonality. These issues hinder the generalization and practical application of time series forecasting models. To solve this issues, we propose an innovative time series forecasting model TimeSieve designed to address these challenges. Our approach employs wavelet transforms to preprocess time series data, effectively capturing multi-scale features without the need for additional parameters or manual hyperparameter tuning. Additionally, we introduce the information bottleneck theory that filters out redundant features from both detail and approximation coefficients, retaining only the most predictive information. This combination reduces significantly improves the model's accuracy. Extensive experiments demonstrate that our model outperforms existing state-of-the-art methods on 70\% of the datasets, achieving higher predictive accuracy and better generalization across diverse datasets. Our results validate the effectiveness of our approach in addressing the key challenges in time series forecasting, paving the way for more reliable and efficient predictive models in practical applications. The code for our model is available at https://github.com/xll0328/TimeSieve.

The field of time series forecasting has garnered significant attention in recent years, prompting the development of advanced models like TimeSieve, which demonstrates impressive performance. However, an analysis reveals certain unfaithfulness issues, including high sensitivity to random seeds and minute input noise perturbations. Recognizing these challenges, we embark on a quest to define the concept of \textbf{\underline{F}aithful \underline{T}ime\underline{S}ieve \underline{(FTS)}}, a model that consistently delivers reliable and robust predictions. To address these issues, we propose a novel framework aimed at identifying and rectifying unfaithfulness in TimeSieve. Our framework is designed to enhance the model's stability and resilience, ensuring that its outputs are less susceptible to the aforementioned factors. Experimentation validates the effectiveness of our proposed framework, demonstrating improved faithfulness in the model's behavior. Looking forward, we plan to expand our experimental scope to further validate and optimize our algorithm, ensuring comprehensive faithfulness across a wide range of scenarios. Ultimately, we aspire to make this framework can be applied to enhance the faithfulness of not just TimeSieve but also other state-of-the-art temporal methods, thereby contributing to the reliability and robustness of temporal modeling as a whole.

In optimizing performance and extending the lifespan of lithium batteries, accurate state prediction is pivotal. Traditional regression and classification methods have achieved some success in battery state prediction. However, the efficacy of these data-driven approaches heavily relies on the availability and quality of public datasets. Additionally, generating electrochemical data predominantly through battery experiments is a lengthy and costly process, making it challenging to acquire high-quality electrochemical data. This difficulty, coupled with data incompleteness, significantly impacts prediction accuracy. Addressing these challenges, this study introduces the End of Life (EOL) and Equivalent Cycle Life (ECL) as conditions for generative AI models. By integrating an embedding layer into the CVAE model, we developed the Refined Conditional Variational Autoencoder (RCVAE). Through preprocessing data into a quasi-video format, our study achieves an integrated synthesis of electrochemical data, including voltage, current, temperature, and charging capacity, which is then processed by the RCVAE model. Coupled with customized training and inference algorithms, this model can generate specific electrochemical data for EOL and ECL under supervised conditions. This method provides users with a comprehensive electrochemical dataset, pioneering a new research domain for the artificial synthesis of lithium battery data. Furthermore, based on the detailed synthetic data, various battery state indicators can be calculated, offering new perspectives and possibilities for lithium battery performance prediction.

Autonomous vehicles are gradually entering city roads today, with the help of high-definition maps (HDMaps). However, the reliance on HDMaps prevents autonomous vehicles from stepping into regions without this expensive digital infrastructure. This fact drives many researchers to study online HDMap generation algorithms, but the performance of these algorithms at far regions is still unsatisfying. We present P-MapNet, in which the letter P highlights the fact that we focus on incorporating map priors to improve model performance. Specifically, we exploit priors in both SDMap and HDMap. On one hand, we extract weakly aligned SDMap from OpenStreetMap, and encode it as an additional conditioning branch. Despite the misalignment challenge, our attention-based architecture adaptively attends to relevant SDMap skeletons and significantly improves performance. On the other hand, we exploit a masked autoencoder to capture the prior distribution of HDMap, which can serve as a refinement module to mitigate occlusions and artifacts. We benchmark on the nuScenes and Argoverse2 datasets. Through comprehensive experiments, we show that: (1) our SDMap prior can improve online map generation performance, using both rasterized (by up to $+18.73$ $\rm mIoU$) and vectorized (by up to $+8.50$ $\rm mAP$) output representations. (2) our HDMap prior can improve map perceptual metrics by up to $6.34\%$. (3) P-MapNet can be switched into different inference modes that covers different regions of the accuracy-efficiency trade-off landscape. (4) P-MapNet is a far-seeing solution that brings larger improvements on longer ranges. Codes and models are publicly available at https://jike5.github.io/P-MapNet., Comment: Code: https://jike5.github.io/P-MapNet

Autonomous vehicles rely extensively on perception systems to navigate and interpret their surroundings. Despite significant advancements in these systems recently, challenges persist under conditions like occlusion, extreme lighting, or in unfamiliar urban areas. Unlike these systems, humans do not solely depend on immediate observations to perceive the environment. In navigating new cities, humans gradually develop a preliminary mental map to supplement real-time perception during subsequent visits. Inspired by this human approach, we introduce a novel framework, PreSight, that leverages past traversals to construct static prior memories, enhancing online perception in later navigations. Our method involves optimizing a city-scale neural radiance field with data from previous journeys to generate neural priors. These priors, rich in semantic and geometric details, are derived without manual annotations and can seamlessly augment various state-of-the-art perception models, improving their efficacy with minimal additional computational cost. Experimental results on the nuScenes dataset demonstrate the framework's high compatibility with diverse online perception models. Specifically, it shows remarkable improvements in HD-map construction and occupancy prediction tasks, highlighting its potential as a new perception framework for autonomous driving systems. Our code will be released at https://github.com/yuantianyuan01/PreSight.

A primary hurdle of autonomous driving in urban environments is understanding complex and long-tail scenarios, such as challenging road conditions and delicate human behaviors. We introduce DriveVLM, an autonomous driving system leveraging Vision-Language Models (VLMs) for enhanced scene understanding and planning capabilities. DriveVLM integrates a unique combination of reasoning modules for scene description, scene analysis, and hierarchical planning. Furthermore, recognizing the limitations of VLMs in spatial reasoning and heavy computational requirements, we propose DriveVLM-Dual, a hybrid system that synergizes the strengths of DriveVLM with the traditional autonomous driving pipeline. Experiments on both the nuScenes dataset and our SUP-AD dataset demonstrate the efficacy of DriveVLM and DriveVLM-Dual in handling complex and unpredictable driving conditions. Finally, we deploy the DriveVLM-Dual on a production vehicle, verifying it is effective in real-world autonomous driving environments., Comment: Project Page: https://tsinghua-mars-lab.github.io/DriveVLM/

In the realm of audio-language pre-training (ALP), the challenge of achieving cross-modal alignment is significant. Moreover, the integration of audio inputs with diverse distributions and task variations poses challenges in developing generic audio-language models. In this study, we present MINT, a novel ALP framework boosting audio-language models through multi-target pre-training and instruction tuning. MINT leverages the strength of frozen pre-trained audio encoders and large language models (LLM) to improve audio-language pre-training, enabling effective transferablility to both audio-text understanding and generation tasks. To address the modality gap, we introduce Bridge-Net, a trainable module that enhances cross-modality alignment and the model's ability to follow instructions for a variety of audio-text tasks. Bridge-Net is pivotal within MINT, initially enhancing audio-language representation learning through a multi-target pre-training approach. Subsequently, Bridge-Net further boosts audio-to-language generative learning by integrating a frozen language model with instruction tuning. This integration empowers MINT to extract features in a flexible and effective manner, specifically tailored to the provided instructions for diverse tasks. Experimental results demonstrate that MINT attains superior performance across various audio-language understanding and generation tasks, highlighting its robust generalization capabilities even in zero-shot scenarios.

This technical report introduces PIXART-{\delta}, a text-to-image synthesis framework that integrates the Latent Consistency Model (LCM) and ControlNet into the advanced PIXART-{\alpha} model. PIXART-{\alpha} is recognized for its ability to generate high-quality images of 1024px resolution through a remarkably efficient training process. The integration of LCM in PIXART-{\delta} significantly accelerates the inference speed, enabling the production of high-quality images in just 2-4 steps. Notably, PIXART-{\delta} achieves a breakthrough 0.5 seconds for generating 1024x1024 pixel images, marking a 7x improvement over the PIXART-{\alpha}. Additionally, PIXART-{\delta} is designed to be efficiently trainable on 32GB V100 GPUs within a single day. With its 8-bit inference capability (von Platen et al., 2023), PIXART-{\delta} can synthesize 1024px images within 8GB GPU memory constraints, greatly enhancing its usability and accessibility. Furthermore, incorporating a ControlNet-like module enables fine-grained control over text-to-image diffusion models. We introduce a novel ControlNet-Transformer architecture, specifically tailored for Transformers, achieving explicit controllability alongside high-quality image generation. As a state-of-the-art, open-source image generation model, PIXART-{\delta} offers a promising alternative to the Stable Diffusion family of models, contributing significantly to text-to-image synthesis., Comment: Technical Report