Realistic Corner Case Generation for Autonomous Vehicles with Multimodal Large Language Model

To guarantee the safety and reliability of autonomous vehicle (AV) systems, corner cases play a crucial role in exploring the system's behavior under rare and challenging conditions within simulation environments. However, current approaches often fall short in meeting diverse testing needs and struggle to generalize to novel, high-risk scenarios that closely mirror real-world conditions. To tackle this challenge, we present AutoScenario, a multimodal Large Language Model (LLM)-based framework for realistic corner case generation. It converts safety-critical real-world data from multiple sources into textual representations, enabling the generalization of key risk factors while leveraging the extensive world knowledge and advanced reasoning capabilities of LLMs.Furthermore, it integrates tools from the Simulation of Urban Mobility (SUMO) and CARLA simulators to simplify and execute the code generated by LLMs. Our experiments demonstrate that AutoScenario can generate realistic and challenging test scenarios, precisely tailored to specific testing requirements or textual descriptions. Additionally, we validated its ability to produce diverse and novel scenarios derived from multimodal real-world data involving risky situations, harnessing the powerful generalization capabilities of LLMs to effectively simulate a wide range of corner cases.

Multimodal Large Language Model Driven Scenario Testing for Autonomous Vehicles

The generation of corner cases has become increasingly crucial for efficiently testing autonomous vehicles prior to road deployment. However, existing methods struggle to accommodate diverse testing requirements and often lack the ability to generalize to unseen situations, thereby reducing the convenience and usability of the generated scenarios. A method that facilitates easily controllable scenario generation for efficient autonomous vehicles (AV) testing with realistic and challenging situations is greatly needed. To address this, we proposed OmniTester: a multimodal Large Language Model (LLM) based framework that fully leverages the extensive world knowledge and reasoning capabilities of LLMs. OmniTester is designed to generate realistic and diverse scenarios within a simulation environment, offering a robust solution for testing and evaluating AVs. In addition to prompt engineering, we employ tools from Simulation of Urban Mobility to simplify the complexity of codes generated by LLMs. Furthermore, we incorporate Retrieval-Augmented Generation and a self-improvement mechanism to enhance the LLM's understanding of scenarios, thereby increasing its ability to produce more realistic scenes. In the experiments, we demonstrated the controllability and realism of our approaches in generating three types of challenging and complex scenarios. Additionally, we showcased its effectiveness in reconstructing new scenarios described in crash report, driven by the generalization capability of LLMs.

Any Target Can be Offense: Adversarial Example Generation via Generalized Latent Infection

Targeted adversarial attack, which aims to mislead a model to recognize any image as a target object by imperceptible perturbations, has become a mainstream tool for vulnerability assessment of deep neural networks (DNNs). Since existing targeted attackers only learn to attack known target classes, they cannot generalize well to unknown classes. To tackle this issue, we propose $\bf{G}$eneralized $\bf{A}$dversarial attac$\bf{KER}$ ($\bf{GAKer}$), which is able to construct adversarial examples to any target class. The core idea behind GAKer is to craft a latently infected representation during adversarial example generation. To this end, the extracted latent representations of the target object are first injected into intermediate features of an input image in an adversarial generator. Then, the generator is optimized to ensure visual consistency with the input image while being close to the target object in the feature space. Since the GAKer is class-agnostic yet model-agnostic, it can be regarded as a general tool that not only reveals the vulnerability of more DNNs but also identifies deficiencies of DNNs in a wider range of classes. Extensive experiments have demonstrated the effectiveness of our proposed method in generating adversarial examples for both known and unknown classes. Notably, compared with other generative methods, our method achieves an approximately $14.13\%$ higher attack success rate for unknown classes and an approximately $4.23\%$ higher success rate for known classes. Our code is available in https://github.com/VL-Group/GAKer.

X-HRNet: Towards Lightweight Human Pose Estimation with Spatially Unidimensional Self-Attention

High-resolution representation is necessary for human pose estimation to achieve high performance, and the ensuing problem is high computational complexity. In particular, predominant pose estimation methods estimate human joints by 2D single-peak heatmaps. Each 2D heatmap can be horizontally and vertically projected to and reconstructed by a pair of 1D heat vectors. Inspired by this observation, we introduce a lightweight and powerful alternative, Spatially Unidimensional Self-Attention (SUSA), to the pointwise (1x1) convolution that is the main computational bottleneck in the depthwise separable 3c3 convolution. Our SUSA reduces the computational complexity of the pointwise (1x1) convolution by 96% without sacrificing accuracy. Furthermore, we use the SUSA as the main module to build our lightweight pose estimation backbone X-HRNet, where `X' represents the estimated cross-shape attention vectors. Extensive experiments on the COCO benchmark demonstrate the superiority of our X-HRNet, and comprehensive ablation studies show the effectiveness of the SUSA modules. The code is publicly available at https://github.com/cool-xuan/x-hrnet.

CIParsing: Unifying Causality Properties into Multiple Human Parsing

Existing methods of multiple human parsing (MHP) apply statistical models to acquire underlying associations between images and labeled body parts. However, acquired associations often contain many spurious correlations that degrade model generalization, leading statistical models to be vulnerable to visually contextual variations in images (e.g., unseen image styles/external interventions). To tackle this, we present a causality inspired parsing paradigm termed CIParsing, which follows fundamental causal principles involving two causal properties for human parsing (i.e., the causal diversity and the causal invariance). Specifically, we assume that an input image is constructed by a mix of causal factors (the characteristics of body parts) and non-causal factors (external contexts), where only the former ones cause the generation process of human parsing.Since causal/non-causal factors are unobservable, a human parser in proposed CIParsing is required to construct latent representations of causal factors and learns to enforce representations to satisfy the causal properties. In this way, the human parser is able to rely on causal factors w.r.t relevant evidence rather than non-causal factors w.r.t spurious correlations, thus alleviating model degradation and yielding improved parsing ability. Notably, the CIParsing is designed in a plug-and-play fashion and can be integrated into any existing MHP models. Extensive experiments conducted on two widely used benchmarks demonstrate the effectiveness and generalizability of our method.

RepParser: End-to-End Multiple Human Parsing with Representative Parts

Existing methods of multiple human parsing usually adopt a two-stage strategy (typically top-down and bottom-up), which suffers from either strong dependence on prior detection or highly computational redundancy during post-grouping. In this work, we present an end-to-end multiple human parsing framework using representative parts, termed RepParser. Different from mainstream methods, RepParser solves the multiple human parsing in a new single-stage manner without resorting to person detection or post-grouping.To this end, RepParser decouples the parsing pipeline into instance-aware kernel generation and part-aware human parsing, which are responsible for instance separation and instance-specific part segmentation, respectively. In particular, we empower the parsing pipeline by representative parts, since they are characterized by instance-aware keypoints and can be utilized to dynamically parse each person instance. Specifically, representative parts are obtained by jointly localizing centers of instances and estimating keypoints of body part regions. After that, we dynamically predict instance-aware convolution kernels through representative parts, thus encoding person-part context into each kernel responsible for casting an image feature as an instance-specific representation.Furthermore, a multi-branch structure is adopted to divide each instance-specific representation into several part-aware representations for separate part segmentation.In this way, RepParser accordingly focuses on person instances with the guidance of representative parts and directly outputs parsing results for each person instance, thus eliminating the requirement of the prior detection or post-grouping.Extensive experiments on two challenging benchmarks demonstrate that our proposed RepParser is a simple yet effective framework and achieves very competitive performance.

Skeleton-based Action Recognition via Adaptive Cross-Form Learning

Skeleton-based action recognition aims to project skeleton sequences to action categories, where skeleton sequences are derived from multiple forms of pre-detected points. Compared with earlier methods that focus on exploring single-form skeletons via Graph Convolutional Networks (GCNs), existing methods tend to improve GCNs by leveraging multi-form skeletons due to their complementary cues. However, these methods (either adapting structure of GCNs or model ensemble) require the co-existence of all forms of skeletons during both training and inference stages, while a typical situation in real life is the existence of only partial forms for inference. To tackle this issue, we present Adaptive Cross-Form Learning (ACFL), which empowers well-designed GCNs to generate complementary representation from single-form skeletons without changing model capacity. Specifically, each GCN model in ACFL not only learns action representation from the single-form skeletons, but also adaptively mimics useful representations derived from other forms of skeletons. In this way, each GCN can learn how to strengthen what has been learned, thus exploiting model potential and facilitating action recognition as well. Extensive experiments conducted on three challenging benchmarks, i.e., NTU-RGB+D 120, NTU-RGB+D 60 and UAV-Human, demonstrate the effectiveness and generalizability of the proposed method. Specifically, the ACFL significantly improves various GCN models (i.e., CTR-GCN, MS-G3D, and Shift-GCN), achieving a new record for skeleton-based action recognition.

KE-RCNN: Unifying Knowledge based Reasoning into Part-level Attribute Parsing

Part-level attribute parsing is a fundamental but challenging task, which requires the region-level visual understanding to provide explainable details of body parts. Most existing approaches address this problem by adding a regional convolutional neural network (RCNN) with an attribute prediction head to a two-stage detector, in which attributes of body parts are identified from local-wise part boxes. However, local-wise part boxes with limit visual clues (i.e., part appearance only) lead to unsatisfying parsing results, since attributes of body parts are highly dependent on comprehensive relations among them. In this article, we propose a Knowledge Embedded RCNN (KE-RCNN) to identify attributes by leveraging rich knowledges, including implicit knowledge (e.g., the attribute ``above-the-hip'' for a shirt requires visual/geometry relations of shirt-hip) and explicit knowledge (e.g., the part of ``shorts'' cannot have the attribute of ``hoodie'' or ``lining''). Specifically, the KE-RCNN consists of two novel components, i.e., Implicit Knowledge based Encoder (IK-En) and Explicit Knowledge based Decoder (EK-De). The former is designed to enhance part-level representation by encoding part-part relational contexts into part boxes, and the latter one is proposed to decode attributes with a guidance of prior knowledge about \textit{part-attribute} relations. In this way, the KE-RCNN is plug-and-play, which can be integrated into any two-stage detectors, e.g., Attribute-RCNN, Cascade-RCNN, HRNet based RCNN and SwinTransformer based RCNN. Extensive experiments conducted on two challenging benchmarks, e.g., Fashionpedia and Kinetics-TPS, demonstrate the effectiveness and generalizability of the KE-RCNN. In particular, it achieves higher improvements over all existing methods, reaching around 3% of AP on Fashionpedia and around 4% of Acc on Kinetics-TPS.

KTN: Knowledge Transfer Network for Learning Multi-person 2D-3D Correspondences

Human densepose estimation, aiming at establishing dense correspondences between 2D pixels of human body and 3D human body template, is a key technique in enabling machines to have an understanding of people in images. It still poses several challenges due to practical scenarios where real-world scenes are complex and only partial annotations are available, leading to incompelete or false estimations. In this work, we present a novel framework to detect the densepose of multiple people in an image. The proposed method, which we refer to Knowledge Transfer Network (KTN), tackles two main problems: 1) how to refine image representation for alleviating incomplete estimations, and 2) how to reduce false estimation caused by the low-quality training labels (i.e., limited annotations and class-imbalance labels). Unlike existing works directly propagating the pyramidal features of regions for densepose estimation, the KTN uses a refinement of pyramidal representation, where it simultaneously maintains feature resolution and suppresses background pixels, and this strategy results in a substantial increase in accuracy. Moreover, the KTN enhances the ability of 3D based body parsing with external knowledges, where it casts 2D based body parsers trained from sufficient annotations as a 3D based body parser through a structural body knowledge graph. In this way, it significantly reduces the adverse effects caused by the low-quality annotations. The effectiveness of KTN is demonstrated by its superior performance to the state-of-the-art methods on DensePose-COCO dataset. Extensive ablation studies and experimental results on representative tasks (e.g., human body segmentation, human part segmentation and keypoints detection) and two popular densepose estimation pipelines (i.e., RCNN and fully-convolutional frameworks), further indicate the generalizability of the proposed method.

Technical Report: Disentangled Action Parsing Networks for Accurate Part-level Action Parsing

Part-level Action Parsing aims at part state parsing for boosting action recognition in videos. Despite of dramatic progresses in the area of video classification research, a severe problem faced by the community is that the detailed understanding of human actions is ignored. Our motivation is that parsing human actions needs to build models that focus on the specific problem. We present a simple yet effective approach, named disentangled action parsing (DAP). Specifically, we divided the part-level action parsing into three stages: 1) person detection, where a person detector is adopted to detect all persons from videos as well as performs instance-level action recognition; 2) Part parsing, where a part-parsing model is proposed to recognize human parts from detected person images; and 3) Action parsing, where a multi-modal action parsing network is used to parse action category conditioning on all detection results that are obtained from previous stages. With these three major models applied, our approach of DAP records a global mean of $0.605$ score in 2021 Kinetics-TPS Challenge.