arXiv subjects

Kun Zhan

Publications and source records attributed to Kun Zhan.

At least 91 records · Page 5Linked to original sources

arXiv2025

BS-Mamba for Black-Soil Area Detection On the Qinghai-Tibetan Plateau

Extremely degraded grassland on the Qinghai-Tibetan Plateau (QTP) presents a significant environmental challenge due to overgrazing, climate change, and rodent activity, which degrade vegetation cover and soil quality. These extremely degraded grassland on QTP, commonly referred to as black-soil area, require accurate assessment to guide effective restoration efforts. In this paper, we present a newly created QTP black-soil dataset, annotated under expert guidance. We introduce a novel neural network model, BS-Mamba, specifically designed for the black-soil area detection using UAV remote sensing imagery. The BS-Mamba model demonstrates higher accuracy in identifying black-soil area across two independent test datasets than the state-of-the-art models. This research contributes to grassland restoration by providing an efficient method for assessing the extent of black-soil area on the QTP.

cs.CV↗

arXiv2025

Hierarchical Consensus Network for Multiview Feature Learning

Multiview feature learning aims to learn discriminative features by integrating the distinct information in each view. However, most existing methods still face significant challenges in learning view-consistency features, which are crucial for effective multiview learning. Motivated by the theories of CCA and contrastive learning in multiview feature learning, we propose the hierarchical consensus network (HCN) in this paper. The HCN derives three consensus indices for capturing the hierarchical consensus across views, which are classifying consensus, coding consensus, and global consensus, respectively. Specifically, classifying consensus reinforces class-level correspondence between views from a CCA perspective, while coding consensus closely resembles contrastive learning and reflects contrastive comparison of individual instances. Global consensus aims to extract consensus information from two perspectives simultaneously. By enforcing the hierarchical consensus, the information within each view is better integrated to obtain more comprehensive and discriminative features. The extensive experimental results obtained on four multiview datasets demonstrate that the proposed method significantly outperforms several state-of-the-art methods.

cs.CV↗

arXiv2025

BrainGuard: Privacy-Preserving Multisubject Image Reconstructions from Brain Activities

Reconstructing perceived images from human brain activity forms a crucial link between human and machine learning through Brain-Computer Interfaces. Early methods primarily focused on training separate models for each individual to account for individual variability in brain activity, overlooking valuable cross-subject commonalities. Recent advancements have explored multisubject methods, but these approaches face significant challenges, particularly in data privacy and effectively managing individual variability. To overcome these challenges, we introduce BrainGuard, a privacy-preserving collaborative training framework designed to enhance image reconstruction from multisubject fMRI data while safeguarding individual privacy. BrainGuard employs a collaborative global-local architecture where individual models are trained on each subject's local data and operate in conjunction with a shared global model that captures and leverages cross-subject patterns. This architecture eliminates the need to aggregate fMRI data across subjects, thereby ensuring privacy preservation. To tackle the complexity of fMRI data, BrainGuard integrates a hybrid synchronization strategy, enabling individual models to dynamically incorporate parameters from the global model. By establishing a secure and collaborative training environment, BrainGuard not only protects sensitive brain data but also improves the image reconstructions accuracy. Extensive experiments demonstrate that BrainGuard sets a new benchmark in both high-level and low-level metrics, advancing the state-of-the-art in brain decoding through its innovative design.

cs.CV↗

arXiv2024

ReconDreamer: Crafting World Models for Driving Scene Reconstruction via Online Restoration

Closed-loop simulation is crucial for end-to-end autonomous driving. Existing sensor simulation methods (e.g., NeRF and 3DGS) reconstruct driving scenes based on conditions that closely mirror training data distributions. However, these methods struggle with rendering novel trajectories, such as lane changes. Recent works have demonstrated that integrating world model knowledge alleviates these issues. Despite their efficiency, these approaches still encounter difficulties in the accurate representation of more complex maneuvers, with multi-lane shifts being a notable example. Therefore, we introduce ReconDreamer, which enhances driving scene reconstruction through incremental integration of world model knowledge. Specifically, DriveRestorer is proposed to mitigate artifacts via online restoration. This is complemented by a progressive data update strategy designed to ensure high-quality rendering for more complex maneuvers. To the best of our knowledge, ReconDreamer is the first method to effectively render in large maneuvers. Experimental results demonstrate that ReconDreamer outperforms Street Gaussians in the NTA-IoU, NTL-IoU, and FID, with relative improvements by 24.87%, 6.72%, and 29.97%. Furthermore, ReconDreamer surpasses DriveDreamer4D with PVG during large maneuver rendering, as verified by a relative improvement of 195.87% in the NTA-IoU metric and a comprehensive user study.

cs.CV↗

arXiv2024

DrivingSphere: Building a High-fidelity 4D World for Closed-loop Simulation

Autonomous driving evaluation requires simulation environments that closely replicate actual road conditions, including real-world sensory data and responsive feedback loops. However, many existing simulations need to predict waypoints along fixed routes on public datasets or synthetic photorealistic data, \ie, open-loop simulation usually lacks the ability to assess dynamic decision-making. While the recent efforts of closed-loop simulation offer feedback-driven environments, they cannot process visual sensor inputs or produce outputs that differ from real-world data. To address these challenges, we propose DrivingSphere, a realistic and closed-loop simulation framework. Its core idea is to build 4D world representation and generate real-life and controllable driving scenarios. In specific, our framework includes a Dynamic Environment Composition module that constructs a detailed 4D driving world with a format of occupancy equipping with static backgrounds and dynamic objects, and a Visual Scene Synthesis module that transforms this data into high-fidelity, multi-view video outputs, ensuring spatial and temporal consistency. By providing a dynamic and realistic simulation environment, DrivingSphere enables comprehensive testing and validation of autonomous driving algorithms, ultimately advancing the development of more reliable autonomous cars. The benchmark will be publicly released.

cs.RO↗

arXiv2024

Generalizing Motion Planners with Mixture of Experts for Autonomous Driving

Large real-world driving datasets have sparked significant research into various aspects of data-driven motion planners for autonomous driving. These include data augmentation, model architecture, reward design, training strategies, and planner pipelines. These planners promise better generalizations on complicated and few-shot cases than previous methods. However, experiment results show that many of these approaches produce limited generalization abilities in planning performance due to overly complex designs or training paradigms. In this paper, we review and benchmark previous methods focusing on generalizations. The experimental results indicate that as models are appropriately scaled, many design elements become redundant. We introduce StateTransformer-2 (STR2), a scalable, decoder-only motion planner that uses a Vision Transformer (ViT) encoder and a mixture-of-experts (MoE) causal Transformer architecture. The MoE backbone addresses modality collapse and reward balancing by expert routing during training. Extensive experiments on the NuPlan dataset show that our method generalizes better than previous approaches across different test sets and closed-loop simulations. Furthermore, we assess its scalability on billions of real-world urban driving scenarios, demonstrating consistent accuracy improvements as both data and model size grow.

cs.RO↗

arXiv2024

DiVE: DiT-based Video Generation with Enhanced Control

Generating high-fidelity, temporally consistent videos in autonomous driving scenarios faces a significant challenge, e.g. problematic maneuvers in corner cases. Despite recent video generation works are proposed to tackcle the mentioned problem, i.e. models built on top of Diffusion Transformers (DiT), works are still missing which are targeted on exploring the potential for multi-view videos generation scenarios. Noticeably, we propose the first DiT-based framework specifically designed for generating temporally and multi-view consistent videos which precisely match the given bird's-eye view layouts control. Specifically, the proposed framework leverages a parameter-free spatial view-inflated attention mechanism to guarantee the cross-view consistency, where joint cross-attention modules and ControlNet-Transformer are integrated to further improve the precision of control. To demonstrate our advantages, we extensively investigate the qualitative comparisons on nuScenes dataset, particularly in some most challenging corner cases. In summary, the effectiveness of our proposed method in producing long, controllable, and highly consistent videos under difficult conditions is proven to be effective.

cs.CV↗

arXiv2024

Street Gaussians: Modeling Dynamic Urban Scenes with Gaussian Splatting

This paper aims to tackle the problem of modeling dynamic urban streets for autonomous driving scenes. Recent methods extend NeRF by incorporating tracked vehicle poses to animate vehicles, enabling photo-realistic view synthesis of dynamic urban street scenes. However, significant limitations are their slow training and rendering speed. We introduce Street Gaussians, a new explicit scene representation that tackles these limitations. Specifically, the dynamic urban scene is represented as a set of point clouds equipped with semantic logits and 3D Gaussians, each associated with either a foreground vehicle or the background. To model the dynamics of foreground object vehicles, each object point cloud is optimized with optimizable tracked poses, along with a 4D spherical harmonics model for the dynamic appearance. The explicit representation allows easy composition of object vehicles and background, which in turn allows for scene editing operations and rendering at 135 FPS (1066 $\times$ 1600 resolution) within half an hour of training. The proposed method is evaluated on multiple challenging benchmarks, including KITTI and Waymo Open datasets. Experiments show that the proposed method consistently outperforms state-of-the-art methods across all datasets. The code will be released to ensure reproducibility.

cs.CV↗

arXiv2024

Lesion-aware network for diabetic retinopathy diagnosis

Deep learning brought boosts to auto diabetic retinopathy (DR) diagnosis, thus, greatly helping ophthalmologists for early disease detection, which contributes to preventing disease deterioration that may eventually lead to blindness. It has been proved that convolutional neural network (CNN)-aided lesion identifying or segmentation benefits auto DR screening. The key to fine-grained lesion tasks mainly lies in: (1) extracting features being both sensitive to tiny lesions and robust against DR-irrelevant interference, and (2) exploiting and re-using encoded information to restore lesion locations under extremely imbalanced data distribution. To this end, we propose a CNN-based DR diagnosis network with attention mechanism involved, termed lesion-aware network, to better capture lesion information from imbalanced data. Specifically, we design the lesion-aware module (LAM) to capture noise-like lesion areas across deeper layers, and the feature-preserve module (FPM) to assist shallow-to-deep feature fusion. Afterward, the proposed lesion-aware network (LANet) is constructed by embedding the LAM and FPM into the CNN decoders for DR-related information utilization. The proposed LANet is then further extended to a DR screening network by adding a classification layer. Through experiments on three public fundus datasets with pixel-level annotations, our method outperforms the mainstream methods with an area under curve of 0.967 in DR screening, and increases the overall average precision by 7.6%, 2.1%, and 1.2% in lesion segmentation on three datasets. Besides, the ablation study validates the effectiveness of the proposed sub-modules.

eess.IV↗

arXiv2024

Autonomous LLM-Enhanced Adversarial Attack for Text-to-Motion

Human motion generation driven by deep generative models has enabled compelling applications, but the ability of text-to-motion (T2M) models to produce realistic motions from text prompts raises security concerns if exploited maliciously. Despite growing interest in T2M, few methods focus on safeguarding these models against adversarial attacks, with existing work on text-to-image models proving insufficient for the unique motion domain. In the paper, we propose ALERT-Motion, an autonomous framework leveraging large language models (LLMs) to craft targeted adversarial attacks against black-box T2M models. Unlike prior methods modifying prompts through predefined rules, ALERT-Motion uses LLMs' knowledge of human motion to autonomously generate subtle yet powerful adversarial text descriptions. It comprises two key modules: an adaptive dispatching module that constructs an LLM-based agent to iteratively refine and search for adversarial prompts; and a multimodal information contrastive module that extracts semantically relevant motion information to guide the agent's search. Through this LLM-driven approach, ALERT-Motion crafts adversarial prompts querying victim models to produce outputs closely matching targeted motions, while avoiding obvious perturbations. Evaluations across popular T2M models demonstrate ALERT-Motion's superiority over previous methods, achieving higher attack success rates with stealthier adversarial prompts. This pioneering work on T2M adversarial attacks highlights the urgency of developing defensive measures as motion generation technology advances, urging further research into safe and responsible deployment.

cs.CV↗

arXiv2024

High-Resolution Cloud Detection Network

The complexity of clouds, particularly in terms of texture detail at high resolutions, has not been well explored by most existing cloud detection networks. This paper introduces the High-Resolution Cloud Detection Network (HR-cloud-Net), which utilizes a hierarchical high-resolution integration approach. HR-cloud-Net integrates a high-resolution representation module, layer-wise cascaded feature fusion module, and multi-resolution pyramid pooling module to effectively capture complex cloud features. This architecture preserves detailed cloud texture information while facilitating feature exchange across different resolutions, thereby enhancing overall performance in cloud detection. Additionally, a novel approach is introduced wherein a student view, trained on noisy augmented images, is supervised by a teacher view processing normal images. This setup enables the student to learn from cleaner supervisions provided by the teacher, leading to improved performance. Extensive evaluations on three optical satellite image cloud detection datasets validate the superior performance of HR-cloud-Net compared to existing methods.The source code is available at \url{https://github.com/kunzhan/HR-cloud-Net}.

cs.CV↗

arXiv2024

High power GaSb-based distributed feedback laser with laterally coupled dielectric gratings at 1.95μm

Traditional Distributed Feedback (DFB) or Distributed Bragg Reflector (DBR) lasers typically utilize buried gratings as frequency-selective optical feedback mechanisms. However, the fabrication of such gratings often necessitates regrowth processes, which can pose technical challenges for materials platforms such as GaAs and GaSb. Metal gratings were also used for GaSb lasers but they introduce additional absorption loss that limits device efficiency and output power. In this paper, we introduce a novel laterally coupled dielectric Bragg grating structure, which enables highly controllable, deterministic, and stable coupling between the grating and the optical mode. Our device demonstrates a continuous-wave output power of 47.02 mW at room temperature, exhibiting stable single-mode operation from 300-1000 mA and achieving a maximum side mode suppression ratio of 46.7 dB. These results underscore the innovative lateral coupled dielectric grating as a feasible and technologically superior approach for fabricating DFB and DBR lasers, which hold universal applicability across different material platforms and wavelength bands.

physics.optics↗

arXiv2024

Structure-Aware Consensus Network on Graphs with Few Labeled Nodes

Graph node classification with few labeled nodes presents significant challenges due to limited supervision. Conventional methods often exploit the graph in a transductive learning manner. They fail to effectively utilize the abundant unlabeled data and the structural information inherent in graphs. To address these issues, we introduce a Structure-Aware Consensus Network (SACN) from three perspectives. Firstly, SACN leverages a novel structure-aware consensus learning strategy between two strongly augmented views. The proposed strategy can fully exploit the potentially useful information of the unlabeled nodes and the structural information of the entire graph. Secondly, SACN uniquely integrates the graph's structural information to achieve strong-to-strong consensus learning, improving the utilization of unlabeled data while maintaining multiview learning. Thirdly, unlike two-branch graph neural network-based methods, SACN is designed for multiview feature learning within a single-branch architecture. Furthermore, a class-aware pseudolabel selection strategy helps address class imbalance and achieve effective weak-to-strong supervision. Extensive experiments on three benchmark datasets demonstrate SACN's superior performance in node classification tasks, particularly at very low label rates, outperforming state-of-the-art methods while maintaining computational simplicity.The source code is available at https://github.com/kunzhan/SACN

cs.LG↗

arXiv2024

DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models

A primary hurdle of autonomous driving in urban environments is understanding complex and long-tail scenarios, such as challenging road conditions and delicate human behaviors. We introduce DriveVLM, an autonomous driving system leveraging Vision-Language Models (VLMs) for enhanced scene understanding and planning capabilities. DriveVLM integrates a unique combination of reasoning modules for scene description, scene analysis, and hierarchical planning. Furthermore, recognizing the limitations of VLMs in spatial reasoning and heavy computational requirements, we propose DriveVLM-Dual, a hybrid system that synergizes the strengths of DriveVLM with the traditional autonomous driving pipeline. Experiments on both the nuScenes dataset and our SUP-AD dataset demonstrate the efficacy of DriveVLM and DriveVLM-Dual in handling complex and unpredictable driving conditions. Finally, we deploy the DriveVLM-Dual on a production vehicle, verifying it is effective in real-world autonomous driving environments.

cs.CV↗

arXiv2024

BEV-TSR: Text-Scene Retrieval in BEV Space for Autonomous Driving

The rapid development of the autonomous driving industry has led to a significant accumulation of autonomous driving data. Consequently, there comes a growing demand for retrieving data to provide specialized optimization. However, directly applying previous image retrieval methods faces several challenges, such as the lack of global feature representation and inadequate text retrieval ability for complex driving scenes. To address these issues, firstly, we propose the BEV-TSR framework which leverages descriptive text as an input to retrieve corresponding scenes in the Bird's Eye View (BEV) space. Then to facilitate complex scene retrieval with extensive text descriptions, we employ a large language model (LLM) to extract the semantic features of the text inputs and incorporate knowledge graph embeddings to enhance the semantic richness of the language embedding. To achieve feature alignment between the BEV feature and language embedding, we propose Shared Cross-modal Embedding with a set of shared learnable embeddings to bridge the gap between these two modalities, and employ a caption generation task to further enhance the alignment. Furthermore, there lack of well-formed retrieval datasets for effective evaluation. To this end, we establish a multi-level retrieval dataset, nuScenes-Retrieval, based on the widely adopted nuScenes dataset. Experimental results on the multi-level nuScenes-Retrieval show that BEV-TSR achieves state-of-the-art performance, e.g., 85.78% and 87.66% top-1 accuracy on scene-to-text and text-to-scene retrieval respectively. Codes and datasets will be available.

cs.CV↗

arXiv2024

Unleashing Generalization of End-to-End Autonomous Driving with Controllable Long Video Generation

Using generative models to synthesize new data has become a de-facto standard in autonomous driving to address the data scarcity issue. Though existing approaches are able to boost perception models, we discover that these approaches fail to improve the performance of planning of end-to-end autonomous driving models as the generated videos are usually less than 8 frames and the spatial and temporal inconsistencies are not negligible. To this end, we propose Delphi, a novel diffusion-based long video generation method with a shared noise modeling mechanism across the multi-views to increase spatial consistency, and a feature-aligned module to achieves both precise controllability and temporal consistency. Our method can generate up to 40 frames of video without loss of consistency which is about 5 times longer compared with state-of-the-art methods. Instead of randomly generating new data, we further design a sampling policy to let Delphi generate new data that are similar to those failure cases to improve the sample efficiency. This is achieved by building a failure-case driven framework with the help of pre-trained visual language models. Our extensive experiment demonstrates that our Delphi generates a higher quality of long videos surpassing previous state-of-the-art methods. Consequentially, with only generating 4% of the training dataset size, our framework is able to go beyond perception and prediction tasks, for the first time to the best of our knowledge, boost the planning performance of the end-to-end autonomous driving model by a margin of 25%.

cs.CV↗

arXiv2024

TOD3Cap: Towards 3D Dense Captioning in Outdoor Scenes

3D dense captioning stands as a cornerstone in achieving a comprehensive understanding of 3D scenes through natural language. It has recently witnessed remarkable achievements, particularly in indoor settings. However, the exploration of 3D dense captioning in outdoor scenes is hindered by two major challenges: 1) the domain gap between indoor and outdoor scenes, such as dynamics and sparse visual inputs, makes it difficult to directly adapt existing indoor methods; 2) the lack of data with comprehensive box-caption pair annotations specifically tailored for outdoor scenes. To this end, we introduce the new task of outdoor 3D dense captioning. As input, we assume a LiDAR point cloud and a set of RGB images captured by the panoramic camera rig. The expected output is a set of object boxes with captions. To tackle this task, we propose the TOD3Cap network, which leverages the BEV representation to generate object box proposals and integrates Relation Q-Former with LLaMA-Adapter to generate rich captions for these objects. We also introduce the TOD3Cap dataset, the largest one to our knowledge for 3D dense captioning in outdoor scenes, which contains 2.3M descriptions of 64.3K outdoor objects from 850 scenes. Notably, our TOD3Cap network can effectively localize and caption 3D objects in outdoor scenes, which outperforms baseline methods by a significant margin (+9.6 CiDEr@0.5IoU). Code, data, and models are publicly available at https://github.com/jxbbb/TOD3Cap.

cs.CV↗

arXiv2024

PlanAgent: A Multi-modal Large Language Agent for Closed-loop Vehicle Motion Planning

Vehicle motion planning is an essential component of autonomous driving technology. Current rule-based vehicle motion planning methods perform satisfactorily in common scenarios but struggle to generalize to long-tailed situations. Meanwhile, learning-based methods have yet to achieve superior performance over rule-based approaches in large-scale closed-loop scenarios. To address these issues, we propose PlanAgent, the first mid-to-mid planning system based on a Multi-modal Large Language Model (MLLM). MLLM is used as a cognitive agent to introduce human-like knowledge, interpretability, and common-sense reasoning into the closed-loop planning. Specifically, PlanAgent leverages the power of MLLM through three core modules. First, an Environment Transformation module constructs a Bird's Eye View (BEV) map and a lane-graph-based textual description from the environment as inputs. Second, a Reasoning Engine module introduces a hierarchical chain-of-thought from scene understanding to lateral and longitudinal motion instructions, culminating in planner code generation. Last, a Reflection module is integrated to simulate and evaluate the generated planner for reducing MLLM's uncertainty. PlanAgent is endowed with the common-sense reasoning and generalization capability of MLLM, which empowers it to effectively tackle both common and complex long-tailed scenarios. Our proposed PlanAgent is evaluated on the large-scale and challenging nuPlan benchmarks. A comprehensive set of experiments convincingly demonstrates that PlanAgent outperforms the existing state-of-the-art in the closed-loop motion planning task. Codes will be soon released.

cs.RO↗