MSC-Bench: Benchmarking and Analyzing Multi-Sensor Corruption for Driving Perception

Multi-sensor fusion models play a crucial role in autonomous driving perception, particularly in tasks like 3D object detection and HD map construction. These models provide essential and comprehensive static environmental information for autonomous driving systems. While camera-LiDAR fusion methods have shown promising results by integrating data from both modalities, they often depend on complete sensor inputs. This reliance can lead to low robustness and potential failures when sensors are corrupted or missing, raising significant safety concerns. To tackle this challenge, we introduce the Multi-Sensor Corruption Benchmark (MSC-Bench), the first comprehensive benchmark aimed at evaluating the robustness of multi-sensor autonomous driving perception models against various sensor corruptions. Our benchmark includes 16 combinations of corruption types that disrupt both camera and LiDAR inputs, either individually or concurrently. Extensive evaluations of six 3D object detection models and four HD map construction models reveal substantial performance degradation under adverse weather conditions and sensor failures, underscoring critical safety issues. The benchmark toolkit and affiliated code and model checkpoints have been made publicly accessible.

Communication-Efficient Personalized Federal Graph Learning via Low-Rank Decomposition

Federated graph learning (FGL) has gained significant attention for enabling heterogeneous clients to process their private graph data locally while interacting with a centralized server, thus maintaining privacy. However, graph data on clients are typically non-IID, posing a challenge for a single model to perform well across all clients. Another major bottleneck of FGL is the high cost of communication. To address these challenges, we propose a communication-efficient personalized federated graph learning algorithm, CEFGL. Our method decomposes the model parameters into low-rank generic and sparse private models. We employ a dual-channel encoder to learn sparse local knowledge in a personalized manner and low-rank global knowledge in a shared manner. Additionally, we perform multiple local stochastic gradient descent iterations between communication phases and integrate efficient compression techniques into the algorithm. The advantage of CEFGL lies in its ability to capture common and individual knowledge more precisely. By utilizing low-rank and sparse parameters along with compression techniques, CEFGL significantly reduces communication complexity. Extensive experiments demonstrate that our method achieves optimal classification accuracy in a variety of heterogeneous environments across sixteen datasets. Specifically, compared to the state-of-the-art method FedStar, the proposed method (with GIN as the base model) improves accuracy by 5.64\% on cross-datasets setting CHEM, reduces communication bits by a factor of 18.58, and reduces the communication time by a factor of 1.65.

FTF-ER: Feature-Topology Fusion-Based Experience Replay Method for Continual Graph Learning

Continual graph learning (CGL) is an important and challenging task that aims to extend static GNNs to dynamic task flow scenarios. As one of the mainstream CGL methods, the experience replay (ER) method receives widespread attention due to its superior performance. However, existing ER methods focus on identifying samples by feature significance or topological relevance, which limits their utilization of comprehensive graph data. In addition, the topology-based ER methods only consider local topological information and add neighboring nodes to the buffer, which ignores the global topological information and increases memory overhead. To bridge these gaps, we propose a novel method called Feature-Topology Fusion-based Experience Replay (FTF-ER) to effectively mitigate the catastrophic forgetting issue with enhanced efficiency. Specifically, from an overall perspective to maximize the utilization of the entire graph data, we propose a highly complementary approach including both feature and global topological information, which can significantly improve the effectiveness of the sampled nodes. Moreover, to further utilize global topological information, we propose Hodge Potential Score (HPS) as a novel module to calculate the topological importance of nodes. HPS derives a global node ranking via Hodge decomposition on graphs, providing more accurate global topological information compared to neighbor sampling. By excluding neighbor sampling, HPS significantly reduces buffer storage costs for acquiring topological information and simultaneously decreases training time. Compared with state-of-the-art methods, FTF-ER achieves a significant improvement of 3.6% in AA and 7.1% in AF on the OGB-Arxiv dataset, demonstrating its superior performance in the class-incremental learning setting.

MapDistill: Boosting Efficient Camera-based HD Map Construction via Camera-LiDAR Fusion Model Distillation

Online high-definition (HD) map construction is an important and challenging task in autonomous driving. Recently, there has been a growing interest in cost-effective multi-view camera-based methods without relying on other sensors like LiDAR. However, these methods suffer from a lack of explicit depth information, necessitating the use of large models to achieve satisfactory performance. To address this, we employ the Knowledge Distillation (KD) idea for efficient HD map construction for the first time and introduce a novel KD-based approach called MapDistill to transfer knowledge from a high-performance camera-LiDAR fusion model to a lightweight camera-only model. Specifically, we adopt the teacher-student architecture, i.e., a camera-LiDAR fusion model as the teacher and a lightweight camera model as the student, and devise a dual BEV transform module to facilitate cross-modal knowledge distillation while maintaining cost-effective camera-only deployment. Additionally, we present a comprehensive distillation scheme encompassing cross-modal relation distillation, dual-level feature distillation, and map head distillation. This approach alleviates knowledge transfer challenges between modalities, enabling the student model to learn improved feature representations for HD map construction. Experimental results on the challenging nuScenes dataset demonstrate the effectiveness of MapDistill, surpassing existing competitors by over 7.7 mAP or 4.5X speedup.

Evaluating the Application of ChatGPT in Outpatient Triage Guidance: A Comparative Study

The integration of Artificial Intelligence (AI) in healthcare presents a transformative potential for enhancing operational efficiency and health outcomes. Large Language Models (LLMs), such as ChatGPT, have shown their capabilities in supporting medical decision-making. Embedding LLMs in medical systems is becoming a promising trend in healthcare development. The potential of ChatGPT to address the triage problem in emergency departments has been examined, while few studies have explored its application in outpatient departments. With a focus on streamlining workflows and enhancing efficiency for outpatient triage, this study specifically aims to evaluate the consistency of responses provided by ChatGPT in outpatient guidance, including both within-version response analysis and between-version comparisons. For within-version, the results indicate that the internal response consistency for ChatGPT-4.0 is significantly higher than ChatGPT-3.5 (p=0.03) and both have a moderate consistency (71.2% for 4.0 and 59.6% for 3.5) in their top recommendation. However, the between-version consistency is relatively low (mean consistency score=1.43/3, median=1), indicating few recommendations match between the two versions. Also, only 50% top recommendations match perfectly in the comparisons. Interestingly, ChatGPT-3.5 responses are more likely to be complete than those from ChatGPT-4.0 (p=0.02), suggesting possible differences in information processing and response generation between the two versions. The findings offer insights into AI-assisted outpatient operations, while also facilitating the exploration of potentials and limitations of LLMs in healthcare utilization. Future research may focus on carefully optimizing LLMs and AI integration in healthcare systems based on ergonomic and human factors principles, precisely aligning with the specific needs of effective outpatient triage.

ASWT-SGNN: Adaptive Spectral Wavelet Transform-based Self-Supervised Graph Neural Network

Graph Comparative Learning (GCL) is a self-supervised method that combines the advantages of Graph Convolutional Networks (GCNs) and comparative learning, making it promising for learning node representations. However, the GCN encoders used in these methods rely on the Fourier transform to learn fixed graph representations, which is inherently limited by the uncertainty principle involving spatial and spectral localization trade-offs. To overcome the inflexibility of existing methods and the computationally expensive eigen-decomposition and dense matrix multiplication, this paper proposes an Adaptive Spectral Wavelet Transform-based Self-Supervised Graph Neural Network (ASWT-SGNN). The proposed method employs spectral adaptive polynomials to approximate the filter function and optimize the wavelet using contrast loss. This design enables the creation of local filters in both spectral and spatial domains, allowing flexible aggregation of neighborhood information at various scales and facilitating controlled transformation between local and global information. Compared to existing methods, the proposed approach reduces computational complexity and addresses the limitation of graph convolutional neural networks, which are constrained by graph size and lack flexible control over the neighborhood aspect. Extensive experiments on eight benchmark datasets demonstrate that ASWT-SGNN accurately approximates the filter function in high-density spectral regions, avoiding costly eigen-decomposition. Furthermore, ASWT-SGNN achieves comparable performance to state-of-the-art models in node classification tasks.