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Jiale Cao

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4 papers

2 author rows

ICLR Conference 2025 Conference Paper

Glad: A Streaming Scene Generator for Autonomous Driving

Bin Xie
Yingfei Liu
Tiancai Wang
Jiale Cao
Xiangyu Zhang 0005

The generation and simulation of diverse real-world scenes have significant application value in the field of autonomous driving, especially for the corner cases. Recently, researchers have explored employing neural radiance fields or diffusion models to generate novel views or synthetic data under driving scenes. However, these approaches suffer from unseen scenes or restricted video length, thus lacking sufficient adaptability for data generation and simulation. To address these issues, we propose a simple yet effective framework, named Glad, to generate video data in a frame-by-frame style. To ensure the temporal consistency of synthetic video, we introduce a latent variable propagation module, which views the latent features of previous frame as noise prior and injects it into the latent features of current frame. In addition, we design a streaming data sampler to orderly sample the original image in a video clip at continuous iterations. Given the reference frame, our Glad can be viewed as a streaming simulator by generating the videos for specific scenes. Extensive experiments are performed on the widely-used nuScenes dataset. Experimental results demonstrate that our proposed Glad achieves promising performance, serving as a strong baseline for online video generation. We will release the source code and models publicly.

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AAAI Conference 2025 Conference Paper

SSLFusion: Scale and Space Aligned Latent Fusion Model for Multimodal 3D Object Detection

Bonan Ding
Jin Xie
Jing Nie
Jiale Cao

Multimodal 3D object detection based on deep neural networks has indeed made significant progress. However, it still faces challenges due to the misalignment of scale and spatial information between features extracted from 2D images and those derived from 3D point clouds. Existing methods usually aggregate multimodal features at a single stage. However, leveraging multi-stage cross-modal features is crucial for detecting objects of various scales. Therefore, these methods often struggle to integrate features across different scales and modalities effectively, thereby restricting the accuracy of detection. Additionally, the time-consuming Query-Key-Value-based (QKV-based) cross-attention operations often utilized in existing methods aid in reasoning the location and existence of objects by capturing non-local contexts. However, this approach tends to increase computational complexity. To address these challenges, we present SSLFusion, a novel Scale & Space Aligned Latent Fusion Model, consisting of a scale-aligned fusion strategy (SAF), a 3D-to-2D space alignment module (SAM), and a latent cross-modal fusion module (LFM). SAF mitigates scale misalignment between modalities by aggregating features from both images and point clouds across multiple levels. SAM is designed to reduce the inter-modal gap between features from images and point clouds by incorporating 3D coordinate information into 2D image features. Additionally, LFM captures cross-modal non-local contexts in the latent space without utilizing the QKV-based attention operations, thus mitigating computational complexity. Experiments on the KITTI and DENSE datasets demonstrate that our SSLFusion outperforms state-of-the-art methods. Our approach obtains an absolute gain of 2.15% in 3D AP, compared with the state-of-art method GraphAlign on the moderate level of the KITTI test set.

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JBHI Journal 2022 Journal Article

Continuous Seizure Detection Based on Transformer and Long-Term iEEG

Yulin Sun
Weipeng Jin
Xiaopeng Si
Xingjian Zhang
Jiale Cao
Le Wang
Shaoya Yin
Dong Ming

Automatic seizure detection algorithms are necessary for patients with refractory epilepsy. Many excellent algorithms have achieved good results in seizure detection. Still, most of them are based on discontinuous intracranial electroencephalogram (iEEG) and ignore the impact of different channels on detection. This study aimed to evaluate the proposed algorithm using continuous, long-term iEEG to show its applicability in clinical routine. In this study, we introduced the ability of the transformer network to calculate the attention between the channels of input signals into seizure detection. We proposed an end-to-end model that included convolution and transformer layers. The model did not need feature engineering or format transformation of the original multi-channel time series. Through evaluation on two datasets, we demonstrated experimentally that the transformer layer could improve the performance of the seizure detection algorithm. For the SWEC-ETHZ iEEG dataset, we achieved 97. 5% event-based sensitivity, 0. 06/h FDR, and 13. 7 s latency. For the TJU-HH iEEG dataset, we achieved 98. 1% event-based sensitivity, 0. 22/h FDR, and 9. 9 s latency. In addition, statistics showed that the model allocated more attention to the channels close to the seizure onset zone within 20 s after the seizure onset, which improved the explainability of the model. This paper provides a new method to improve the performance and explainability of automatic seizure detection.

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AAAI Conference 2021 Conference Paper

Co-mining: Self-Supervised Learning for Sparsely Annotated Object Detection

Tiancai Wang
Tong Yang
Jiale Cao
Xiangyu Zhang

Object detectors usually achieve promising results with the supervision of complete instance annotations. However, their performance is far from satisfactory with sparse instance annotations. Most existing methods for sparsely annotated object detection either re-weight the loss of hard negative samples or convert the unlabeled instances into ignored regions to reduce the interference of false negatives. We argue that these strategies are insufficient since they can at most alleviate the negative effect caused by missing annotations. In this paper, we propose a simple but effective mechanism, called Co-mining, for sparsely annotated object detection. In our Co-mining, two branches of a Siamese network predict the pseudo-label sets for each other. To enhance multi-view learning and better mine unlabeled instances, the original image and corresponding augmented image are used as the inputs of two branches of the Siamese network, respectively. Co-mining can serve as a general training mechanism applied to most of modern object detectors. Experiments are performed on MS COCO dataset with three different sparsely annotated settings using two typical frameworks: anchorbased detector RetinaNet and anchor-free detector FCOS. Experimental results show that our Co-mining with RetinaNet achieves 1. 4 % ∼ 2. 1% improvements compared with different baselines and surpasses existing methods under the same sparsely annotated setting.

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