CRKD: Enhanced Camera-Radar Object Detection with Cross-modality Knowledge Distillation

In the field of 3D object detection for autonomous driving, LiDAR-Camera (LC) fusion is the top-performing sensor configuration. Still, LiDAR is relatively high cost, which hinders adoption of this technology for consumer automobiles. Alternatively, camera and radar are commonly deployed on vehicles already on the road today, but performance of Camera-Radar (CR) fusion falls behind LC fusion. In this work, we propose Camera-Radar Knowledge Distillation (CRKD) to bridge the performance gap between LC and CR detectors with a novel cross-modality KD framework. We use the Bird's-Eye-View (BEV) representation as the shared feature space to enable effective knowledge distillation. To accommodate the unique cross-modality KD path, we propose four distillation losses to help the student learn crucial features from the teacher model. We present extensive evaluations on the nuScenes dataset to demonstrate the effectiveness of the proposed CRKD framework. The project page for CRKD is https://song-jingyu.github.io/CRKD.

Successfully Guiding Humans with Imperfect Instructions by Highlighting Potential Errors and Suggesting Corrections

This paper addresses the challenge of leveraging imperfect language models to guide human decision-making in the context of a grounded navigation task. We show that an imperfect instruction generation model can be complemented with an effective communication mechanism to become more successful at guiding humans. The communication mechanism we build comprises models that can detect potential hallucinations in instructions and suggest practical alternatives, and an intuitive interface to present that information to users. We show that this approach reduces the human navigation error by up to 29% with no additional cognitive burden. This result underscores the potential of integrating diverse communication channels into AI systems to compensate for their imperfections and enhance their utility for humans.

LiRaFusion: Deep Adaptive LiDAR-Radar Fusion for 3D Object Detection

We propose LiRaFusion to tackle LiDAR-radar fusion for 3D object detection to fill the performance gap of existing LiDAR-radar detectors. To improve the feature extraction capabilities from these two modalities, we design an early fusion module for joint voxel feature encoding, and a middle fusion module to adaptively fuse feature maps via a gated network. We perform extensive evaluation on nuScenes to demonstrate that LiRaFusion leverages the complementary information of LiDAR and radar effectively and achieves notable improvement over existing methods.

Hallucination Detection for Grounded Instruction Generation

We investigate the problem of generating instructions to guide humans to navigate in simulated residential environments. A major issue with current models is hallucination: they generate references to actions or objects that are inconsistent with what a human follower would perform or encounter along the described path. We develop a model that detects these hallucinated references by adopting a model pre-trained on a large corpus of image-text pairs, and fine-tuning it with a contrastive loss that separates correct instructions from instructions containing synthesized hallucinations. Our final model outperforms several baselines, including using word probability estimated by the instruction-generation model, and supervised models based on LSTM and Transformer.

Attentional Feature Refinement and Alignment Network for Aircraft Detection in SAR Imagery

Aircraft detection in Synthetic Aperture Radar (SAR) imagery is a challenging task in SAR Automatic Target Recognition (SAR ATR) areas due to aircraft's extremely discrete appearance, obvious intraclass variation, small size and serious background's interference. In this paper, a single-shot detector namely Attentional Feature Refinement and Alignment Network (AFRAN) is proposed for detecting aircraft in SAR images with competitive accuracy and speed. Specifically, three significant components including Attention Feature Fusion Module (AFFM), Deformable Lateral Connection Module (DLCM) and Anchor-guided Detection Module (ADM), are carefully designed in our method for refining and aligning informative characteristics of aircraft. To represent characteristics of aircraft with less interference, low-level textural and high-level semantic features of aircraft are fused and refined in AFFM throughly. The alignment between aircraft's discrete back-scatting points and convolutional sampling spots is promoted in DLCM. Eventually, the locations of aircraft are predicted precisely in ADM based on aligned features revised by refined anchors. To evaluate the performance of our method, a self-built SAR aircraft sliced dataset and a large scene SAR image are collected. Extensive quantitative and qualitative experiments with detailed analysis illustrate the effectiveness of the three proposed components. Furthermore, the topmost detection accuracy and competitive speed are achieved by our method compared with other domain-specific,e.g., DAPN, PADN, and general CNN-based methods,e.g., FPN, Cascade R-CNN, SSD, RefineDet and RPDet.

Cross-lingual Information Retrieval with BERT

Multiple neural language models have been developed recently, e.g., BERT and XLNet, and achieved impressive results in various NLP tasks including sentence classification, question answering and document ranking. In this paper, we explore the use of the popular bidirectional language model, BERT, to model and learn the relevance between English queries and foreign-language documents in the task of cross-lingual information retrieval. A deep relevance matching model based on BERT is introduced and trained by finetuning a pretrained multilingual BERT model with weak supervision, using home-made CLIR training data derived from parallel corpora. Experimental results of the retrieval of Lithuanian documents against short English queries show that our model is effective and outperforms the competitive baseline approaches.