ECCV 2024 论文列表

European Conference on Computer Vision

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2,386篇论文

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  • Oral
    2008.4%
  • Poster
    2,18691.6%

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BAD-Gaussians: Bundle Adjusted Deblur Gaussian Splatting

Lingzhe Zhao, Peng Wang, Peidong Liu

展开摘要

"While neural rendering has demonstrated impressive capabilities in 3D scene reconstruction and novel view synthesis, it heavily relies on high-quality sharp images and accurate camera poses. Numerous approaches have been proposed to train Neural Radiance Fields (NeRF) with motion-blurred images, commonly encountered in real-world scenarios such as low-light or long-exposure conditions. However, the implicit representation of NeRF struggles to accurately recover intricate details from severely motion-blurred images and cannot achieve real-time rendering. In contrast, recent advancements in 3D Gaussian Splatting achieve high-quality 3D scene reconstruction and real-time rendering by explicitly optimizing point clouds into 3D Gaussians. In this paper, we introduce a novel approach, named BAD-Gaussians (Bundle Adjusted Deblur Gaussian Splatting), which leverages explicit Gaussian representation and handles severe motion-blurred images with inaccurate camera poses to achieve high-quality scene reconstruction. Our method models the physical image formation process of motion-blurred images and jointly learns the parameters of Gaussians while recovering camera motion trajectories during exposure time. In our experiments, we demonstrate that BAD-Gaussians not only achieves superior rendering quality compared to previous state-of-the-art deblur neural rendering methods on both synthetic and real datasets but also enables real-time rendering capabilities."

Poster
AvatarPose: Avatar-guided 3D Pose Estimation of Close Human Interaction from Sparse Multi-view Videos

Feichi Lu, Zijian Dong, Jie Song, Otmar Hilliges

展开摘要

"Despite progress in human motion capture, existing multi-view methods often face challenges in estimating the 3D pose and shape of multiple closely interacting people. This difficulty arises from reliance on accurate 2D joint estimations, which are hard to obtain due to occlusions and body contact when people are in close interaction. To address this, we propose a novel method leveraging the personalized implicit neural avatar of each individual as a prior, which significantly improves the robustness and precision of this challenging pose estimation task. Concretely, the avatars are efficiently reconstructed via layered volume rendering from sparse multi-view videos. The reconstructed avatar prior allows for the direct optimization of 3D poses based on color and silhouette rendering loss, bypassing the issues associated with noisy 2D detections. To handle interpenetration, we propose a collision loss on the overlapping shape regions of avatars to add penetration constraints. Moreover, both 3D poses and avatars are optimized in an alternating manner. Our experimental results demonstrate state-of-the-art performance on several public datasets."

Poster
Avatar Fingerprinting for Authorized Use of Synthetic Talking-Head Videos

Ekta Prashnani, Koki Nagano, Shalini De Mello, David P Luebke, Orazio Gallo

展开摘要

"Modern avatar generators allow anyone to synthesize photorealistic real-time talking avatars, ushering in a new era of avatar-based human communication, such as with immersive AR/VR interactions or videoconferencing with limited bandwidths. Their safe adoption, however, requires a mechanism to verify if the rendered avatar is trustworthy: does it use the appearance of an individual without their consent? We term this task avatar fingerprinting. To tackle it, we first introduce a large-scale dataset of real and synthetic videos of people interacting on a video call, where the synthetic videos are generated using the facial appearance of one person and the expressions of another. We verify the identity driving the expressions in a synthetic video, by learning motion signatures that are independent of the facial appearance shown. Our solution, the first in this space, achieves an average AUC of 0.85. Critical to its practical use, it also generalizes to new generators never seen in training (average AUC of 0.83). The proposed dataset and other resources can be found at: https: //research.nvidia.com/labs/nxp/avatar-fingerprinting/."

Poster
AutoEval-Video: An Automatic Benchmark for Assessing Large Vision Language Models in Open-Ended Video Question Answering

Xiuyuan Chen, Yuan Lin, Yuchen Zhang, Weiran Huang

展开摘要

"We propose a novel and challenging benchmark, AutoEval-Video, to comprehensively evaluate large vision-language models in open-ended video question answering. The comprehensiveness of AutoEval-Video is demonstrated in two aspects: 1) AutoEval-Video constructs open-ended video-questions across 9 skill dimensions, addressing capabilities of perception, comprehension, and generation; 2) AutoEval-Video contains newly collected videos that cover over 40 distinct themes. To efficiently evaluate responses to the open-ended questions, we employ an LLM-based evaluation approach, but instead of merely providing a reference answer, we annotate unique evaluation rules for every single instance (video-question pair). To maximize the robustness of these rules, we develop a novel adversarial annotation mechanism. By using instance-specific rules as prompt, GPT-4, as an automatic evaluator, can achieve a stable evaluation accuracy of around 97.0%, comparable to the 94.9% - 97.5% accuracy of a human evaluator. Furthermore, we assess the performance of eleven large vision-language models on AutoEval-Video. Among them, GPT-4V(ision) significantly outperforms other models, achieving an accuracy of 32.2%. However, there is still substantial room for improvement compared to human accuracy of 72.8%. By conducting an extensive case study, we uncover several drawbacks of GPT-4V, such as limited temporal and dynamic comprehension, and overly general responses. Code is available at magentahttps://github.com/Xiuyuan-Chen/A"

Poster
AutoDIR: Automatic All-in-One Image Restoration with Latent Diffusion

yitong jiang, Zhaoyang Zhang, Tianfan Xue, Jinwei Gu

展开摘要

"We present AutoDIR, an innovative all-in-one image restoration system incorporating latent diffusion. AutoDIR excels in its ability to automatically identify and restore images suffering from a range of unknown degradations. AutoDIR offers intuitive open-vocabulary image editing, empowering users to customize and enhance images according to their preferences. AutoDIR consists of two key stages: a Blind Image Quality Assessment (BIQA) stage based on a semantic-agnostic vision-language model which automatically detects unknown image degradations for input images, an All-in-One Image Restoration (AIR) stage utilizes structural-corrected latent diffusion which handles multiple types of image degradations. Extensive experimental evaluation demonstrates that AutoDIR outperforms state-of-the-art approaches for a wider range of image restoration tasks. The design of AutoDIR also enables flexible user control (via text prompt) and generalization to new tasks as a foundation model of image restoration. Project is available at: https://jiangyitong.github.io/ AutoDIR_webpage/."

Poster
Auto-GAS: Automated Proxy Discovery for Training-free Generative Architecture Search

Lujun Li, Haosen Sun, Shiwen Li, Peijie Dong, Wenhan Luo, Wei Xue, Qifeng Liu, Yike Guo

展开摘要

"In this paper, we introduce Auto-GAS, the first training-free Generative Architecture Search (GAS) framework enabled by an auto-discovered proxy. Generative models like Generative Adversarial Networks (GANs) are now widely used in many real-time applications. Previous GAS methods use differentiable or evolutionary search to find optimal GAN generators for fast inference and memory efficiency. However, the high computational overhead of these training-based GAS techniques limits their adoption. To improve search efficiency, we explore training-free GAS but find existing zero-cost proxies designed for classification tasks underperform on generation benchmarks. To address this challenge, we develop a custom proxy search framework tailored for GAS tasks to enhance predictive power. Specifically, we construct an information-aware proxy that takes feature statistics as inputs and utilizes advanced transform, encoding, reduction, and augment operations to represent candidate proxies. Then, we employ an evolutionary algorithm to perform crossover and mutation on superior candidates within the population based on correlation evaluation. Finally, we perform generator search without training using the optimized proxy. Thus, Auto-GAS enables automated proxy discovery for GAS while significantly accelerating the search before training stage. Extensive experiments on image generation and image-to-image translation tasks demonstrate that Auto-GAS strikes superior accuracy-speed tradeoffs over state-of-the-art methods. Remarkably, Auto-GAS achieves competitive scores with 110× faster search than GAN Compression. Code at: https://github.com/lliai/Auto-GAS."

Poster
Auto-DAS: Automated Proxy Discovery for Training-free Distillation-aware Architecture Search

Haosen Sun, Lujun Li, Peijie Dong, Zimian Wei, Shitong Shao

展开摘要

"Distillation-aware Architecture Search (DAS) seeks to discover the ideal student architecture that delivers superior performance by distilling knowledge from a given teacher model. Previous DAS methods involve time-consuming training-based search processes. Recently, the training-free DAS method (, DisWOT) proposes KD-based proxies and achieves significant search acceleration. However, we observe that DisWOT suffers from limitations such as the need for manual design and poor generalization to diverse architectures, such as the Vision Transformer (ViT). To address these issues, we present Auto-DAS, an automatic proxy discovery framework using an Evolutionary Algorithm (EA) for training-free DAS. Specifically, we empirically find that proxies conditioned on student instinct statistics and teacher-student interaction statistics can effectively predict distillation accuracy. Then, we represent the proxy with computation graphs and construct the proxy search space using instinct and interaction statistics as inputs. To identify promising proxies, our search space incorporates various types of basic transformations and network distance operators inspired by previous proxy and KD-loss designs. Next, our EA initializes populations, evaluates, performs crossover and mutation operations, and selects the best correlation candidate with distillation accuracy. We introduce an adaptive-elite selection strategy to enhance search efficiency and strive for a balance between exploitation and exploration. Finally, we conduct training-free DAS with discovered proxy before the optimal student distillation phase. In this way, our auto-discovery framework eliminates the need for manual design and tuning, while also adapting to different search spaces through direct correlation optimization. Extensive experiments demonstrate that Auto-DAS generalizes well to various architectures and search spaces (, ResNet, ViT, NAS-Bench-101, and NAS-Bench-201), achieving state-of-the-art results in both ranking correlation and final searched accuracy. Code at: https://github.com/lliai/Auto-DAS."

Poster
Augmented Neural Fine-tuning for Efficient Backdoor Purification

Nazmul Karim, Abdullah Al Arafat, Umar Khalid*, Zhishan Guo, Nazanin Rahnavard

展开摘要

"Recent studies have revealed the vulnerability of deep neural networks (DNNs) to various backdoor attacks, where the behavior of DNNs can be compromised by utilizing certain types of triggers or poisoning mechanisms. State-of-the-art (SOTA) defenses employ too-sophisticated mechanisms that require either a computationally expensive adversarial search module for reverse-engineering the trigger distribution or an over-sensitive hyper-parameter selection module. Moreover, they offer sub-par performance in challenging scenarios, , limited validation data and strong attacks. In this paper, we propose—Neural mask Fine-Tuning (NFT)—with an aim to optimally re-organize the neuron activities in a way that the effect of the backdoor is removed. Utilizing a simple data augmentation like MixUp, NFT relaxes the trigger synthesis process and eliminates the requirement of the adversarial search module. Our study further reveals that direct weight fine-tuning under limited validation data results in poor post-purification clean test accuracy, primarily due to overfitting issue. To overcome this, we propose to fine-tune neural masks instead of model weights. In addition, a mask regularizer has been devised to further mitigate the model drift during the purification process. The distinct characteristics of NFT render it highly efficient in both runtime and sample usage, as it can remove the backdoor even when a single sample is available from each class. We validate the effectiveness of NFT through extensive experiments covering the tasks of image classification, object detection, video action recognition, 3D point cloud, and natural language processing. We evaluate our method against 14 different attacks (LIRA, WaNet, ) on 11 benchmark data sets (ImageNet, UCF101, Pascal VOC, ModelNet, OpenSubtitles2012, ). Our code is available online in this GitHub Repository."

Poster
AugUndo: Scaling Up Augmentations for Monocular Depth Completion and Estimation

Yangchao Wu, Tian Yu Liu, Hyoungseob Park, Stefano Soatto, Dong Lao, Alex Wong

展开摘要

"Unsupervised depth completion and estimation methods are trained by minimizing reconstruction error. Block artifacts from resampling, intensity saturation, and occlusions are amongst the many undesirable by-products of common data augmentation schemes that affect image reconstruction quality, and thus the training signal. Hence, typical augmentations on images viewed as essential to training pipelines in other vision tasks have seen limited use beyond small image intensity changes and flipping. The sparse depth modality in depth completion have seen even less use as intensity transformations alter the scale of the 3D scene, and geometric transformations may decimate the sparse points during resampling. We propose a method that unlocks a wide range of previously-infeasible geometric augmentations for unsupervised depth completion and estimation. This is achieved by reversing, or “undo”-ing, geometric transformations to the coordinates of the output depth, warping the depth map back to the original reference frame. This enables computing the reconstruction losses using the original images and sparse depth maps, eliminating the pitfalls of naive loss computation on the augmented inputs and allowing us to scale up augmentations to boost performance. We demonstrate our method on indoor (VOID) and outdoor (KITTI) datasets, where we consistently improve upon recent methods across both datasets as well as generalization to four other datasets. Code available at: https://github.com/alexklwong/augundo"

Poster
AugDETR: Improving Multi-scale Learning for Detection Transformer

Jinpeng Dong, Yutong Lin, Chen Li, Sanping Zhou, Nanning Zheng

展开摘要

"Current end-to-end detectors typically exploit transformers to detect objects and show promising performance. Among them, Deformable DETR is a representative paradigm that effectively exploits multi-scale features. However, small local receptive fields and limited query-encoder interactions weaken multi-scale learning. In this paper, we analyze local feature enhancement and multi-level encoder exploitation for improved multi-scale learning and construct a novel detection transformer detector named Augmented DETR (AugDETR) to realize them. Specifically, AugDETR consists of two components: Hybrid Attention Encoder and Encoder-Mixing Cross-Attention. Hybrid Attention Encoder enlarges the receptive field of the deformable encoder and introduces global context features to enhance feature representation. Encoder-Mixing Cross-Attention adaptively leverages multi-level encoders based on query features for more discriminative object features and faster convergence. By combining AugDETR with DETR-based detectors such as DINO, AlignDETR, DDQ, our models achieve performance improvements of 1.2, 1.1, and 1.0 AP in the COCO under the ResNet-50-4scale and 12 epochs setting, respectively."

Poster
Audio-visual Generalized Zero-shot Learning the Easy Way

Shentong Mo, Pedro Morgado

展开摘要

"Audio-visual generalized zero-shot learning is a rapidly advancing domain that seeks to understand the intricate relations between audio and visual cues within videos. The overarching goal is to leverage insights from seen classes to identify instances from previously unseen ones. Prior approaches primarily utilized synchronized auto-encoders to reconstruct audio-visual attributes, which were informed by cross-attention transformers and projected text embeddings. However, these methods fell short of effectively capturing the intricate relationship between cross-modal features and class-label embeddings inherent in pre-trained language-aligned embeddings. To circumvent these bottlenecks, we introduce a simple yet effective framework for , named , that aligns audio-visual embeddings with transformed text representations. It utilizes a single supervised text audio-visual contrastive loss to learn an alignment between audio-visual and textual modalities, moving away from the conventional approach of reconstructing cross-modal features and text embeddings. Our key insight is that while class name embeddings are well aligned with language-based audio-visual features, they don’t provide sufficient class separation to be useful for zero-shot learning. To address this, our method leverages differential optimization to transform class embeddings into a more discriminative space while preserving the semantic structure of language representations. We conduct extensive experiments on VGGSound-GZSL, UCF-GZSL, and ActivityNet-GZSL benchmarks. Our results demonstrate that our achieves state-of-the-art performance in audio-visual generalized zero-shot learning."

Poster
Audio-driven Talking Face Generation with Stabilized Synchronization Loss

Dogucan Yaman*, Fevziye Irem Eyiokur, Leonard Bärmann, HAZIM KEMAL EKENEL, Alexander Waibel

展开摘要

"Talking face generation aims to create realistic videos with accurate lip synchronization and high visual quality, using given audio and reference video while preserving identity and visual characteristics. In this paper, we start by identifying several issues with existing synchronization learning methods. These involve unstable training, lip synchronization, and visual quality issues caused by lip-sync loss, SyncNet, and lip leaking from the identity reference. To address these issues, we first tackle the lip leaking problem by introducing a silent-lip generator, which changes the lips of the identity reference to alleviate leakage. We then introduce stabilized synchronization loss and AVSyncNet to overcome problems caused by lip-sync loss and SyncNet. Experiments show that our model outperforms state-of-the-art methods in both visual quality and lip synchronization. Comprehensive ablation studies further validate our individual contributions and their cohesive effects."

Poster
Audio-Synchronized Visual Animation

Lin Zhang, Shentong Mo, YiJing Zhang, Pedro Morgado

展开摘要

"Current visual generation methods can produce high-quality videos guided by text prompts. However, effectively controlling object dynamics remains a challenge. This work explores audio as a cue to generate temporally synchronized image animations. We introduce Audio-Synchronized Visual Animation (), a task that aims to animate a static image of an object with motions temporally guided by audio clips. To this end, we present , a dataset curated from VGGSound with videos featuring synchronized audio-visual events across 15 categories. We also present a diffusion model, , capable of generating audio-guided animations. Extensive evaluations validate as a reliable benchmark for synchronized generation and demonstrate our model’s superior performance. We further explore ’s potential in a variety of audio-synchronized generation tasks, from generating full videos without a base image to controlling object motions with various sounds. We hope our established benchmark can open new avenues for controllable visual generation."

Oral
AttnZero: Efficient Attention Discovery for Vision Transformers

Lujun Li, Zimian Wei, Peijie Dong, Wenhan Luo, Wei Xue, Qifeng Liu, Yike Guo

展开摘要

"In this paper, we present AttnZero, the first framework for automatically discovering efficient attention modules tailored for Vision Transformers (ViTs). While traditional self-attention in ViTs suffers from quadratic computation complexity, linear attention offers a more efficient alternative with linear complexity approximation. However, existing hand-crafted linear attention suffers from performance degradation. To address these issues, our AttnZero constructs search spaces and employs evolutionary algorithms to discover potential linear attention formulations. Specifically, our search space consists of six kinds of computation graphs and advanced activation, normalize, and binary operators. To enhance generality, we derive results of candidate attention applied to multiple advanced ViTs as the multi-objective for the evolutionary search. To expedite the search process, we utilize program checking and rejection protocols to filter out unpromising candidates swiftly. Additionally, we develop Attn-Bench-101, which provides precomputed performance of 2,000 attentions in the search spaces, enabling us to summarize attention design insights. Experimental results demonstrate that the discovered AttnZero module generalizes well to different tasks and consistently achieves improved performance across various ViTs. For instance, the tiny model of DeiT—PVT—Swin—CSwin trained with AttnZero on ImageNet reaches 74.9%—78.1%—82.1%—82.9% top-1 accuracy. Codes at: https://github.com/lliai/AttnZero."

Poster
AttentionHand: Text-driven Controllable Hand Image Generation for 3D Hand Reconstruction in the Wild

Junho Park, Kyeongbo Kong, Suk-Ju Kang

展开摘要

"Recently, there has been a significant amount of research conducted on 3D hand reconstruction to use various forms of human-computer interaction. However, 3D hand reconstruction in the wild is challenging due to extreme lack of in-the-wild 3D hand datasets. Especially, when hands are in complex pose such as interacting hands, the problems like appearance similarity, self-handed occclusion and depth ambiguity make it more difficult. To overcome these issues, we propose AttentionHand, a novel method for text-driven controllable hand image generation. Since AttentionHand can generate various and numerous in-the-wild hand images well-aligned with 3D hand label, we can acquire a new 3D hand dataset, and can relieve the domain gap between indoor and outdoor scenes. Our method needs easy-to-use four modalities (i.e, an RGB image, a hand mesh image from 3D label, a bounding box, and a text prompt). These modalities are embedded into the latent space by the encoding phase. Then, through the text attention stage, hand-related tokens from the given text prompt are attended to highlight hand-related regions of the latent embedding. After the highlighted embedding is fed to the visual attention stage, hand-related regions in the embedding are attended by conditioning global and local hand mesh images with the diffusion-based pipeline. In the decoding phase, the final feature is decoded to new hand images, which are well-aligned with the given hand mesh image and text prompt. As a result, AttentionHand achieved state-of-the-art among text-to-hand image generation models, and the performance of 3D hand mesh reconstruction was improved by additionally training with hand images generated by AttentionHand."

Oral
Attention-Challenging Multiple Instance Learning for Whole Slide Image Classification

Yunlong Zhang, Honglin Li, Yuxuan Sun, Chenglu Zhu, Sunyi Zheng, Lin Yang

展开摘要

"In the application of Multiple Instance Learning (MIL) methods for Whole Slide Image (WSI) classification, attention mechanisms often focus on a subset of discriminative instances, which are closely linked to overfitting. To mitigate overfitting, we present Attention-Challenging MIL (ACMIL). ACMIL combines two techniques based on separate analyses for attention value concentration. Firstly, UMAP of instance features reveals various patterns among discriminative instances, with existing attention mechanisms capturing only some of them. To remedy this, we introduce Multiple Branch Attention (MBA) to capture more discriminative instances using multiple attention branches. Secondly, the examination of the cumulative value of Top-K attention scores indicates that a tiny number of instances dominate the majority of attention. In response, we present Stochastic Top-K Instance Masking (STKIM), which masks out a portion of instances with Top-K attention values and allocates their attention values to the remaining instances. The extensive experimental results on three WSI datasets with two pre-trained backbones reveal that our ACMIL outperforms state-of-the-art methods. Additionally, through heatmap visualization and UMAP visualization, this paper extensively illustrates ACMIL’s effectiveness in suppressing attention value concentration and overcoming the overfitting challenge. The source code is available at https://github.com/dazhangyu123/ACMIL."

Poster
Attention Prompting on Image for Large Vision-Language Models

Runpeng Yu, Weihao Yu, Xinchao Wang

展开摘要

"Compared with Large Language Models (LLMs), Large Vision-Language Models (LVLMs) can also accept images as input, thus showcasing more interesting emergent capabilities and demonstrating impressive performance on various vision-language tasks. Motivated by text prompting in LLMs, visual prompting has been explored to enhance LVLMs’ capabilities of perceiving visual information. However, previous visual prompting techniques solely process visual inputs without considering text queries, limiting the models’ ability to follow text instructions to complete tasks. To fill this gap, in this work, we propose a new prompting technique named Attention Prompting on Image (), which just simply overlays a text-query-guided attention heatmap on the original input image and effectively enhances LVLM on various tasks. Specifically, we generate an attention heatmap for the input image dependent on the text query with an auxiliary model like CLIP. Then the heatmap simply multiplies the pixel values of the original image to obtain the actual input image for the LVLM. Extensive experiments on various vison-language benchmarks verify the effectiveness of our technique. For example, improves LLaVA-1.5 by 3.8% and 2.9% on MM-Vet and LLaVA-Wild benchmarks, respectively."

Poster
Attention Decomposition for Cross-Domain Semantic Segmentation

Liqiang He, Sinisa Todorovic

展开摘要

"This work addresses cross-domain semantic segmentation. While recent CNNs and proposal-free transformers led to significant advances, we introduce a new transformer with a lighter encoder and more complex decoder with query tokens for predicting segmentation masks, called . The domain gap between the source and target domains is reduced with two mechanisms. First, we decompose cross-attention in the decoder into domain-independent and domain-specific parts to enforce the query tokens interact with the domain-independent aspects of the image tokens, shared by the source and target domains, rather than domain-specific counterparts which induce the domain gap. Second, we use the gradient reverse block to control back-propagation of the gradient, and hence introduce adversarial learning in the decoder of . Our results on two benchmark domain shifts – GTA to Cityscapes and SYNTHIA to Cityscapes – show that outperforms SOTA proposal-free methods with significantly lower complexity. The implementation is available at https://github.com/helq2612/ADFormer."

Poster
Attention Beats Linear for Fast Implicit Neural Representation Generation

Shuyi Zhang, Ke Liu, Jingjun Gu, Xiaoxu Cai, Zhihua Wang, Jiajun Bu, Haishuai Wang

展开摘要

"Implicit Neural Representation (INR) has gained increasing popularity as a data representation method, serving as a prerequisite for innovative generation models. Unlike gradient-based methods, which exhibit lower efficiency in inference, the adoption of hyper-network for generating parameters in Multi-Layer Perceptrons (MLP), responsible for executing INR functions, has surfaced as a promising and efficient alternative. However, as a global continuous function, MLP is challenging in modeling highly discontinuous signals, resulting in slow convergence during the training phase and inaccurate reconstruction performance. Moreover, MLP requires massive representation parameters, which implies inefficiencies in data representation. In this paper, we propose a novel Attention-based Localized INR (ANR) composed of a localized attention layer (LAL) and a global MLP that integrates coordinate features with data features and converts them to meaningful outputs. Subsequently, we design an instance representation framework that delivers a transformer-like hyper-network to represent data instances as a compact representation vector. With instance-specific representation vector and instance-agnostic ANR parameters, the target signals are well reconstructed as a continuous function. We further address aliasing artifacts with variational coordinates when obtaining the super-resolution inference results. Extensive experimentation across four datasets showcases the notable efficacy of our ANR method, e.g. enhancing the PSNR value from 37.95dB to 47.25dB on the CelebA dataset. Code is released at https://github.com/Roninton/ANR."

Poster
Asynchronous Large Language Model Enhanced Planner for Autonomous Driving

Yuan Chen, Zi-han Ding, Ziqin Wang, Yan Wang, Lijun Zhang, Si Liu

展开摘要

"Despite real-time planners exhibiting remarkable performance in autonomous driving, the growing exploration of Large Language Models (LLMs) has opened avenues for enhancing the interpretability and controllability of motion planning. Nevertheless, LLM-based planners continue to encounter significant challenges, including elevated resource consumption and extended inference times, which pose substantial obstacles to practical deployment. In light of these challenges, we introduce AsyncDriver, a new asynchronous LLM-enhanced closed-loop framework designed to leverage scene-associated instruction features produced by LLM to guide real-time planners in making precise and controllable trajectory predictions. On one hand, our method highlights the prowess of LLMs in comprehending and reasoning with vectorized scene data and a series of routing instructions, demonstrating its effective assistance to real-time planners. On the other hand, the proposed framework decouples the inference processes of the LLM and real-time planners. By capitalizing on the asynchronous nature of their inference frequencies, our approach have successfully reduced the computational cost introduced by LLM, while maintaining comparable performance. Experiments show that our approach achieves superior closed-loop evaluation performance on nuPlan’s challenging scenarios. The code and dataset are available at https: //github.com/memberRE/AsyncDriver."

Poster