FASIONAD : FAst and Slow FusION Thinking Systems for Human-Like Autonomous Driving with Adaptive Feedback

Ensuring safe, comfortable, and efficient navigation is a critical goal for autonomous driving systems. While end-to-end models trained on large-scale datasets excel in common driving scenarios, they often struggle with rare, long-tail events. Recent progress in large language models (LLMs) has introduced enhanced reasoning capabilities, but their computational demands pose challenges for real-time decision-making and precise planning. This paper presents FASIONAD, a novel dual-system framework inspired by the cognitive model "Thinking, Fast and Slow." The fast system handles routine navigation tasks using rapid, data-driven path planning, while the slow system focuses on complex reasoning and decision-making in challenging or unfamiliar situations. A dynamic switching mechanism based on score distribution and feedback allows seamless transitions between the two systems. Visual prompts generated by the fast system enable human-like reasoning in the slow system, which provides high-quality feedback to enhance the fast system's decision-making. To evaluate FASIONAD, we introduce a new benchmark derived from the nuScenes dataset, specifically designed to differentiate fast and slow scenarios. FASIONAD achieves state-of-the-art performance on this benchmark, establishing a new standard for frameworks integrating fast and slow cognitive processes in autonomous driving. This approach paves the way for more adaptive, human-like autonomous driving systems.

End-to-End Probabilistic Geometry-Guided Regression for 6DoF Object Pose Estimation

6D object pose estimation is the problem of identifying the position and orientation of an object relative to a chosen coordinate system, which is a core technology for modern XR applications. State-of-the-art 6D object pose estimators directly predict an object pose given an object observation. Due to the ill-posed nature of the pose estimation problem, where multiple different poses can correspond to a single observation, generating additional plausible estimates per observation can be valuable. To address this, we reformulate the state-of-the-art algorithm GDRNPP and introduce EPRO-GDR (End-to-End Probabilistic Geometry-Guided Regression). Instead of predicting a single pose per detection, we estimate a probability density distribution of the pose. Using the evaluation procedure defined by the BOP (Benchmark for 6D Object Pose Estimation) Challenge, we test our approach on four of its core datasets and demonstrate superior quantitative results for EPRO-GDR on LM-O, YCB-V, and ITODD. Our probabilistic solution shows that predicting a pose distribution instead of a single pose can improve state-of-the-art single-view pose estimation while providing the additional benefit of being able to sample multiple meaningful pose candidates.

Unsupervised Sentence Representation Learning with Frequency-induced Adversarial Tuning and Incomplete Sentence Filtering

Pre-trained Language Model (PLM) is nowadays the mainstay of Unsupervised Sentence Representation Learning (USRL). However, PLMs are sensitive to the frequency information of words from their pre-training corpora, resulting in anisotropic embedding space, where the embeddings of high-frequency words are clustered but those of low-frequency words disperse sparsely. This anisotropic phenomenon results in two problems of similarity bias and information bias, lowering the quality of sentence embeddings. To solve the problems, we fine-tune PLMs by leveraging the frequency information of words and propose a novel USRL framework, namely Sentence Representation Learning with Frequency-induced Adversarial tuning and Incomplete sentence filtering (SLT-FAI). We calculate the word frequencies over the pre-training corpora of PLMs and assign words thresholding frequency labels. With them, (1) we incorporate a similarity discriminator used to distinguish the embeddings of high-frequency and low-frequency words, and adversarially tune the PLM with it, enabling to achieve uniformly frequency-invariant embedding space; and (2) we propose a novel incomplete sentence detection task, where we incorporate an information discriminator to distinguish the embeddings of original sentences and incomplete sentences by randomly masking several low-frequency words, enabling to emphasize the more informative low-frequency words. Our SLT-FAI is a flexible and plug-and-play framework, and it can be integrated with existing USRL techniques. We evaluate SLT-FAI with various backbones on benchmark datasets. Empirical results indicate that SLT-FAI can be superior to the existing USRL baselines. Our code is released in \url{https://github.com/wangbing1416/SLT-FAI}.