Cheng-Zhong Xu

• PhD in computer science
• Chair Professor at University of Macau

There are two crucial aspects of reliable autonomous driving systems: the reasoning behind decision-making and the precision of environmental perception. This paper introduces DME-Driver, a new autonomous driving system that enhances performance and robustness by fully leveraging the two crucial aspects. This system comprises two main models. The f...

Accurate trajectory prediction is essential for the safety and efficiency of autonomous driving. Traditional models often struggle with real-time processing, capturing non-linearity and uncertainty in traffic environments, efficiency in dense traffic, and modeling temporal dynamics of interactions. We introduce NEST (Neuromodulated Small-world Hype...

A new trend in the computer vision community is to capture objects of interest following flexible human command represented by a natural language prompt. However, the progress of using language prompts in driving scenarios is stuck in a bottleneck due to the scarcity of paired prompt-instance data. To address this challenge, we propose the first ob...

Federated Learning (FL) enables collaborative learning from distributed data while preserving the privacy of participating clients. While supervised federated learning with labeled data has made notable strides and achieved success, federated semi-supervised learning (FSSL) lags in its progress. Existing works for FSSL heavily rely on fully-labeled...

To enhance autonomous driving, innovative approaches have been proposed to generate simulated LiDAR data. However, these methods often face challenges in producing high-quality and controllable foreground objects. To cater to the needs of object-aware tasks in 3D perception, we introduce OLiDM, a novel framework capable of generating controllable a...

Transformers are the cornerstone of modern large language models, but their quadratic computational complexity limits efficiency in long-sequence processing. Recent advancements in Mamba, a state space model (SSM) with linear complexity, offer promising efficiency gains but suffer from unstable contextual learning and multitask generalization. This...

The increasing emphasis on privacy and data security has driven the adoption of federated learning, a decentralized approach to train machine learning models without sharing raw data. Prompt learning, which fine-tunes prompt embeddings of pretrained models, offers significant advantages in federated settings by reducing computational costs and comm...

Accurate motion forecasting is essential for the safety and reliability of autonomous driving (AD) systems. While existing methods have made significant progress, they often overlook explicit safety constraints and struggle to capture the complex interactions among traffic agents, environmental factors, and motion dynamics. To address these challen...

Depression is one of the most common mood disorders and the number of patients increases significantly in recent years. Due to the lack of biomarkers, conversation between patients and psychiatrists is still the main clinical diagnostic method which is easily influenced by subjectivity of both patients and psychiatrists. Synthetic House-tree-person...

OpenStreetMap (OSM) has gained popularity recently in autonomous navigation due to its public accessibility, lower maintenance costs, and broader geographical coverage. However, existing methods often struggle with noisy OSM data and incomplete sensor observations, leading to inaccuracies in trajectory planning. These challenges are particularly ev...

Federated learning (FL) is a new learning paradigm that enables multiple clients to collaboratively train a high-performance model while preserving user privacy. However, the effectiveness of FL heavily relies on the availability of accurately labeled data, which can be challenging to obtain in real-world scenarios. To address this issue and robust...

Large Language Models (LLMs) have achieved remarkable success across a wide range of tasks, with fine-tuning playing a pivotal role in adapting them to specific downstream applications. Federated Learning (FL) offers a promising approach that enables collaborative model adaptation while ensuring data privacy, i.e., FedLLM. In this survey, we provid...

Accurate motion forecasting is crucial for safe autonomous driving (AD). This study proposes CoT-Drive, a novel approach that enhances motion forecasting by leveraging large language models (LLMs) and a chain-of-thought (CoT) prompting method. We introduce a teacher-student knowledge distillation strategy to effectively transfer LLMs' advanced scen...

Navigating a nonholonomic robot in a cluttered, unknown environment requires accurate perception and precise motion control for real-time collision avoidance. This paper presents NeuPAN: a real-time, highly accurate, map-free, easy-to-deploy, and environment-invariant robot motion planner. Leveraging a tightly coupled perception-to-control framewor...

Accurate and robust state estimation at nighttime is essential for autonomous robotic navigation to achieve nocturnal or round-the-clock tasks. An intuitive question arises: Can low-cost standard cameras be exploited for nocturnal state estimation? Regrettably, most existing visual methods may fail under adverse illumination conditions, even with a...

In mixed autonomous driving environments, accurately predicting the future trajectories of surrounding vehicles is crucial for the safe operation of autonomous vehicles (AVs). In driving scenarios, a vehicle's trajectory is determined by the decision-making process of human drivers. However, existing models primarily focus on the inherent statistic...

Addressing the pervasive challenge of imperfect data in autonomous vehicle (AV) systems, this study pioneers an integrated trajectory prediction model, WAKE, that fuses physics-informed methodologies with sophisticated machine learning techniques. Our model operates in two principal stages: the initial stage utilizes a Wavelet Reconstruction Networ...

Microservice architecture has transformed traditional monolithic applications into lightweight components. Scaling these lightweight microservices is more efficient than scaling servers. However, scaling microservices still faces the challenges resulted from the unexpected spikes or bursts of requests, which are difficult to detect and can degrade...

Low-precision training is considered an effective strategy for reducing both training and downstream inference costs. Previous scaling laws for precision mainly focus on integer quantization, which pay less attention to the constituents in floating-point quantization and thus cannot well fit the LLM losses in this scenario. In contrast, while float...

WiFi channel state information (CSI) based fall detection is highly sensitive to different environments. Existing work ignores the CSI subcarrier mutual information which carries critical characteristic of each activity and is robust to environment. In this paper, we propose a data-efficient DapFall system, which enables cross-environment fall dete...

Accurate and robust state estimation at nighttime is essential for autonomous robotic navigation to achieve nocturnal or round-the-clock tasks. An intuitive question arises: Can low-cost standard cameras be exploited for nocturnal state estimation? Regrettably, most existing visual methods may fail under adverse illumination conditions, even with a...

In mixed autonomous driving environments, accurately predicting the future trajectories of surrounding vehicles is crucial for the safe operation of autonomous vehicles (AVs). In driving scenarios, a vehicle’s trajectory is determined by the decision-making process of human drivers. However, existing models primarily focus on the inherent statistic...

Most autonomous driving (AD) datasets incur substantial costs for collection and labeling, inevitably yielding a plethora of low-quality and redundant data instances, thereby compromising performance and efficiency. Many applications in AD systems necessitate high-quality training datasets using both existing datasets and newly collected data. In t...

Online map matching (MM) aligns real-time GPS trajectories with digital road networks, playing a vital role in vehicle navigation, route planning, and traffic analysis. Hidden Markov Models (HMMs) are widely used for their interpretability and ability to handle low GPS sampling rates. However, in urban scenarios characterized by complex road networ...

Occlusion is a key factor leading to detection failures. This paper proposes a motion-assisted detection (MAD) method that actively plans an executable path, for the robot to observe the target at a new viewpoint with potentially reduced occlusion. In contrast to existing MAD approaches that may fail in cluttered environments, the proposed framewor...

To enhance autonomous driving safety in complex scenarios, various methods have been proposed to simulate LiDAR point cloud data. Nevertheless, these methods often face challenges in producing high-quality, diverse, and controllable foreground objects. To address the needs of object-aware tasks in 3D perception, we introduce OLiDM, a novel framewor...

Accurate trajectory prediction is essential for the safety and efficiency of autonomous driving. Traditional models often struggle with real-time processing, capturing non-linearity and uncertainty in traffic environments, efficiency in dense traffic, and modeling temporal dynamics of interactions. We introduce NEST (Neuromodulated Small-world Hype...

The recent advancements in integrated sensing and communications (ISACs) technology have introduced new possibilities to address the quality of communication and high-resolution positioning requirements in the next-generation wireless communication network (6G) vehicle-to-everything (V2X). Simultaneously providing high-accurate positioning and high...

Objective The microservices architecture has become a dominant paradigm in cloud computing due to its advantages in development, deployment, modularity, and scalability. Ensuring Quality of Service (QoS) through efficient Service Level Objective (SLO) resource allocation is a critical challenge. Current frameworks for microservice autoscaling based...

Federated Learning (FL) enables multiple devices to collaboratively train a shared model while preserving data privacy. Ever-increasing model complexity coupled with limited memory resources on the participating devices severely bottlenecks the deployment of FL in real-world scenarios. Thus, a framework that can effectively break the memory wall wh...

Robust initialization is crucial for online systems. In the letter, a high-frequency and resilient initialization framework is designed for LiDAR-inertial systems, leveraging both inertial sensors and Doppler LiDAR. The innovative FMCW Doppler LiDAR opens up a novel avenue for robotic sensing by capturing not only point range but also Doppler veloc...

Microservices architecture has become the dominant architecture in cloud computing paradigm with its advantages of facilitating development, deployment, modularity and scalability. The workflow of microservices architecture is transparent to the users, who are concerned with the quality of service (QoS). Taking Service Level Objective (SLO) as an i...

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 th...

In this paper, we introduce Hunyuan-Large, which is currently the largest open-source Transformer-based mixture of experts model, with a total of 389 billion parameters and 52 billion activation parameters, capable of handling up to 256K tokens. We conduct a thorough evaluation of Hunyuan-Large's superior performance across various benchmarks inclu...

Microservices have transformed monolithic applications into lightweight, self-contained, and isolated application components, establishing themselves as a dominant paradigm for application development and deployment in public clouds such as Google and Alibaba. Autoscaling emerges as an efficient strategy for managing resources allocated to microser...

Short-term OD flow (i.e. the number of passenger traveling between stations) prediction is crucial to traffic management in metro systems. The delayed effect in latest complete OD flow collection and complex spatiotemporal correlations of OD flows in high dimension make it challengeable to predict short-term OD flow. Existing methods need to be imp...

Federated Learning (FL) enables multiple devices to collaboratively train a shared model while preserving data privacy. Ever-increasing model complexity coupled with limited memory resources on the participating devices severely bottlenecks the deployment of FL in real-world scenarios. Thus, a framework that can effectively break the memory wall wh...

A hybrid active-passive wireless sensor network (HWSN) is a cost-effective and energy-efficient way for localization systems. The active sensor nodes, which are targets, can locate themselves by sending wireless power signals to power up the passive sensors, or via cooperative localization among targets. The common used power allocation approaches...

Cloud-native applications are increasingly becoming popular in modern software design. Employing a microservice-based architecture into these applications is a prevalent strategy that enhances system availability and flexibility. However, cloud-native applications also introduce new challenges, such as frequent inter-service communication and the c...

The primary goal of traffic accident anticipation is to foresee potential accidents in real time using dashcam videos, a task that is pivotal for enhancing the safety and reliability of autonomous driving technologies. In this study, we introduce an innovative framework, AccNet, which significantly advances the prediction capabilities beyond the cu...

For future 6G systems, reconfigurable intelligent surface (RIS) controls phase shift of the reflective unit to improve the channel, which affects the received signal strength (RSS) of the microwave. In this paper, we introduce the RIS as anchors into the cooperative localization wireless sensor network (RACLN) to locate the sensor nodes. The RIS in...

Anomaly detection is critical in surveillance systems and patrol robots by identifying anomalous regions in images for early warning. Depending on whether reference data are utilized, anomaly detection can be categorized into anomaly detection with reference and anomaly detection without reference. Currently, anomaly detection without reference, wh...

Mixture of Experts (MoE) offers remarkable performance and computational efficiency by selectively activating subsets of model parameters. Traditionally, MoE models use homogeneous experts, each with identical capacity. However, varying complexity in input data necessitates experts with diverse capabilities, while homogeneous MoE hinders effective...

Federated Learning (FL) emerges as a new learning paradigm that enables multiple devices to collaboratively train a shared model while preserving data privacy. However, intensive memory footprint during the training process severely bottlenecks the deployment of FL on resource-constrained devices in real-world cases. In this paper, we propose NeuLi...

In this paper, we propose SmartFreeze, a framework that effectively reduces the memory footprint by conducting the training in a progressive manner. Instead of updating the full model in each training round, SmartFreeze divides the shared model into blocks consisting of a specified number of layers. It first trains the front block with a well-desig...

Deploying federated learning (FL) in edge clouds poses challenges, especially when multiple models are concurrently trained in resource-constrained edge environments. Existing research on federated edge learning has predominantly focused on client selection for training a single FL model, typically with a fixed learning topology. Preliminary experi...

This paper introduces a novel trajectory prediction approach for autonomous vehicles (AVs), adeptly addressing the challenges of missing observations and the need for adherence to physical laws in real-world driving environments. This study proposes a hierarchical two-stage trajectory prediction model for AVs. In the first stage we propose the Wave...

This paper introduces a trajectory prediction model tailored for autonomous driving, focusing on capturing complex interactions in dynamic traffic scenarios without reliance on high-definition maps. The model, termed MFTraj, harnesses historical trajectory data combined with a novel dynamic geometric graph-based behavior-aware module. At its core,...

Federated learning (FL) emerges as a promising solution to enhance autonomous driving (AD) models against out-of-distribution (OOD) data. However, OOD instances often lack labels, rendering conventional FL approaches less effective in AD. This paper proposes road-supervised FL (RSFL), which leverages road sensors' perception results to annotate veh...

Accurately and promptly predicting accidents among surrounding traffic agents from camera footage is crucial for the safety of autonomous vehicles (AVs). This task presents substantial challenges stemming from the unpredictable nature of traffic accidents, their long-tail distribution, the intricacies of traffic scene dynamics, and the inherently c...

The autonomous mapping of large-scale urban scenes presents significant challenges for autonomous robots. To mitigate the challenges, global planning, such as utilizing prior GPS trajectories from OpenStreetMap (OSM), is often used to guide the autonomous navigation of robots for mapping. However, due to factors like complex terrain, unexpected bod...

As autonomous driving systems increasingly become part of daily transportation, the ability to accurately anticipate and mitigate potential traffic accidents is paramount. Traditional accident anticipation models primarily utilizing dashcam videos are adept at predicting when an accident may occur but fall short in localizing the incident and ident...

Autonomous driving significantly benefits from data-driven deep neural networks. However, the data in autonomous driving typically fits the long-tailed distribution, in which the critical driving data in adverse conditions is hard to collect. Although generative adversarial networks (GANs) have been applied to augment data for autonomous driving, g...

Microservices have transformed monolithic applications into lightweight, self-contained, and isolated application components, establishing themselves as a dominant paradigm for application development and deployment in public clouds such as Google and Alibaba. Autoscaling emerges as an efficient strategy for managing resources allocated to microser...

Accurately and safely predicting the trajectories of surrounding vehicles is essential for fully realizing autonomous driving (AD). This paper presents the Human-Like Trajectory Prediction model (HLTP++), which emulates human cognitive processes to improve trajectory prediction in AD. HLTP++ incorporates a novel teacher-student knowledge distillati...

Instruction-following is particularly crucial for large language models (LLMs) to support diverse user requests. While existing work has made progress in aligning LLMs with human preferences, evaluating their capabilities on instruction following remains a challenge due to complexity and diversity of real-world user instructions. While existing eva...

Low-cost distributed robots suffer from limited onboard computing power, resulting in excessive computation time when navigating in cluttered environments. This paper presents Edge Accelerated Robot Navigation (EARN), to achieve real-time collision avoidance by adopting collaborative motion planning (CMP). As such, each robot can dynamically switch...

Conventional LiDAR-inertial odometry (LIO) or SLAM methods heavily rely on geometric features of environments, as LiDARs primarily provide range measurements instead of motion measurements. From now on, however, the situation changes thanks to the novel Frequency Modulated Continuous Wave (FMCW) LiDARs. FMCW LiDARs not only offer the point range wi...

Due to the limited resource capacity of edge servers and the high purchase costs of edge resources, service providers are facing the new challenge of how to take full advantage of the constrained edge resources for Internet of Things (IoT) service hosting and task scheduling to maximize system performance. In this paper, we study the joint optimiza...

Although face swapping has attracted much attention in recent years, it remains a challenging problem. Existing methods leverage a large number of data samples to explore the intrinsic properties of face swapping without considering the semantic information of face images. Moreover, the representation of the identity information tends to be fixed,...

Fusing features from different sources is a critical aspect of many computer vision tasks. Existing approaches can be roughly categorized as parameter-free or learnable operations. However, parameter-free modules are limited in their ability to benefit from offline learning, leading to poor performance in some challenging situations. Learnable fusi...

Given the rapid advancement of autonomous driving technology, discerning public willingness to pay and anticipated driving behavior for autonomous vehicles is crucial for their successful promotion, hastened adoption, and enhanced safety in forthcoming mixed autonomy traffic scenarios. This study employs a comprehensive online survey to scrutinize...

This article is concerned with the secure state estimation problem for artificial neural networks (ANNs) subject to unknown-but-bounded noises, where sensors and the remote estimator are connected via open and bandwidth-limited communication networks. Using the encoding-decoding mechanism (EDM) and the Paillier encryption technique, a novel homomor...

Real‐time estimation of crowd counting in underground metro systems, constrained by limited space, is crucial for managing heightened pedestrian volumes and responding promptly to emergencies. To address this challenge, we propose a passenger state transition‐based model, called STRmt , designed for the seamless and continuous monitoring of real‐ti...

In autonomous vehicle (AV) technology, the ability to accurately predict the movements of surrounding vehicles is paramount for ensuring safety and operational efficiency. Incorporating human decision-making insights enables AVs to more effectively anticipate the potential actions of other vehicles, significantly improving prediction accuracy and r...

Despite the great success of large language models (LLMs) in various tasks, they suffer from generating hallucinations. We introduce Truth Forest, a method that enhances truthfulness in LLMs by uncovering hidden truth representations using multi-dimensional orthogonal probes. Specifically, it creates multiple orthogonal bases for modeling truth by...

Instruction-following is particularly crucial for large language models (LLMs) to support diverse user requests. While existing work has made progress in aligning LLMs with human preferences, evaluating their capabilities on instruction-following remains a challenge due to complexity and diversity of real-world user instructions. While existing eva...

The ability to accurately predict the trajectory of surrounding vehicles is a critical hurdle to overcome on the journey to fully autonomous vehicles. To address this challenge, we pioneer a novel behavior-aware trajectory prediction model (BAT) that incorporates insights and findings from traffic psychology, human behavior, and decision-making. Ou...

Uncertainty estimation for unlabeled data is crucial to active learning. With a deep neural network employed as the backbone model, the data selection process is highly challenging due to the potential over-confidence of the model inference. Existing methods resort to special learning fashions (e.g. adversarial) or auxiliary models to address this...

Data-Free Knowledge Distillation (DFKD) enables knowledge transfer from a pretrained teacher to a light-weighted student without original training data. Existing works are limited by a strong assumption that samples used to pretrain the teacher model are balanced, which is, however, unrealistic for many real-world tasks. In this work, we investigat...

Virtual reality (VR) is a promising data engine for autonomous driving (AD). However, data fidelity in this paradigm is often degraded by VR inconsistency, for which the existing VR approaches become ineffective, as they ignore the inter-dependency between low-level VR synchronizer designs (i.e., data collector) and high-level VR synthesizer design...

At the intersection of artificial intelligence and urban development, this paper unveils the pivotal role of Foundation Models (FMs) in revolutionizing Intelligent Transportation Systems (ITS). Against the backdrop of escalating urbanization and environmental concerns, we rigorously assess how FMs—spanning large language models, vision-language mod...