ActiveGAMER: Active GAussian Mapping through Efficient Rendering

We introduce ActiveGAMER, an active mapping system that utilizes 3D Gaussian Splatting (3DGS) to achieve high-quality, real-time scene mapping and exploration. Unlike traditional NeRF-based methods, which are computationally demanding and restrict active mapping performance, our approach leverages the efficient rendering capabilities of 3DGS, allowing effective and efficient exploration in complex environments. The core of our system is a rendering-based information gain module that dynamically identifies the most informative viewpoints for next-best-view planning, enhancing both geometric and photometric reconstruction accuracy. ActiveGAMER also integrates a carefully balanced framework, combining coarse-to-fine exploration, post-refinement, and a global-local keyframe selection strategy to maximize reconstruction completeness and fidelity. Our system autonomously explores and reconstructs environments with state-of-the-art geometric and photometric accuracy and completeness, significantly surpassing existing approaches in both aspects. Extensive evaluations on benchmark datasets such as Replica and MP3D highlight ActiveGAMER's effectiveness in active mapping tasks.

VLM-AD: End-to-End Autonomous Driving through Vision-Language Model Supervision

Human drivers rely on commonsense reasoning to navigate diverse and dynamic real-world scenarios. Existing end-to-end (E2E) autonomous driving (AD) models are typically optimized to mimic driving patterns observed in data, without capturing the underlying reasoning processes. This limitation constrains their ability to handle challenging driving scenarios. To close this gap, we propose VLM-AD, a method that leverages vision-language models (VLMs) as teachers to enhance training by providing additional supervision that incorporates unstructured reasoning information and structured action labels. Such supervision enhances the model's ability to learn richer feature representations that capture the rationale behind driving patterns. Importantly, our method does not require a VLM during inference, making it practical for real-time deployment. When integrated with state-of-the-art methods, VLM-AD achieves significant improvements in planning accuracy and reduced collision rates on the nuScenes dataset.

SolidGS: Consolidating Gaussian Surfel Splatting for Sparse-View Surface Reconstruction

Gaussian splatting has achieved impressive improvements for both novel-view synthesis and surface reconstruction from multi-view images. However, current methods still struggle to reconstruct high-quality surfaces from only sparse view input images using Gaussian splatting. In this paper, we propose a novel method called SolidGS to address this problem. We observed that the reconstructed geometry can be severely inconsistent across multi-views, due to the property of Gaussian function in geometry rendering. This motivates us to consolidate all Gaussians by adopting a more solid kernel function, which effectively improves the surface reconstruction quality. With the additional help of geometrical regularization and monocular normal estimation, our method achieves superior performance on the sparse view surface reconstruction than all the Gaussian splatting methods and neural field methods on the widely used DTU, Tanks-and-Temples, and LLFF datasets.

SparseLGS: Sparse View Language Embedded Gaussian Splatting

Recently, several studies have combined Gaussian Splatting to obtain scene representations with language embeddings for open-vocabulary 3D scene understanding. While these methods perform well, they essentially require very dense multi-view inputs, limiting their applicability in real-world scenarios. In this work, we propose SparseLGS to address the challenge of 3D scene understanding with pose-free and sparse view input images. Our method leverages a learning-based dense stereo model to handle pose-free and sparse inputs, and a three-step region matching approach to address the multi-view semantic inconsistency problem, which is especially important for sparse inputs. Different from directly learning high-dimensional CLIP features, we extract low-dimensional information and build bijections to avoid excessive learning and storage costs. We introduce a reconstruction loss during semantic training to improve Gaussian positions and shapes. To the best of our knowledge, we are the first to address the 3D semantic field problem with sparse pose-free inputs. Experimental results show that SparseLGS achieves comparable quality when reconstructing semantic fields with fewer inputs (3-4 views) compared to previous SOTA methods with dense input. Besides, when using the same sparse input, SparseLGS leads significantly in quality and heavily improves the computation speed (5$\times$ speedup). Project page: {\tt\small \url{https://ustc3dv.github.io/SparseLGS}}

Relational Contrastive Learning and Masked Image Modeling for Scene Text Recognition

Context-aware methods have achieved remarkable advancements in supervised scene text recognition by leveraging semantic priors from words. Considering the heterogeneity of text and background in STR, we propose that such contextual priors can be reinterpreted as the relations between textual elements, serving as effective self-supervised labels for representation learning. However, textual relations are restricted to the finite size of the dataset due to lexical dependencies, which causes over-fitting problem, thus compromising the representation quality. To address this, our work introduces a unified framework of Relational Contrastive Learning and Masked Image Modeling for STR (RCMSTR), which explicitly models the enriched textual relations. For the RCL branch, we first introduce the relational rearrangement module to cultivate new relations on the fly. Based on this, we further conduct relational contrastive learning to model the intra- and inter-hierarchical relations for frames, sub-words and words. On the other hand, MIM can naturally boost the context information via masking, where we find that the block masking strategy is more effective for STR. For the effective integration of RCL and MIM, we also introduce a novel decoupling design aimed at mitigating the impact of masked images on contrastive learning. Additionally, to enhance the compatibility of MIM with CNNs, we propose the adoption of sparse convolutions and directly sharing the weights with dense convolutions in training. The proposed RCMSTR demonstrates superior performance in various evaluation protocols for different STR-related downstream tasks, outperforming the existing state-of-the-art self-supervised STR techniques. Ablation studies and qualitative experimental results further validate the effectiveness of our method. The code and pre-trained models will be available at https://github.com/ThunderVVV/RCMSTR .

Pie: Pooling CPU Memory for LLM Inference

The rapid growth of LLMs has revolutionized natural language processing and AI analysis, but their increasing size and memory demands present significant challenges. A common solution is to spill over to CPU memory; however, traditional GPU-CPU memory swapping often results in higher latency and lower throughput. This paper introduces Pie, an LLM inference framework that addresses these challenges with performance-transparent swapping and adaptive expansion. By leveraging predictable memory access patterns and the high bandwidth of modern hardware like the NVIDIA GH200 Grace Hopper Superchip, Pie enables concurrent data swapping without affecting foreground computation, expanding effective memory without added latency. Adaptive expansion dynamically adjusts CPU memory allocation based on real-time information, optimizing memory usage and performance under varying conditions. Pie maintains low computation latency, high throughput, and high elasticity. Our experimental evaluation demonstrates that Pie achieves optimal swapping policy during cache warmup and effectively balances increased memory capacity with negligible impact on computation. With its extended capacity, Pie outperforms vLLM by up to 1.9X in throughput and 2X in latency. Additionally, Pie can reduce GPU memory usage by up to 1.67X while maintaining the same performance. Compared to FlexGen, an offline profiling-based swapping solution, Pie achieves magnitudes lower latency and 9.4X higher throughput.

Cross-Fundus Transformer for Multi-modal Diabetic Retinopathy Grading with Cataract

Diabetic retinopathy (DR) is a leading cause of blindness worldwide and a common complication of diabetes. As two different imaging tools for DR grading, color fundus photography (CFP) and infrared fundus photography (IFP) are highly-correlated and complementary in clinical applications. To the best of our knowledge, this is the first study that explores a novel multi-modal deep learning framework to fuse the information from CFP and IFP towards more accurate DR grading. Specifically, we construct a dual-stream architecture Cross-Fundus Transformer (CFT) to fuse the ViT-based features of two fundus image modalities. In particular, a meticulously engineered Cross-Fundus Attention (CFA) module is introduced to capture the correspondence between CFP and IFP images. Moreover, we adopt both the single-modality and multi-modality supervisions to maximize the overall performance for DR grading. Extensive experiments on a clinical dataset consisting of 1,713 pairs of multi-modal fundus images demonstrate the superiority of our proposed method. Our code will be released for public access.

Shopping MMLU: A Massive Multi-Task Online Shopping Benchmark for Large Language Models

Online shopping is a complex multi-task, few-shot learning problem with a wide and evolving range of entities, relations, and tasks. However, existing models and benchmarks are commonly tailored to specific tasks, falling short of capturing the full complexity of online shopping. Large Language Models (LLMs), with their multi-task and few-shot learning abilities, have the potential to profoundly transform online shopping by alleviating task-specific engineering efforts and by providing users with interactive conversations. Despite the potential, LLMs face unique challenges in online shopping, such as domain-specific concepts, implicit knowledge, and heterogeneous user behaviors. Motivated by the potential and challenges, we propose Shopping MMLU, a diverse multi-task online shopping benchmark derived from real-world Amazon data. Shopping MMLU consists of 57 tasks covering 4 major shopping skills: concept understanding, knowledge reasoning, user behavior alignment, and multi-linguality, and can thus comprehensively evaluate the abilities of LLMs as general shop assistants. With Shopping MMLU, we benchmark over 20 existing LLMs and uncover valuable insights about practices and prospects of building versatile LLM-based shop assistants. Shopping MMLU can be publicly accessed at https://github.com/KL4805/ShoppingMMLU. In addition, with Shopping MMLU, we host a competition in KDD Cup 2024 with over 500 participating teams. The winning solutions and the associated workshop can be accessed at our website https://amazon-kddcup24.github.io/.

Evolutionary Contrastive Distillation for Language Model Alignment

The ability of large language models (LLMs) to execute complex instructions is essential for their real-world applications. However, several recent studies indicate that LLMs struggle with challenging instructions. In this paper, we propose Evolutionary Contrastive Distillation (ECD), a novel method for generating high-quality synthetic preference data designed to enhance the complex instruction-following capability of language models. ECD generates data that specifically illustrates the difference between a response that successfully follows a set of complex instructions and a response that is high-quality, but nevertheless makes some subtle mistakes. This is done by prompting LLMs to progressively evolve simple instructions to more complex instructions. When the complexity of an instruction is increased, the original successful response to the original instruction becomes a "hard negative" response for the new instruction, mostly meeting requirements of the new instruction, but barely missing one or two. By pairing a good response with such a hard negative response, and employing contrastive learning algorithms such as DPO, we improve language models' ability to follow complex instructions. Empirically, we observe that our method yields a 7B model that exceeds the complex instruction-following performance of current SOTA 7B models and is competitive even with open-source 70B models.

Uncertainty-Guided Enhancement on Driving Perception System via Foundation Models

Multimodal foundation models offer promising advancements for enhancing driving perception systems, but their high computational and financial costs pose challenges. We develop a method that leverages foundation models to refine predictions from existing driving perception models -- such as enhancing object classification accuracy -- while minimizing the frequency of using these resource-intensive models. The method quantitatively characterizes uncertainties in the perception model's predictions and engages the foundation model only when these uncertainties exceed a pre-specified threshold. Specifically, it characterizes uncertainty by calibrating the perception model's confidence scores into theoretical lower bounds on the probability of correct predictions using conformal prediction. Then, it sends images to the foundation model and queries for refining the predictions only if the theoretical bound of the perception model's outcome is below the threshold. Additionally, we propose a temporal inference mechanism that enhances prediction accuracy by integrating historical predictions, leading to tighter theoretical bounds. The method demonstrates a 10 to 15 percent improvement in prediction accuracy and reduces the number of queries to the foundation model by 50 percent, based on quantitative evaluations from driving datasets.