arXiv subjects

Jin Fang

Publications and source records attributed to Jin Fang.

At least 91 records · Page 5Linked to original sources

arXiv2025

ALOcc: Adaptive Lifting-Based 3D Semantic Occupancy and Cost Volume-Based Flow Predictions

3D semantic occupancy and flow prediction are fundamental to spatiotemporal scene understanding. This paper proposes a vision-based framework with three targeted improvements. First, we introduce an occlusion-aware adaptive lifting mechanism incorporating depth denoising. This enhances the robustness of 2D-to-3D feature transformation while mitigating reliance on depth priors. Second, we enforce 3D-2D semantic consistency via jointly optimized prototypes, using confidence- and category-aware sampling to address the long-tail classes problem. Third, to streamline joint prediction, we devise a BEV-centric cost volume to explicitly correlate semantic and flow features, supervised by a hybrid classification-regression scheme that handles diverse motion scales. Our purely convolutional architecture establishes new SOTA performance on multiple benchmarks for both semantic occupancy and joint occupancy semantic-flow prediction. We also present a family of models offering a spectrum of efficiency-performance trade-offs. Our real-time version exceeds all existing real-time methods in speed and accuracy, ensuring its practical viability.

cs.CV↗

arXiv2025

A Generative Foundation Model for Chest Radiography

The scarcity of well-annotated diverse medical images is a major hurdle for developing reliable AI models in healthcare. Substantial technical advances have been made in generative foundation models for natural images. Here we develop `ChexGen', a generative vision-language foundation model that introduces a unified framework for text-, mask-, and bounding box-guided synthesis of chest radiographs. Built upon the latent diffusion transformer architecture, ChexGen was pretrained on the largest curated chest X-ray dataset to date, consisting of 960,000 radiograph-report pairs. ChexGen achieves accurate synthesis of radiographs through expert evaluations and quantitative metrics. We demonstrate the utility of ChexGen for training data augmentation and supervised pretraining, which led to performance improvements across disease classification, detection, and segmentation tasks using a small fraction of training data. Further, our model enables the creation of diverse patient cohorts that enhance model fairness by detecting and mitigating demographic biases. Our study supports the transformative role of generative foundation models in building more accurate, data-efficient, and equitable medical AI systems.

cs.CV↗

arXiv2025

Two-dimensional Sparse Parallelism for Large Scale Deep Learning Recommendation Model Training

The increasing complexity of deep learning recommendation models (DLRM) has led to a growing need for large-scale distributed systems that can efficiently train vast amounts of data. In DLRM, the sparse embedding table is a crucial component for managing sparse categorical features. Typically, these tables in industrial DLRMs contain trillions of parameters, necessitating model parallelism strategies to address memory constraints. However, as training systems expand with massive GPUs, the traditional fully parallelism strategies for embedding table post significant scalability challenges, including imbalance and straggler issues, intensive lookup communication, and heavy embedding activation memory. To overcome these limitations, we propose a novel two-dimensional sparse parallelism approach. Rather than fully sharding tables across all GPUs, our solution introduces data parallelism on top of model parallelism. This enables efficient all-to-all communication and reduces peak memory consumption. Additionally, we have developed the momentum-scaled row-wise AdaGrad algorithm to mitigate performance losses associated with the shift in training paradigms. Our extensive experiments demonstrate that the proposed approach significantly enhances training efficiency while maintaining model performance parity. It achieves nearly linear training speed scaling up to 4K GPUs, setting a new state-of-the-art benchmark for recommendation model training.

cs.DC↗

arXiv2025

Triton-distributed: Programming Overlapping Kernels on Distributed AI Systems with the Triton Compiler

In this report, we propose Triton-distributed, an extension of existing Triton compiler, to overcome the programming challenges in distributed AI systems. Triton-distributed is the first compiler that supports native overlapping optimizations for distributed AI workloads, providing a good coverage of existing optimizations from different frameworks. First, we integrate communication primitives compliant with the OpenSHMEM standard into the compiler. This enables programmers to utilize these primitives with a higher-level Python programming model. Second, we illustrate how to achieve complex joint optimization of computation, memory access, and communication with the assistance of the compiler. In particular, we show how to use overlapping techniques to hide latency and present our compiler-based programming methods in both single-node and multi-node scenarios. Finally, we showcase the performance of the code generated by our compiler. In a test environment with up to 64 devices, our compiler can fully utilize heterogeneous communication and computation resources to provide effective overlapping and high performance. In many cases, the performance of the generated code can even outperform hand-optimized code. Moreover, the development difficulty and the time cost for development using our compiler are far less than those of low-level programming such as CUDA/C++, which clearly demonstrates significant productivity advantages.

cs.DC↗

arXiv2025

Rethinking Temporal Fusion with a Unified Gradient Descent View for 3D Semantic Occupancy Prediction

We present GDFusion, a temporal fusion method for vision-based 3D semantic occupancy prediction (VisionOcc). GDFusion opens up the underexplored aspects of temporal fusion within the VisionOcc framework, focusing on both temporal cues and fusion strategies. It systematically examines the entire VisionOcc pipeline, identifying three fundamental yet previously overlooked temporal cues: scene-level consistency, motion calibration, and geometric complementation. These cues capture diverse facets of temporal evolution and make distinct contributions across various modules in the VisionOcc framework. To effectively fuse temporal signals across heterogeneous representations, we propose a novel fusion strategy by reinterpreting the formulation of vanilla RNNs. This reinterpretation leverages gradient descent on features to unify the integration of diverse temporal information, seamlessly embedding the proposed temporal cues into the network. Extensive experiments on nuScenes demonstrate that GDFusion significantly outperforms established baselines. Notably, on Occ3D benchmark, it achieves 1.4\%-4.8\% mIoU improvements and reduces memory consumption by 27\%-72\%.

cs.CV↗

arXiv2025

TileLink: Generating Efficient Compute-Communication Overlapping Kernels using Tile-Centric Primitives

Large deep learning models have achieved state-of-the-art performance in a wide range of tasks. These models often necessitate distributed systems for efficient training and inference. The fundamental building blocks for distributed model execution are intra-layer parallel operators. The most effective approach to enhancing the performance of intra-layer parallel operators involves overlapping computation with communication. The overlapping can be achieved through either operator decomposition or kernel fusion. While decomposing operators is straightforward to implement, it often results in suboptimal performance. On the other hand, fusing communication kernels with compute kernels demands significant expertise and is error-prone. In this paper, we propose TileLink to enable efficient compilation and generation of overlapped compute-communication kernels. TileLink is composed of frontend and backend. In the frontend, TileLink decouples the design space of communication and computation, linking these two parts via tile-centric primitives. In the backend, TileLink translates these primitives into low-level communication instructions, integrating the communication and computation components to achieve overlapped execution. In experiments, TileLink achieves from $1.17\times$ to $20.76\times$ speedup to non-overlapping baseline and achieves performance comparable to state-of-the-art overlapping libraries on GPUs.

cs.DC↗

arXiv2024

AdaOcc: Adaptive Forward View Transformation and Flow Modeling for 3D Occupancy and Flow Prediction

In this technical report, we present our solution for the Vision-Centric 3D Occupancy and Flow Prediction track in the nuScenes Open-Occ Dataset Challenge at CVPR 2024. Our innovative approach involves a dual-stage framework that enhances 3D occupancy and flow predictions by incorporating adaptive forward view transformation and flow modeling. Initially, we independently train the occupancy model, followed by flow prediction using sequential frame integration. Our method combines regression with classification to address scale variations in different scenes, and leverages predicted flow to warp current voxel features to future frames, guided by future frame ground truth. Experimental results on the nuScenes dataset demonstrate significant improvements in accuracy and robustness, showcasing the effectiveness of our approach in real-world scenarios. Our single model based on Swin-Base ranks second on the public leaderboard, validating the potential of our method in advancing autonomous car perception systems.

cs.CV↗

arXiv2024

A Scalable and Effective Alternative to Graph Transformers

Graph Neural Networks (GNNs) have shown impressive performance in graph representation learning, but they face challenges in capturing long-range dependencies due to their limited expressive power. To address this, Graph Transformers (GTs) were introduced, utilizing self-attention mechanism to effectively model pairwise node relationships. Despite their advantages, GTs suffer from quadratic complexity w.r.t. the number of nodes in the graph, hindering their applicability to large graphs. In this work, we present Graph-Enhanced Contextual Operator (GECO), a scalable and effective alternative to GTs that leverages neighborhood propagation and global convolutions to effectively capture local and global dependencies in quasilinear time. Our study on synthetic datasets reveals that GECO reaches 169x speedup on a graph with 2M nodes w.r.t. optimized attention. Further evaluations on diverse range of benchmarks showcase that GECO scales to large graphs where traditional GTs often face memory and time limitations. Notably, GECO consistently achieves comparable or superior quality compared to baselines, improving the SOTA up to 4.5%, and offering a scalable and effective solution for large-scale graph learning.

cs.LG↗

arXiv2024

VCR-Graphormer: A Mini-batch Graph Transformer via Virtual Connections

Graph transformer has been proven as an effective graph learning method for its adoption of attention mechanism that is capable of capturing expressive representations from complex topological and feature information of graphs. Graph transformer conventionally performs dense attention (or global attention) for every pair of nodes to learn node representation vectors, resulting in quadratic computational costs that are unaffordable for large-scale graph data. Therefore, mini-batch training for graph transformers is a promising direction, but limited samples in each mini-batch can not support effective dense attention to encode informative representations. Facing this bottleneck, (1) we start by assigning each node a token list that is sampled by personalized PageRank (PPR) and then apply standard multi-head self-attention only on this list to compute its node representations. This PPR tokenization method decouples model training from complex graph topological information and makes heavy feature engineering offline and independent, such that mini-batch training of graph transformers is possible by loading each node's token list in batches. We further prove this PPR tokenization is viable as a graph convolution network with a fixed polynomial filter and jumping knowledge. However, only using personalized PageRank may limit information carried by a token list, which could not support different graph inductive biases for model training. To this end, (2) we rewire graphs by introducing multiple types of virtual connections through structure- and content-based super nodes that enable PPR tokenization to encode local and global contexts, long-range interaction, and heterophilous information into each node's token list, and then formalize our Virtual Connection Ranking based Graph Transformer (VCR-Graphormer).

cs.LG↗

arXiv2024

LiDAR-CS Dataset: LiDAR Point Cloud Dataset with Cross-Sensors for 3D Object Detection

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face domain generalization issues. Unlike 2D images whose domains usually pertain to the texture information present in them, the features derived from a 3D point cloud are affected by the distribution of the points. The lack of a 3D domain adaptation benchmark leads to the common practice of training a model on one benchmark (e.g. Waymo) and then assessing it on another dataset (e.g. KITTI). This setting results in two distinct domain gaps: scenarios and sensors, making it difficult to analyze and evaluate the method accurately. To tackle this problem, this paper presents LiDAR Dataset with Cross Sensors (LiDAR-CS Dataset), which contains large-scale annotated LiDAR point cloud under six groups of different sensors but with the same corresponding scenarios, captured from hybrid realistic LiDAR simulator. To our knowledge, LiDAR-CS Dataset is the first dataset that addresses the sensor-related gaps in the domain of 3D object detection in real traffic. Furthermore, we evaluate and analyze the performance using various baseline detectors and demonstrated its potential applications. Project page: https://opendriving.github.io/lidar-cs.

cs.CV↗

arXiv2023

Multi-Sem Fusion: Multimodal Semantic Fusion for 3D Object Detection

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance detection accuracy. Nevertheless, the restricted resolution of 2D feature maps impedes accurate re-projection and often induces a pronounced boundary-blurring effect, which is primarily attributed to erroneous semantic segmentation. To well handle this limitation, we propose a general multi-modal fusion framework Multi-Sem Fusion (MSF) to fuse the semantic information from both the 2D image and 3D points scene parsing results. Specifically, we employ 2D/3D semantic segmentation methods to generate the parsing results for 2D images and 3D point clouds. The 2D semantic information is further reprojected into the 3D point clouds with calibration parameters. To handle the misalignment between the 2D and 3D parsing results, we propose an Adaptive Attention-based Fusion (AAF) module to fuse them by learning an adaptive fusion score. Then the point cloud with the fused semantic label is sent to the following 3D object detectors. Furthermore, we propose a Deep Feature Fusion (DFF) module to aggregate deep features at different levels to boost the final detection performance. The effectiveness of the framework has been verified on two public large-scale 3D object detection benchmarks by comparing them with different baselines. The experimental results show that the proposed fusion strategies can significantly improve the detection performance compared to the methods using only point clouds and the methods using only 2D semantic information. Most importantly, the proposed approach significantly outperforms other approaches and sets state-of-the-art results on the nuScenes testing benchmark.

cs.CV↗

arXiv2022

ProposalContrast: Unsupervised Pre-training for LiDAR-based 3D Object Detection

Existing approaches for unsupervised point cloud pre-training are constrained to either scene-level or point/voxel-level instance discrimination. Scene-level methods tend to lose local details that are crucial for recognizing the road objects, while point/voxel-level methods inherently suffer from limited receptive field that is incapable of perceiving large objects or context environments. Considering region-level representations are more suitable for 3D object detection, we devise a new unsupervised point cloud pre-training framework, called ProposalContrast, that learns robust 3D representations by contrasting region proposals. Specifically, with an exhaustive set of region proposals sampled from each point cloud, geometric point relations within each proposal are modeled for creating expressive proposal representations. To better accommodate 3D detection properties, ProposalContrast optimizes with both inter-cluster and inter-proposal separation, i.e., sharpening the discriminativeness of proposal representations across semantic classes and object instances. The generalizability and transferability of ProposalContrast are verified on various 3D detectors (i.e., PV-RCNN, CenterPoint, PointPillars and PointRCNN) and datasets (i.e., KITTI, Waymo and ONCE).

cs.CV↗

arXiv2022

Semi-supervised 3D Object Detection with Proficient Teachers

Dominated point cloud-based 3D object detectors in autonomous driving scenarios rely heavily on the huge amount of accurately labeled samples, however, 3D annotation in the point cloud is extremely tedious, expensive and time-consuming. To reduce the dependence on large supervision, semi-supervised learning (SSL) based approaches have been proposed. The Pseudo-Labeling methodology is commonly used for SSL frameworks, however, the low-quality predictions from the teacher model have seriously limited its performance. In this work, we propose a new Pseudo-Labeling framework for semi-supervised 3D object detection, by enhancing the teacher model to a proficient one with several necessary designs. First, to improve the recall of pseudo labels, a Spatialtemporal Ensemble (STE) module is proposed to generate sufficient seed boxes. Second, to improve the precision of recalled boxes, a Clusteringbased Box Voting (CBV) module is designed to get aggregated votes from the clustered seed boxes. This also eliminates the necessity of sophisticated thresholds to select pseudo labels. Furthermore, to reduce the negative influence of wrongly pseudo-labeled samples during the training, a soft supervision signal is proposed by considering Box-wise Contrastive Learning (BCL). The effectiveness of our model is verified on both ONCE and Waymo datasets. For example, on ONCE, our approach significantly improves the baseline by 9.51 mAP. Moreover, with half annotations, our model outperforms the oracle model with full annotations on Waymo.

cs.CV↗

arXiv2022

Imitate then Transcend: Multi-Agent Optimal Execution with Dual-Window Denoise PPO

A novel framework for solving the optimal execution and placement problems using reinforcement learning (RL) with imitation was proposed. The RL agents trained from the proposed framework consistently outperformed the industry benchmark time-weighted average price (TWAP) strategy in execution cost and showed great generalization across out-of-sample trading dates and tickers. The impressive performance was achieved from three aspects. First, our RL network architecture called Dual-window Denoise PPO enabled efficient learning in a noisy market environment. Second, a reward scheme with imitation learning was designed, and a comprehensive set of market features was studied. Third, our flexible action formulation allowed the RL agent to tackle optimal execution and placement collectively resulting in better performance than solving individual problems separately. The RL agent's performance was evaluated in our multi-agent realistic historical limit order book simulator in which price impact was accurately assessed. In addition, ablation studies were also performed, confirming the superiority of our framework.

cs.LG↗

arXiv2021

AutoShape: Real-Time Shape-Aware Monocular 3D Object Detection

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for incorporating the shape-aware 2D/3D constraints into the 3D detection framework. Specifically, we employ the deep neural network to learn distinguished 2D keypoints in the 2D image domain and regress their corresponding 3D coordinates in the local 3D object coordinate first. Then the 2D/3D geometric constraints are built by these correspondences for each object to boost the detection performance. For generating the ground truth of 2D/3D keypoints, an automatic model-fitting approach has been proposed by fitting the deformed 3D object model and the object mask in the 2D image. The proposed framework has been verified on the public KITTI dataset and the experimental results demonstrate that by using additional geometrical constraints the detection performance has been significantly improved as compared to the baseline method. More importantly, the proposed framework achieves state-of-the-art performance with real time. Data and code will be available at https://github.com/zongdai/AutoShape

cs.CV↗

arXiv2021

FusionPainting: Multimodal Fusion with Adaptive Attention for 3D Object Detection

Accurate detection of obstacles in 3D is an essential task for autonomous driving and intelligent transportation. In this work, we propose a general multimodal fusion framework FusionPainting to fuse the 2D RGB image and 3D point clouds at a semantic level for boosting the 3D object detection task. Especially, the FusionPainting framework consists of three main modules: a multi-modal semantic segmentation module, an adaptive attention-based semantic fusion module, and a 3D object detector. First, semantic information is obtained for 2D images and 3D Lidar point clouds based on 2D and 3D segmentation approaches. Then the segmentation results from different sensors are adaptively fused based on the proposed attention-based semantic fusion module. Finally, the point clouds painted with the fused semantic label are sent to the 3D detector for obtaining the 3D objection results. The effectiveness of the proposed framework has been verified on the large-scale nuScenes detection benchmark by comparing it with three different baselines. The experimental results show that the fusion strategy can significantly improve the detection performance compared to the methods using only point clouds, and the methods using point clouds only painted with 2D segmentation information. Furthermore, the proposed approach outperforms other state-of-the-art methods on the nuScenes testing benchmark.

cs.CV↗

arXiv2021

Invisible for both Camera and LiDAR: Security of Multi-Sensor Fusion based Perception in Autonomous Driving Under Physical-World Attacks

In Autonomous Driving (AD) systems, perception is both security and safety critical. Despite various prior studies on its security issues, all of them only consider attacks on camera- or LiDAR-based AD perception alone. However, production AD systems today predominantly adopt a Multi-Sensor Fusion (MSF) based design, which in principle can be more robust against these attacks under the assumption that not all fusion sources are (or can be) attacked at the same time. In this paper, we present the first study of security issues of MSF-based perception in AD systems. We directly challenge the basic MSF design assumption above by exploring the possibility of attacking all fusion sources simultaneously. This allows us for the first time to understand how much security guarantee MSF can fundamentally provide as a general defense strategy for AD perception. We formulate the attack as an optimization problem to generate a physically-realizable, adversarial 3D-printed object that misleads an AD system to fail in detecting it and thus crash into it. We propose a novel attack pipeline that addresses two main design challenges: (1) non-differentiable target camera and LiDAR sensing systems, and (2) non-differentiable cell-level aggregated features popularly used in LiDAR-based AD perception. We evaluate our attack on MSF included in representative open-source industry-grade AD systems in real-world driving scenarios. Our results show that the attack achieves over 90% success rate across different object types and MSF. Our attack is also found stealthy, robust to victim positions, transferable across MSF algorithms, and physical-world realizable after being 3D-printed and captured by LiDAR and camera devices. To concretely assess the end-to-end safety impact, we further perform simulation evaluation and show that it can cause a 100% vehicle collision rate for an industry-grade AD system.

cs.CR↗

arXiv2021

Large Scale Autonomous Driving Scenarios Clustering with Self-supervised Feature Extraction

The clustering of autonomous driving scenario data can substantially benefit the autonomous driving validation and simulation systems by improving the simulation tests' completeness and fidelity. This article proposes a comprehensive data clustering framework for a large set of vehicle driving data. Existing algorithms utilize handcrafted features whose quality relies on the judgments of human experts. Additionally, the related feature compression methods are not scalable for a large data-set. Our approach thoroughly considers the traffic elements, including both in-traffic agent objects and map information. Meanwhile, we proposed a self-supervised deep learning approach for spatial and temporal feature extraction to avoid biased data representation. With the newly designed driving data clustering evaluation metrics based on data-augmentation, the accuracy assessment does not require a human-labeled data-set, which is subject to human bias. Via such unprejudiced evaluation metrics, we have shown our approach surpasses the existing methods that rely on handcrafted feature extractions.

cs.CV↗