Search

This study introduces the 4D Risk Occupancy within a vehicle-road-cloud architecture, integrating the road surface spatial, risk, and temporal dimensions, and endowing the algorithm with beyond-line-of-sight, all-angles, and efficient abilities. The algorithm simplifies risk modeling by focusing on directly observable information and key factors, drawing on the concept of Occupancy Grid Maps (OGM), and incorporating temporal prediction to effectively map current and future risk occupancy. Compared to conventional driving risk fields and grid occupancy maps, this algorithm can map global risks more efficiently, simply, and reliably. It can integrate future risk information, adapting to dynamic traffic environments. The 4D Risk Occupancy also unifies the expression of BEV detection and lane line detection results, enhancing the intuitiveness and unity of environmental perception. Using DAIR-V2X data, this paper validates the 4D Risk Occupancy algorithm and develops a local path planning model based on it. Qualitative experiments under various road conditions demonstrate the practicality and robustness of this local path planning model. Quantitative analysis shows that the path planning based on risk occupation significantly improves trajectory planning performance, increasing safety redundancy by 12.5% and reducing average deceleration by 5.41% at an initial braking speed of 8 m/s, thereby improving safety and comfort. This work provides a new global perception method and local path planning method through Vehicle-Road-Cloud architecture, offering a new perceptual paradigm for achieving safer and more efficient autonomous driving., Comment: 13 pages,9 figures

The rise of Multimodal Large Language Models (MLLMs), renowned for their advanced instruction-following and reasoning capabilities, has significantly propelled the field of visual reasoning. However, due to limitations in their image tokenization processes, most MLLMs struggle to capture fine details of text and objects in images, especially in high-resolution samples. To overcome this limitation, we introduce P2G, a novel framework for plug-and-play grounding in MLLMs. P2G utilizes the tool-usage potential of MLLMs to employ expert agents for on-the-fly grounding of reasoning into critical visual and textual elements in images, thereby enabling deliberate reasoning through multimodal prompting. Additionally, we develop P2GB, a benchmark designed to evaluate MLLMs' proficiency in understanding inter-object relationships and textual content in challenging high-resolution images. Extensive experiments on visual reasoning tasks demonstrate the superiority of P2G, achieving performance comparable to GPT-4V on P2GB with a 7B backbone. Our work underscores the potential of grounding reasoning with external agents in MLLMs, presenting a promising alternative to mere model scaling., Comment: 15 pages, 8 figures

We present a neural radiance field method for urban-scale semantic and building-level instance segmentation from aerial images by lifting noisy 2D labels to 3D. This is a challenging problem due to two primary reasons. Firstly, objects in urban aerial images exhibit substantial variations in size, including buildings, cars, and roads, which pose a significant challenge for accurate 2D segmentation. Secondly, the 2D labels generated by existing segmentation methods suffer from the multi-view inconsistency problem, especially in the case of aerial images, where each image captures only a small portion of the entire scene. To overcome these limitations, we first introduce a scale-adaptive semantic label fusion strategy that enhances the segmentation of objects of varying sizes by combining labels predicted from different altitudes, harnessing the novel-view synthesis capabilities of NeRF. We then introduce a novel cross-view instance label grouping strategy based on the 3D scene representation to mitigate the multi-view inconsistency problem in the 2D instance labels. Furthermore, we exploit multi-view reconstructed depth priors to improve the geometric quality of the reconstructed radiance field, resulting in enhanced segmentation results. Experiments on multiple real-world urban-scale datasets demonstrate that our approach outperforms existing methods, highlighting its effectiveness., Comment: CVPR 2024: https://zyqz97.github.io/Aerial_Lifting/

Multi-modal large language models (MLLMs) have been shown to efficiently integrate natural language with visual information to handle multi-modal tasks. However, MLLMs still face a fundamental limitation of hallucinations, where they tend to generate erroneous or fabricated information. In this paper, we address hallucinations in MLLMs from a novel perspective of representation learning. We first analyzed the representation distribution of textual and visual tokens in MLLM, revealing two important findings: 1) there is a significant gap between textual and visual representations, indicating unsatisfactory cross-modal representation alignment; 2) representations of texts that contain and do not contain hallucinations are entangled, making it challenging to distinguish them. These two observations inspire us with a simple yet effective method to mitigate hallucinations. Specifically, we introduce contrastive learning into MLLMs and use text with hallucination as hard negative examples, naturally bringing representations of non-hallucinative text and visual samples closer while pushing way representations of non-hallucinating and hallucinative text. We evaluate our method quantitatively and qualitatively, showing its effectiveness in reducing hallucination occurrences and improving performance across multiple benchmarks. On the MMhal-Bench benchmark, our method obtains a 34.66% /29.5% improvement over the baseline MiniGPT-4/LLaVA. Our code is available on https://github.com/X-PLUG/mPLUG-HalOwl/tree/main/hacl.

In the early stage of epidemics, individuals' determination on adopting protective measures, which can reduce their risk of infection and suppress disease spreading, is likely to depend on multiple information sources and their mutual confirmation due to inadequate exact information. Here we introduce the inter-layer mutual confirmation mechanism into the information-disease interacting dynamics on multiplex networks. In our model, an individual increases the information transmission rate and willingness to adopt protective measures once he confirms the authenticity of news and severity of disease from neighbors status in multiple layers. By using the microscopic Markov chain approach, we analytically calculate the epidemic threshold and the awareness and infected density in the stationary state, which agree well with simulation results. We find that the increment of epidemic threshold when confirming the aware neighbors on communication layer is larger than that of the contact layer. On the contrary, the confirmation of neighbors' awareness and infection from the contact layer leads to a lower final infection density and a higher awareness density than that of the communication layer. The results imply that individuals' explicit exposure of their infection and awareness status to neighbors, especially those with real contacts, is helpful in suppressing epidemic spreading., Comment: 13 pages,8 figures