DP and QP Based Decision-making and Planning for Autonomous Vehicle

Autonomous driving technology is rapidly evolving and becoming a pivotal element of modern automation systems. Effective decision-making and planning are essential to ensuring autonomous vehicles operate safely and efficiently in complex environments. This paper introduces a decision-making and planning framework for autonomous vehicles, leveraging dynamic programming (DP) for global path planning and quadratic programming (QP) for local trajectory optimization. The proposed approach utilizes S-T graphs to achieve both dynamic and static obstacle avoidance. A comprehensive vehicle dynamics model supports the control system, enabling precise path tracking and obstacle handling. Simulation studies are conducted to evaluate the system's performance in a variety of scenarios, including global path planning, static obstacle avoidance, and dynamic obstacle avoidance involving pedestrian interactions. The results confirm the effectiveness and robustness of the proposed decision-making and planning algorithms in navigating complex environments, demonstrating the feasibility of this approach for autonomous driving applications.

Flaming-hot Initiation with Regular Execution Sampling for Large Language Models

Since the release of ChatGPT, large language models (LLMs) have demonstrated remarkable capabilities across various domains. A key challenge in developing these general capabilities is efficiently sourcing diverse, high-quality data. This becomes especially critical in reasoning-related tasks with sandbox checkers, such as math or code, where the goal is to generate correct solutions to specific problems with higher probability. In this work, we introduce Flaming-hot Initiation with Regular Execution (FIRE) sampling, a simple yet highly effective method to efficiently find good responses. Our empirical findings show that FIRE sampling enhances inference-time generation quality and also benefits training in the alignment stage. Furthermore, we explore how FIRE sampling improves performance by promoting diversity and analyze the impact of employing FIRE at different positions within a response.

MTDA-HSED: Mutual-Assistance Tuning and Dual-Branch Aggregating for Heterogeneous Sound Event Detection

Sound Event Detection (SED) plays a vital role in comprehending and perceiving acoustic scenes. Previous methods have demonstrated impressive capabilities. However, they are deficient in learning features of complex scenes from heterogeneous dataset. In this paper, we introduce a novel dual-branch architecture named Mutual-Assistance Tuning and Dual-Branch Aggregating for Heterogeneous Sound Event Detection (MTDA-HSED). The MTDA-HSED architecture employs the Mutual-Assistance Audio Adapter (M3A) to effectively tackle the multi-scenario problem and uses the Dual-Branch Mid-Fusion (DBMF) module to tackle the multi-granularity problem. Specifically, M3A is integrated into the BEATs block as an adapter to improve the BEATs' performance by fine-tuning it on the multi-scenario dataset. The DBMF module connects BEATs and CNN branches, which facilitates the deep fusion of information from the BEATs and the CNN branches. Experimental results show that the proposed methods exceed the baseline of mpAUC by \textbf{$5\%$} on the DESED and MAESTRO Real datasets. Code is available at https://github.com/Visitor-W/MTDA.

Reliable Deep Diffusion Tensor Estimation: Rethinking the Power of Data-Driven Optimization Routine

Diffusion tensor imaging (DTI) holds significant importance in clinical diagnosis and neuroscience research. However, conventional model-based fitting methods often suffer from sensitivity to noise, leading to decreased accuracy in estimating DTI parameters. While traditional data-driven deep learning methods have shown potential in terms of accuracy and efficiency, their limited generalization to out-of-training-distribution data impedes their broader application due to the diverse scan protocols used across centers, scanners, and studies. This work aims to tackle these challenges and promote the use of DTI by introducing a data-driven optimization-based method termed DoDTI. DoDTI combines the weighted linear least squares fitting algorithm and regularization by denoising technique. The former fits DW images from diverse acquisition settings into diffusion tensor field, while the latter applies a deep learning-based denoiser to regularize the diffusion tensor field instead of the DW images, which is free from the limitation of fixed-channel assignment of the network. The optimization object is solved using the alternating direction method of multipliers and then unrolled to construct a deep neural network, leveraging a data-driven strategy to learn network parameters. Extensive validation experiments are conducted utilizing both internally simulated datasets and externally obtained in-vivo datasets. The results, encompassing both qualitative and quantitative analyses, showcase that the proposed method attains state-of-the-art performance in DTI parameter estimation. Notably, it demonstrates superior generalization, accuracy, and efficiency, rendering it highly reliable for widespread application in the field.

Flow Matching for Optimal Reaction Coordinates of Biomolecular System

We present Flow Matching for Reaction Coordinates (FMRC), a novel deep learning algorithm designed to identify optimal reaction coordinates (RC) in biomolecular reversible dynamics. FMRC is based on the mathematical principles of lumpability and decomposability, which we reformulate into a conditional probability framework for efficient data-driven optimization using deep generative models. While FMRC does not explicitly learn the well-established transfer operator or its eigenfunctions, it can effectively encode the dynamics of leading eigenfunctions of the system transfer operator into its low-dimensional RC space. We further quantitatively compare its performance with several state-of-the-art algorithms by evaluating the quality of Markov State Models (MSM) constructed in their respective RC spaces, demonstrating the superiority of FMRC in three increasingly complex biomolecular systems. Finally, we discuss its potential applications in downstream applications such as enhanced sampling methods and MSM construction.

SELD-Mamba: Selective State-Space Model for Sound Event Localization and Detection with Source Distance Estimation

In the Sound Event Localization and Detection (SELD) task, Transformer-based models have demonstrated impressive capabilities. However, the quadratic complexity of the Transformer's self-attention mechanism results in computational inefficiencies. In this paper, we propose a network architecture for SELD called SELD-Mamba, which utilizes Mamba, a selective state-space model. We adopt the Event-Independent Network V2 (EINV2) as the foundational framework and replace its Conformer blocks with bidirectional Mamba blocks to capture a broader range of contextual information while maintaining computational efficiency. Additionally, we implement a two-stage training method, with the first stage focusing on Sound Event Detection (SED) and Direction of Arrival (DoA) estimation losses, and the second stage reintroducing the Source Distance Estimation (SDE) loss. Our experimental results on the 2024 DCASE Challenge Task3 dataset demonstrate the effectiveness of the selective state-space model in SELD and highlight the benefits of the two-stage training approach in enhancing SELD performance.

CodexGraph: Bridging Large Language Models and Code Repositories via Code Graph Databases

Large Language Models (LLMs) excel in stand-alone code tasks like HumanEval and MBPP, but struggle with handling entire code repositories. This challenge has prompted research on enhancing LLM-codebase interaction at a repository scale. Current solutions rely on similarity-based retrieval or manual tools and APIs, each with notable drawbacks. Similarity-based retrieval often has low recall in complex tasks, while manual tools and APIs are typically task-specific and require expert knowledge, reducing their generalizability across diverse code tasks and real-world applications. To mitigate these limitations, we introduce \framework, a system that integrates LLM agents with graph database interfaces extracted from code repositories. By leveraging the structural properties of graph databases and the flexibility of the graph query language, \framework enables the LLM agent to construct and execute queries, allowing for precise, code structure-aware context retrieval and code navigation. We assess \framework using three benchmarks: CrossCodeEval, SWE-bench, and EvoCodeBench. Additionally, we develop five real-world coding applications. With a unified graph database schema, \framework demonstrates competitive performance and potential in both academic and real-world environments, showcasing its versatility and efficacy in software engineering. Our application demo: https://github.com/modelscope/modelscope-agent/tree/master/apps/codexgraph_agent.

Unlocking the Potential of Early Epochs: Uncertainty-aware CT Metal Artifact Reduction

In computed tomography (CT), the presence of metallic implants in patients often leads to disruptive artifacts in the reconstructed images, hindering accurate diagnosis. Recently, a large amount of supervised deep learning-based approaches have been proposed for metal artifact reduction (MAR). However, these methods neglect the influence of initial training weights. In this paper, we have discovered that the uncertainty image computed from the restoration result of initial training weights can effectively highlight high-frequency regions, including metal artifacts. This observation can be leveraged to assist the MAR network in removing metal artifacts. Therefore, we propose an uncertainty constraint (UC) loss that utilizes the uncertainty image as an adaptive weight to guide the MAR network to focus on the metal artifact region, leading to improved restoration. The proposed UC loss is designed to be a plug-and-play method, compatible with any MAR framework, and easily adoptable. To validate the effectiveness of the UC loss, we conduct extensive experiments on the public available Deeplesion and CLINIC-metal dataset. Experimental results demonstrate that the UC loss further optimizes the network training process and significantly improves the removal of metal artifacts.

MFF-EINV2: Multi-scale Feature Fusion across Spectral-Spatial-Temporal Domains for Sound Event Localization and Detection

Sound Event Localization and Detection (SELD) involves detecting and localizing sound events using multichannel sound recordings. Previously proposed Event-Independent Network V2 (EINV2) has achieved outstanding performance on SELD. However, it still faces challenges in effectively extracting features across spectral, spatial, and temporal domains. This paper proposes a three-stage network structure named Multi-scale Feature Fusion (MFF) module to fully extract multi-scale features across spectral, spatial, and temporal domains. The MFF module utilizes parallel subnetworks architecture to generate multi-scale spectral and spatial features. The TF-Convolution Module is employed to provide multi-scale temporal features. We incorporated MFF into EINV2 and term the proposed method as MFF-EINV2. Experimental results in 2022 and 2023 DCASE challenge task3 datasets show the effectiveness of our MFF-EINV2, which achieves state-of-the-art (SOTA) performance compared to published methods.

Micro-expression recognition based on depth map to point cloud

Micro-expressions are nonverbal facial expressions that reveal the covert emotions of individuals, making the micro-expression recognition task receive widespread attention. However, the micro-expression recognition task is challenging due to the subtle facial motion and brevity in duration. Many 2D image-based methods have been developed in recent years to recognize MEs effectively, but, these approaches are restricted by facial texture information and are susceptible to environmental factors, such as lighting. Conversely, depth information can effectively represent motion information related to facial structure changes and is not affected by lighting. Motion information derived from facial structures can describe motion features that pixel textures cannot delineate. We proposed a network for micro-expression recognition based on facial depth information, and our experiments have demonstrated the crucial role of depth maps in the micro-expression recognition task. Initially, we transform the depth map into a point cloud and obtain the motion information for each point by aligning the initiating frame with the apex frame and performing a differential operation. Subsequently, we adjusted all point cloud motion feature input dimensions and used them as inputs for multiple point cloud networks to assess the efficacy of this representation. PointNet++ was chosen as the ultimate outcome for micro-expression recognition due to its superior performance. Our experiments show that our proposed method significantly outperforms the existing deep learning methods, including the baseline, on the $CAS(ME)^3$ dataset, which includes depth information.