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Offboard perception aims to automatically generate high-quality 3D labels for autonomous driving (AD) scenes. Existing offboard methods focus on 3D object detection with closed-set taxonomy and fail to match human-level recognition capability on the rapidly evolving perception tasks. Due to heavy reliance on human labels and the prevalence of data imbalance and sparsity, a unified framework for offboard auto-labeling various elements in AD scenes that meets the distinct needs of perception tasks is not being fully explored. In this paper, we propose a novel multi-modal Zero-shot Offboard Panoptic Perception (ZOPP) framework for autonomous driving scenes. ZOPP integrates the powerful zero-shot recognition capabilities of vision foundation models and 3D representations derived from point clouds. To the best of our knowledge, ZOPP represents a pioneering effort in the domain of multi-modal panoptic perception and auto labeling for autonomous driving scenes. We conduct comprehensive empirical studies and evaluations on Waymo open dataset to validate the proposed ZOPP on various perception tasks. To further explore the usability and extensibility of our proposed ZOPP, we also conduct experiments in downstream applications. The results further demonstrate the great potential of our ZOPP for real-world scenarios., Comment: Accepted by NeurIPS 2024

Laser surface remelting of as-cast Al-Ge eutectic alloy is shown to produce ultrafine lamellar eutectic morphology with interlamellar spacing refined up to ~60 nm and composed of FCC Al solid solution and unusual AlxGey intermetallic phases that do not form during near-equilibrium solidification. The microstructures are characterized and analyzed using a combination of selected area electron diffraction, high-resolution scanning transmission electron microscopy, energy dispersive X-ray spectroscopy to obtain high-resolution elemental maps, and atomistic modeling using density functional theory followed by atomic-scale image simulation. Depending on the local solidification conditions, the crystallography of the AlxGey intermetallic phases in the eutectic microstructure is either monoclinic (C 2/c) or monoclinic (P 21), with high densities of defects in both cases. This is in sharp contrast to the as-cast alloys that showed nominally pure Al and Ge phases with significant solute partitioning and equilibrium FCC and diamond cubic crystal structures, respectively. Corresponding kinetic phase diagrams are proposed to interpret the evolution of nano-lamellar eutectic morphologies with equilibrium Al and metastable AlxGey phases, and to explain increased solid solubility in the Al phases manifested by precipitation of ultrafine clusters of Ge. The reasons for the formation of these metastable eutectics under laser rapid solidification are discussed from the perspective of the competitive growth criterion.

Reinforcement learning (RL) -- finding the optimal behaviour (also referred to as policy) maximizing the collected long-term cumulative reward -- is among the most influential approaches in machine learning with a large number of successful applications. In several decision problems, however, one faces the possibility of policy switching -- changing from the current policy to a new one -- which incurs a non-negligible cost (examples include the shifting of the currently applied educational technology, modernization of a computing cluster, and the introduction of a new webpage design), and in the decision one is limited to using historical data without the availability for further online interaction. Despite the inevitable importance of this offline learning scenario, to our best knowledge, very little effort has been made to tackle the key problem of balancing between the gain and the cost of switching in a flexible and principled way. Leveraging ideas from the area of optimal transport, we initialize the systematic study of policy switching in offline RL. We establish fundamental properties and design a Net Actor-Critic algorithm for the proposed novel switching formulation. Numerical experiments demonstrate the efficiency of our approach on multiple benchmarks of the Gymnasium.

Vulnerability detection is essential for software quality assurance. In recent years, deep learning models (especially large language models) have shown promise in vulnerability detection. In this work, we propose a novel LLM-based vulnerability detection technique Vul-RAG, which leverages knowledge-level retrieval-augmented generation (RAG) framework to detect vulnerability for the given code in three phases. First, Vul-RAG constructs a vulnerability knowledge base by extracting multi-dimension knowledge via LLMs from existing CVE instances; second, for a given code snippet, Vul-RAG} retrieves the relevant vulnerability knowledge from the constructed knowledge base based on functional semantics; third, Vul-RAG leverages LLMs to check the vulnerability of the given code snippet by reasoning the presence of vulnerability causes and fixing solutions of the retrieved vulnerability knowledge. Our evaluation of Vul-RAG on our constructed benchmark PairVul shows that Vul-RAG substantially outperforms all baselines by 12.96\%/110\% relative improvement in accuracy/pairwise-accuracy. In addition, our user study shows that the vulnerability knowledge generated by Vul-RAG can serve as high-quality explanations which can improve the manual detection accuracy from 0.60 to 0.77.

Digital Image Correlation (DIC) is an optical technique that measures displacement and strain by tracking pattern movement in a sequence of captured images during testing. DIC has gained recognition in asphalt pavement engineering since the early 2000s. However, users often perceive the DIC technique as an out-of-box tool and lack a thorough understanding of its operational and measurement principles. This article presents a state-of-art review of DIC as a crucial tool for laboratory testing of asphalt concrete (AC), primarily focusing on the widely utilized 2D-DIC and 3D-DIC techniques. To address frequently asked questions from users, the review thoroughly examines the optimal methods for preparing speckle patterns, configuring single-camera or dual-camera imaging systems, conducting DIC analyses, and exploring various applications. Furthermore, emerging DIC methodologies such as Digital Volume Correlation and deep-learning-based DIC are introduced, highlighting their potential for future applications in pavement engineering. The article also provides a comprehensive and reliable flowchart for implementing DIC in AC characterization. Finally, critical directions for future research are presented., Comment: Journal of Testing and Evaluation

The conventional surface reflection method has been widely used to measure the asphalt pavement layer dielectric constant using ground-penetrating radar (GPR). This method may be inaccurate for in-service pavement thickness estimation with dielectric constant variation through the depth, which could be addressed using the extended common mid-point method (XCMP) with air-coupled GPR antennas. However, the factors affecting the XCMP method on thickness prediction accuracy haven't been studied. Manual acquisition of key factors is required, which hinders its real-time applications. This study investigates the affecting factors and develops a modified XCMP method to allow automatic thickness prediction of in-service asphalt pavement with non-uniform dielectric properties through depth. A sensitivity analysis was performed, necessitating the accurate estimation of time of flights (TOFs) from antenna pairs. A modified XCMP method based on edge detection was proposed to allow real-time TOFs estimation, then dielectric constant and thickness predictions. Field tests using a multi-channel GPR system were performed for validation. Both the surface reflection and XCMP setups were conducted. Results show that the modified XCMP method is recommended with a mean prediction error of 1.86%, which is more accurate than the surface reflection method (5.73%)., Comment: IEEE Transactions on Intelligent Transportation Systems (2024)

Wurtzite ferroelectrics possess transformative potential for next-generation microelectronics. A comprehensive understanding of their ferroelectric properties and domain energetics is crucial for tailoring their ferroelectric characteristics and exploiting their functional properties in practical devices. Despite burgeoning interest, the exact configurations, and electronic structures of the domain walls in wurtzite ferroelectrics remain elusive. In this work, we elucidate the atomic configurations and electronic properties of electric-field-induced domain walls in ferroelectric ScGaN. By combining transmission electron microscopy and theoretical calculations, a novel charged domain wall with a buckled two-dimensional hexagonal phase is revealed. The dangling bonds associated with these domain walls give rise to unprecedented metallic-like mid-gap states within the forbidden band. Quantitative analysis further unveils a universal charge-compensation mechanism stabilizing antipolar domain walls in ferroelectric materials, wherein the polarization discontinuity at the 180{\deg} domain wall is compensated by the dangling bond electrons. Furthermore, the reconfigurable conductivity of these domain walls is experimentally demonstrated, showcasing their potential for ultra-scaled device applications. Our findings represent a pivotal advancement in understanding the structural and electronic properties of wurtzite ferroelectric domain walls and lay the groundwork for fundamental physics studies and device applications.

This paper explores the emerging knowledge-driven autonomous driving technologies. Our investigation highlights the limitations of current autonomous driving systems, in particular their sensitivity to data bias, difficulty in handling long-tail scenarios, and lack of interpretability. Conversely, knowledge-driven methods with the abilities of cognition, generalization and life-long learning emerge as a promising way to overcome these challenges. This paper delves into the essence of knowledge-driven autonomous driving and examines its core components: dataset \& benchmark, environment, and driver agent. By leveraging large language models, world models, neural rendering, and other advanced artificial intelligence techniques, these components collectively contribute to a more holistic, adaptive, and intelligent autonomous driving system. The paper systematically organizes and reviews previous research efforts in this area, and provides insights and guidance for future research and practical applications of autonomous driving. We will continually share the latest updates on cutting-edge developments in knowledge-driven autonomous driving along with the relevant valuable open-source resources at: \url{https://github.com/PJLab-ADG/awesome-knowledge-driven-AD}.

The pursuit of autonomous driving technology hinges on the sophisticated integration of perception, decision-making, and control systems. Traditional approaches, both data-driven and rule-based, have been hindered by their inability to grasp the nuance of complex driving environments and the intentions of other road users. This has been a significant bottleneck, particularly in the development of common sense reasoning and nuanced scene understanding necessary for safe and reliable autonomous driving. The advent of Visual Language Models (VLM) represents a novel frontier in realizing fully autonomous vehicle driving. This report provides an exhaustive evaluation of the latest state-of-the-art VLM, \modelnamefull, and its application in autonomous driving scenarios. We explore the model's abilities to understand and reason about driving scenes, make decisions, and ultimately act in the capacity of a driver. Our comprehensive tests span from basic scene recognition to complex causal reasoning and real-time decision-making under varying conditions. Our findings reveal that \modelname demonstrates superior performance in scene understanding and causal reasoning compared to existing autonomous systems. It showcases the potential to handle out-of-distribution scenarios, recognize intentions, and make informed decisions in real driving contexts. However, challenges remain, particularly in direction discernment, traffic light recognition, vision grounding, and spatial reasoning tasks. These limitations underscore the need for further research and development. Project is now available on GitHub for interested parties to access and utilize: \url{https://github.com/PJLab-ADG/GPT4V-AD-Exploration}

Recent advancements in autonomous driving have relied on data-driven approaches, which are widely adopted but face challenges including dataset bias, overfitting, and uninterpretability. Drawing inspiration from the knowledge-driven nature of human driving, we explore the question of how to instill similar capabilities into autonomous driving systems and summarize a paradigm that integrates an interactive environment, a driver agent, as well as a memory component to address this question. Leveraging large language models (LLMs) with emergent abilities, we propose the DiLu framework, which combines a Reasoning and a Reflection module to enable the system to perform decision-making based on common-sense knowledge and evolve continuously. Extensive experiments prove DiLu's capability to accumulate experience and demonstrate a significant advantage in generalization ability over reinforcement learning-based methods. Moreover, DiLu is able to directly acquire experiences from real-world datasets which highlights its potential to be deployed on practical autonomous driving systems. To the best of our knowledge, we are the first to leverage knowledge-driven capability in decision-making for autonomous vehicles. Through the proposed DiLu framework, LLM is strengthened to apply knowledge and to reason causally in the autonomous driving domain. Project page: https://pjlab-adg.github.io/DiLu/, Comment: Published as a conference paper at ICLR 2024

Renal pathology, as the gold standard of kidney disease diagnosis, requires doctors to analyze a series of tissue slices stained by H&E staining and special staining like Masson, PASM, and PAS, respectively. These special staining methods are costly, time-consuming, and hard to standardize for wide use especially in primary hospitals. Advances of supervised learning methods have enabled the virtually conversion of H&E images into special staining images, but achieving pixel-to-pixel alignment for training remains challenging. In contrast, unsupervised learning methods regarding different stains as different style transfer domains can utilize unpaired data, but they ignore the spatial inter-domain correlations and thus decrease the trustworthiness of structural details for diagnosis. In this paper, we propose a novel virtual staining framework AGMDT to translate images into other domains by avoiding pixel-level alignment and meanwhile utilizing the correlations among adjacent tissue slices. We first build a high-quality multi-domain renal histological dataset where each specimen case comprises a series of slices stained in various ways. Based on it, the proposed framework AGMDT discovers patch-level aligned pairs across the serial slices of multi-domains through glomerulus detection and bipartite graph matching, and utilizes such correlations to supervise the end-to-end model for multi-domain staining transformation. Experimental results show that the proposed AGMDT achieves a good balance between the precise pixel-level alignment and unpaired domain transfer by exploiting correlations across multi-domain serial pathological slices, and outperforms the state-of-the-art methods in both quantitative measure and morphological details., Comment: BMVC 2023

Existing offboard 3D detectors always follow a modular pipeline design to take advantage of unlimited sequential point clouds. We have found that the full potential of offboard 3D detectors is not explored mainly due to two reasons: (1) the onboard multi-object tracker cannot generate sufficient complete object trajectories, and (2) the motion state of objects poses an inevitable challenge for the object-centric refining stage in leveraging the long-term temporal context representation. To tackle these problems, we propose a novel paradigm of offboard 3D object detection, named DetZero. Concretely, an offline tracker coupled with a multi-frame detector is proposed to focus on the completeness of generated object tracks. An attention-mechanism refining module is proposed to strengthen contextual information interaction across long-term sequential point clouds for object refining with decomposed regression methods. Extensive experiments on Waymo Open Dataset show our DetZero outperforms all state-of-the-art onboard and offboard 3D detection methods. Notably, DetZero ranks 1st place on Waymo 3D object detection leaderboard with 85.15 mAPH (L2) detection performance. Further experiments validate the application of taking the place of human labels with such high-quality results. Our empirical study leads to rethinking conventions and interesting findings that can guide future research on offboard 3D object detection., Comment: 17 pages, 8 figures, accepted by ICCV 2023

In real-world applications of reinforcement learning, it is often challenging to obtain a state representation that is parsimonious and satisfies the Markov property without prior knowledge. Consequently, it is common practice to construct a state larger than necessary, e.g., by concatenating measurements over contiguous time points. However, needlessly increasing the dimension of the state may slow learning and obfuscate the learned policy. We introduce the notion of a minimal sufficient state in a Markov decision process (MDP) as the subvector of the original state under which the process remains an MDP and shares the same reward function as the original process. We propose a novel SEquEntial Knockoffs (SEEK) algorithm that estimates the minimal sufficient state in a system with high-dimensional complex nonlinear dynamics. In large samples, the proposed method achieves selection consistency. As the method is agnostic to the reinforcement learning algorithm being applied, it benefits downstream tasks such as policy learning. Empirical experiments verify theoretical results and show the proposed approach outperforms several competing methods regarding variable selection accuracy and regret.