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Xinxin Chen

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ICML Conference 2025 Conference Paper

DriveGPT: Scaling Autoregressive Behavior Models for Driving

  • Xin Huang
  • Eric M. Wolff
  • Paul Vernaza
  • Tung Phan-Minh
  • Hongge Chen
  • David S. Hayden
  • Mark Edmonds
  • Brian Pierce

We present DriveGPT, a scalable behavior model for autonomous driving. We model driving as a sequential decision-making task, and learn a transformer model to predict future agent states as tokens in an autoregressive fashion. We scale up our model parameters and training data by multiple orders of magnitude, enabling us to explore the scaling properties in terms of dataset size, model parameters, and compute. We evaluate DriveGPT across different scales in a planning task, through both quantitative metrics and qualitative examples, including closed-loop driving in complex real-world scenarios. In a separate prediction task, DriveGPT outperforms state-of-the-art baselines and exhibits improved performance by pretraining on a large-scale dataset, further validating the benefits of data scaling.

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AAAI Conference 2021 Conference Paper

HR-Depth: High Resolution Self-Supervised Monocular Depth Estimation

  • Xiaoyang Lyu
  • Liang Liu
  • Mengmeng Wang
  • Xin Kong
  • Lina Liu
  • Yong Liu
  • Xinxin Chen
  • Yi Yuan

Self-supervised learning shows great potential in monocular depth estimation, using image sequences as the only source of supervision. Although people try to use high-resolution image for depth estimation, the accuracy of prediction has not been significantly improved. In this work, we find the core reason comes from the inaccurate depth estimation in large gradient regions, making the bilinear interpolation error gradually disappear as the resolution increases. To obtain more accurate depth estimation in large gradient regions, it is necessary to obtain high-resolution features with spatial and semantic information. Therefore, we present an improved DepthNet, HR-Depth, with two effective strategies: (1) redesign the skip-connection in DepthNet to get better highresolution features and (2) propose feature fusion Squeezeand-Excitation(fSE) module to fuse feature more efficiently. Using Resnet-18 as the encoder, HR-Depth surpasses all previous state-of-the-art(SoTA) methods with the least parameters at both high and low resolution. Moreover, previous SoTA methods are based on fairly complex and deep networks with many parameters which limits their real applications. Thus we also construct a lightweight network which uses MobileNetV3 as encoder. Experiments show that the lightweight network can perform on par with many large models like Monodepth2 at high-resolution with only 20% parameters. All codes and models will be available at https: //github. com/shawLyu/HR-Depth.

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