DenseFormer: Learning Dense Depth Map from Sparse Depth and Image via Conditional Diffusion Model

The depth completion task is a critical problem in autonomous driving, involving the generation of dense depth maps from sparse depth maps and RGB images. Most existing methods employ a spatial propagation network to iteratively refine the depth map after obtaining an initial dense depth. In this paper, we propose DenseFormer, a novel method that integrates the diffusion model into the depth completion task. By incorporating the denoising mechanism of the diffusion model, DenseFormer generates the dense depth map by progressively refining an initial random depth distribution through multiple iterations. We propose a feature extraction module that leverages a feature pyramid structure, along with multi-layer deformable attention, to effectively extract and integrate features from sparse depth maps and RGB images, which serve as the guiding condition for the diffusion process. Additionally, this paper presents a depth refinement module that applies multi-step iterative refinement across various ranges to the dense depth results generated by the diffusion process. The module utilizes image features enriched with multi-scale information and sparse depth input to further enhance the accuracy of the predicted depth map. Extensive experiments on the KITTI outdoor scene dataset demonstrate that DenseFormer outperforms classical depth completion methods.

Exploring the Potential of Large Multimodal Models as Effective Alternatives for Pronunciation Assessment

Large Multimodal Models (LMMs) have demonstrated exceptional performance across a wide range of domains. This paper explores their potential in pronunciation assessment tasks, with a particular focus on evaluating the capabilities of the Generative Pre-trained Transformer (GPT) model, specifically GPT-4o. Our study investigates its ability to process speech and audio for pronunciation assessment across multiple levels of granularity and dimensions, with an emphasis on feedback generation and scoring. For our experiments, we use the publicly available Speechocean762 dataset. The evaluation focuses on two key aspects: multi-level scoring and the practicality of the generated feedback. Scoring results are compared against the manual scores provided in the Speechocean762 dataset, while feedback quality is assessed using Large Language Models (LLMs). The findings highlight the effectiveness of integrating LMMs with traditional methods for pronunciation assessment, offering insights into the model's strengths and identifying areas for further improvement.

Griffin: Aerial-Ground Cooperative Detection and Tracking Dataset and Benchmark

Despite significant advancements, autonomous driving systems continue to struggle with occluded objects and long-range detection due to the inherent limitations of single-perspective sensing. Aerial-ground cooperation offers a promising solution by integrating UAVs' aerial views with ground vehicles' local observations. However, progress in this emerging field has been hindered by the absence of public datasets and standardized evaluation benchmarks. To address this gap, this paper presents a comprehensive solution for aerial-ground cooperative 3D perception through three key contributions: (1) Griffin, a large-scale multi-modal dataset featuring over 200 dynamic scenes (30k+ frames) with varied UAV altitudes (20-60m), diverse weather conditions, and occlusion-aware 3D annotations, enhanced by CARLA-AirSim co-simulation for realistic UAV dynamics; (2) A unified benchmarking framework for aerial-ground cooperative detection and tracking tasks, including protocols for evaluating communication efficiency, latency tolerance, and altitude adaptability; (3) AGILE, an instance-level intermediate fusion baseline that dynamically aligns cross-view features through query-based interaction, achieving an advantageous balance between communication overhead and perception accuracy. Extensive experiments prove the effectiveness of aerial-ground cooperative perception and demonstrate the direction of further research. The dataset and codes are available at https://github.com/wang-jh18-SVM/Griffin.

RS2V-L: Vehicle-Mounted LiDAR Data Generation from Roadside Sensor Observations

End-to-end autonomous driving solutions, which process multi-modal sensory data to directly generate refined control commands, have become a dominant paradigm in autonomous driving research. However, these approaches predominantly depend on single-vehicle data collection for model training and optimization, resulting in significant challenges such as high data acquisition and annotation costs, the scarcity of critical driving scenarios, and fragmented datasets that impede model generalization. To mitigate these limitations, we introduce RS2V-L, a novel framework for reconstructing and synthesizing vehicle-mounted LiDAR data from roadside sensor observations. Specifically, our method transforms roadside LiDAR point clouds into the vehicle-mounted LiDAR coordinate system by leveraging the target vehicle's relative pose. Subsequently, high-fidelity vehicle-mounted LiDAR data is synthesized through virtual LiDAR modeling, point cloud classification, and resampling techniques. To the best of our knowledge, this is the first approach to reconstruct vehicle-mounted LiDAR data from roadside sensor inputs. Extensive experimental evaluations demonstrate that incorporating the generated data into model training-complementing the KITTI dataset-enhances 3D object detection accuracy by over \text{30\%} while improving the efficiency of end-to-end autonomous driving data generation by more than an order of magnitude. These findings strongly validate the effectiveness of the proposed method and underscore its potential in reducing dependence on costly vehicle-mounted data collection while improving the robustness of autonomous driving models.

CosyAudio: Improving Audio Generation with Confidence Scores and Synthetic Captions

Text-to-Audio (TTA) generation is an emerging area within AI-generated content (AIGC), where audio is created from natural language descriptions. Despite growing interest, developing robust TTA models remains challenging due to the scarcity of well-labeled datasets and the prevalence of noisy or inaccurate captions in large-scale, weakly labeled corpora. To address these challenges, we propose CosyAudio, a novel framework that utilizes confidence scores and synthetic captions to enhance the quality of audio generation. CosyAudio consists of two core components: AudioCapTeller and an audio generator. AudioCapTeller generates synthetic captions for audio and provides confidence scores to evaluate their accuracy. The audio generator uses these synthetic captions and confidence scores to enable quality-aware audio generation. Additionally, we introduce a self-evolving training strategy that iteratively optimizes CosyAudio across both well-labeled and weakly-labeled datasets. Initially trained with well-labeled data, AudioCapTeller leverages its assessment capabilities on weakly-labeled datasets for high-quality filtering and reinforcement learning, which further improves its performance. The well-trained AudioCapTeller refines corpora by generating new captions and confidence scores, serving for the audio generator training. Extensive experiments on open-source datasets demonstrate that CosyAudio outperforms existing models in automated audio captioning, generates more faithful audio, and exhibits strong generalization across diverse scenarios.

ZSVC: Zero-shot Style Voice Conversion with Disentangled Latent Diffusion Models and Adversarial Training

Style voice conversion aims to transform the speaking style of source speech into a desired style while keeping the original speaker's identity. However, previous style voice conversion approaches primarily focus on well-defined domains such as emotional aspects, limiting their practical applications. In this study, we present ZSVC, a novel Zero-shot Style Voice Conversion approach that utilizes a speech codec and a latent diffusion model with speech prompting mechanism to facilitate in-context learning for speaking style conversion. To disentangle speaking style and speaker timbre, we introduce information bottleneck to filter speaking style in the source speech and employ Uncertainty Modeling Adaptive Instance Normalization (UMAdaIN) to perturb the speaker timbre in the style prompt. Moreover, we propose a novel adversarial training strategy to enhance in-context learning and improve style similarity. Experiments conducted on 44,000 hours of speech data demonstrate the superior performance of ZSVC in generating speech with diverse speaking styles in zero-shot scenarios.

V2X-DGPE: Addressing Domain Gaps and Pose Errors for Robust Collaborative 3D Object Detection

In V2X collaborative perception, the domain gaps between heterogeneous nodes pose a significant challenge for effective information fusion. Pose errors arising from latency and GPS localization noise further exacerbate the issue by leading to feature misalignment. To overcome these challenges, we propose V2X-DGPE, a high-accuracy and robust V2X feature-level collaborative perception framework. V2X-DGPE employs a Knowledge Distillation Framework and a Feature Compensation Module to learn domain-invariant representations from multi-source data, effectively reducing the feature distribution gap between vehicles and roadside infrastructure. Historical information is utilized to provide the model with a more comprehensive understanding of the current scene. Furthermore, a Collaborative Fusion Module leverages a heterogeneous self-attention mechanism to extract and integrate heterogeneous representations from vehicles and infrastructure. To address pose errors, V2X-DGPE introduces a deformable attention mechanism, enabling the model to adaptively focus on critical parts of the input features by dynamically offsetting sampling points. Extensive experiments on the real-world DAIR-V2X dataset demonstrate that the proposed method outperforms existing approaches, achieving state-of-the-art detection performance. The code is available at https://github.com/wangsch10/V2X-DGPE.

USDRL: Unified Skeleton-Based Dense Representation Learning with Multi-Grained Feature Decorrelation

Contrastive learning has achieved great success in skeleton-based representation learning recently. However, the prevailing methods are predominantly negative-based, necessitating additional momentum encoder and memory bank to get negative samples, which increases the difficulty of model training. Furthermore, these methods primarily concentrate on learning a global representation for recognition and retrieval tasks, while overlooking the rich and detailed local representations that are crucial for dense prediction tasks. To alleviate these issues, we introduce a Unified Skeleton-based Dense Representation Learning framework based on feature decorrelation, called USDRL, which employs feature decorrelation across temporal, spatial, and instance domains in a multi-grained manner to reduce redundancy among dimensions of the representations to maximize information extraction from features. Additionally, we design a Dense Spatio-Temporal Encoder (DSTE) to capture fine-grained action representations effectively, thereby enhancing the performance of dense prediction tasks. Comprehensive experiments, conducted on the benchmarks NTU-60, NTU-120, PKU-MMD I, and PKU-MMD II, across diverse downstream tasks including action recognition, action retrieval, and action detection, conclusively demonstrate that our approach significantly outperforms the current state-of-the-art (SOTA) approaches. Our code and models are available at https://github.com/wengwanjiang/USDRL.

Conformal Symplectic Optimization for Stable Reinforcement Learning

Training deep reinforcement learning (RL) agents necessitates overcoming the highly unstable nonconvex stochastic optimization inherent in the trial-and-error mechanism. To tackle this challenge, we propose a physics-inspired optimization algorithm called relativistic adaptive gradient descent (RAD), which enhances long-term training stability. By conceptualizing neural network (NN) training as the evolution of a conformal Hamiltonian system, we present a universal framework for transferring long-term stability from conformal symplectic integrators to iterative NN updating rules, where the choice of kinetic energy governs the dynamical properties of resulting optimization algorithms. By utilizing relativistic kinetic energy, RAD incorporates principles from special relativity and limits parameter updates below a finite speed, effectively mitigating abnormal gradient influences. Additionally, RAD models NN optimization as the evolution of a multi-particle system where each trainable parameter acts as an independent particle with an individual adaptive learning rate. We prove RAD's sublinear convergence under general nonconvex settings, where smaller gradient variance and larger batch sizes contribute to tighter convergence. Notably, RAD degrades to the well-known adaptive moment estimation (ADAM) algorithm when its speed coefficient is chosen as one and symplectic factor as a small positive value. Experimental results show RAD outperforming nine baseline optimizers with five RL algorithms across twelve environments, including standard benchmarks and challenging scenarios. Notably, RAD achieves up to a 155.1% performance improvement over ADAM in Atari games, showcasing its efficacy in stabilizing and accelerating RL training.

AMSnet-KG: A Netlist Dataset for LLM-based AMS Circuit Auto-Design Using Knowledge Graph RAG

High-performance analog and mixed-signal (AMS) circuits are mainly full-custom designed, which is time-consuming and labor-intensive. A significant portion of the effort is experience-driven, which makes the automation of AMS circuit design a formidable challenge. Large language models (LLMs) have emerged as powerful tools for Electronic Design Automation (EDA) applications, fostering advancements in the automatic design process for large-scale AMS circuits. However, the absence of high-quality datasets has led to issues such as model hallucination, which undermines the robustness of automatically generated circuit designs. To address this issue, this paper introduces AMSnet-KG, a dataset encompassing various AMS circuit schematics and netlists. We construct a knowledge graph with annotations on detailed functional and performance characteristics. Facilitated by AMSnet-KG, we propose an automated AMS circuit generation framework that utilizes the comprehensive knowledge embedded in LLMs. We first formulate a design strategy (e.g., circuit architecture using a number of circuit components) based on required specifications. Next, matched circuit components are retrieved and assembled into a complete topology, and transistor sizing is obtained through Bayesian optimization. Simulation results of the netlist are fed back to the LLM for further topology refinement, ensuring the circuit design specifications are met. We perform case studies of operational amplifier and comparator design to verify the automatic design flow from specifications to netlists with minimal human effort. The dataset used in this paper will be open-sourced upon publishing of this paper.