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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/

The huge amount of plastic wastes has become a pressing global environmental problem, leading to severe environmental pollution and resource depletion through conventional downcycling technologies like incineration and landfilling. In contrast, selective upcycling of various plastics offers a promising solution for converting waste plastics into valuable products. This review provides a comprehensive overview of the recent advancements in innovative catalytic technologies, including thermocatalysis, electrocatalysis, and photocatalysis. Special emphasis is placed on elucidating the reaction mechanisms, activating designated chemical bonds for high selectivity, and elaborating the above techniques in terms of reaction conditions and products. Finally, the application prospects and future development trends in plastic catalysis are discussed, providing valuable insights for realizing a sustainable circular plastic economy., Comment: 55 pages, 24 figures

In the field of Internet of Things, there is an urgent need for sensors with large-scale sensing capability for scenarios such as intelligent monitoring of production lines and urban infrastructure. Brillouin optical time domain analysis (BOTDA) sensors, which can monitor thousands of continuous points simultaneously, show great advantages in these applications. We propose a convolutional neural network (CNN) to process the data of conventional Brillouin optical time domain analysis (BOTDA) sensors, which achieves unprecedented performance improvement that allows to directly retrieve higher spatial resolution (SR) from the sensing system that use long pump pulses. By using the simulated Brillouin gain spectrums (BGSs) as the CNN input and the corresponding high SR BFS as the output target, the trained CNN is able to obtain a SR higher than the theoretical value determined by the pump pulse width. In the experiment, the CNN accurately retrieves 0.5-m hotspots from the measured BGS with pump pulses from 20 to 50 ns, and the acquired BFS is in great agreement with 45/40 ns differential pulse-width pair (DPP) measurement results. Compared with the DPP technique, the proposed CNN demonstrates a 2-fold improvement in BFS uncertainty with only half the measurement time. In addition, by changing the training datasets, the proposed CNN can obtain tunable high SR retrieval based on conventional BOTDA sensors that use long pulses without any requirement of hardware modifications. The proposed data post-processing approach paves the way to enable novel high spatial resolution BOTDA sensors, which brings substantial improvement over the state-of-the-art techniques in terms of system complexity, measurement time and reliability, etc., Comment: 7 pages, 6 figures

We propose and experimentally demonstrate a novel interference fading suppression method for phase-sensitive optical time domain reflectometry (Phi-OTDR) using space-division multiplexed (SDM) pulse probes in few-mode fiber. The SDM probes consist of multiple different modes, and three spatial modes (LP01, LP11a and LP11b) are used in this work for proof of concept. Firstly, the Rayleigh backscattering light of different modes is experimentally characterized, and it turns out that the waveforms of Phi-OTDR traces of distinct modes are all different from each other. Thanks to the spatial difference of fading positions of distinct modes, multiple probes from spatially multiplexed modes can be used to suppress the interference fading in Phi-OTDR. Then, the performances of the Phi-OTDR systems using single probe and multiple probes are evaluated and compared. Specifically, statistical analysis shows that both fading probabilities over fiber length and time are reduced significantly by using multiple SDM probes, which verifies the significant performance improvement on fading suppression. The proposed novel interference fading suppression method does not require complicated frequency or phase modulation, which has the advantages of simplicity, good effectiveness and high reliability., Comment: 10 pages, 7 figures, 17 references

Spatial resolution improvement from an acquired measurement using long pulse is developed for Brillouin optical time domain analysis (BOTDA) systems based on the total variation deconvolution algorithm. The frequency dependency of Brillouin gain temporal envelope is investigated by simulation, and its impact on the recovered results of deconvolution algorithm is thoroughly analyzed. To implement a reliable deconvolution process, differential pulse-width pair (DPP) technique is utilized to effectively eliminate the systematic BFS distortion stemming from the frequency dependency of temporal envelope. The width of the pulse pairs should be larger than 40 ns as is analyzed theoretically and verified experimentally. It has been demonstrated that the proposed method can realize flexible adjustment of spatial resolution with enhanced signal-to-noise ratio (SNR) from an established measurement with long pump pulse. In the experiment, the spatial resolution is increased to 0.5 m and 1 m with high measurement accuracy by using the deconvolution algorithm from the measurement of 60/40 ns DPP signals. Compared with the raw DPP results with the same spatial resolution, 9.2 dB and 8.4 dB SNR improvements are obtained for 0.5 m and 1 m spatial resolution respectively, thanks to the denoising capability of the total variation deconvolution algorithm. The impact of sampling rate on the recovery results is also studied. The proposed sensing system allows for distortion-free Brillouin distributed sensing with higher spatial resolution and enhanced SNR from the conventional DPP setup with long pulse pairs.

We study the geometry of Engel structures, which are 2-plane fields on 4-manifolds satisfying a generic condition, that are compatible with other geometric structures. A \em{Lagrangian} Engel structure is an Engel 2-plane field on a symplectic 4-manifold for which the 2-planes are Lagrangian with respect to the symplectic structure. We solve the equivalence problems for Lagrangian Engel structures and use the resulting structure equations to classify homogeneous Lagrangian Engel structures. This allows us to determine all compact, homogeneous examples. Compact manifolds that support homogeneous Lagrangian Engel structures are diffeomorphic to quotients of one of a determined list of nilpotent or solvable 4-dimensional Lie groups by co-compact lattices., Comment: arXiv admin note: text overlap with arXiv:1805.07660

We study the geometry of Engel structures, which are 2-plane fields on 4-manifolds satisfying a generic condition, that are compatible with other geometric structures. A complex Engel structure is an Engel 2-plane field on a complex surface for which the 2-planes are complex lines. We solve the equivalence problems for complex Engel structures and use the resulting structure equations to classify homogeneous complex Engel structures. This allows us to determine all compact, homogeneous examples. Compact manifolds that support homogeneous complex Engel structures are diffeomorphic to $S^1\times SU(2)$ or quotients of $\mathbb{C}^2$, $S^1\times SU(2)$, $S^1\times G$ or $H$ by co-compact lattices, where $G$ is the connected and simply-connected Lie group with Lie algebra $\mathfrak{sl}_2(\mathbb{R})$ and $H$ is a solvable Lie group.

A novel Brillouin optical time-domain analysis (BOTDA) system is proposed using intensity-modulated optical orthogonal frequency division multiplexing probe signal and direct detection (IM-DD-OOFDM) without frequency sweep operation. The influence of peak to average power ratio (PAPR) of OFDM probe signal on the recovery of Brillouin gain spectrum (BGS) is analyzed in theory and experiment. The complex BGS is reconstructed by channel estimation algorithm and Brillouin frequency shift (BFS) is located by curve fitting of intensity spectrum. The IM-DD-OOFDM BOTDA is demonstrated experimentally with 25m spatial resolution over 2 km standard single mode fiber., Comment: 9 pages, 5 figures