NEAT: Neural Attention Fields for End-to-End Autonomous Driving (2109.04456v1)

Abstract: Efficient reasoning about the semantic, spatial, and temporal structure of a scene is a crucial prerequisite for autonomous driving. We present NEural ATtention fields (NEAT), a novel representation that enables such reasoning for end-to-end imitation learning models. NEAT is a continuous function which maps locations in Bird's Eye View (BEV) scene coordinates to waypoints and semantics, using intermediate attention maps to iteratively compress high-dimensional 2D image features into a compact representation. This allows our model to selectively attend to relevant regions in the input while ignoring information irrelevant to the driving task, effectively associating the images with the BEV representation. In a new evaluation setting involving adverse environmental conditions and challenging scenarios, NEAT outperforms several strong baselines and achieves driving scores on par with the privileged CARLA expert used to generate its training data. Furthermore, visualizing the attention maps for models with NEAT intermediate representations provides improved interpretability.

• The paper introduces a novel neural attention mechanism that streamlines decision-making in complex driving scenarios.
• It integrates raw sensor data and deep learning to directly predict driving commands in an end-to-end manner.
• Experimental results demonstrate improved accuracy and interpretability, making NEAT a promising approach for autonomous driving.

Overview of ICCV Article Submission Guidelines

The paper "LaTeX Author Guidelines for ICCV Proceedings" provides comprehensive instructions for authors preparing manuscripts for submission to the IEEE Computer Society Press for the International Conference on Computer Vision (ICCV). It details formatting requirements, submission protocols, and essential technical specifications that ensure uniformity and adherence to conference standards.

Abstract Structure and Placement

The paper begins with detailed instructions for preparing the abstract section. It specifies that the abstract must be fully justified, italicized, and positioned below the author and affiliation details at the top of the left-hand column. Such guidance ensures consistent presentation at ICCV, following established norms that aid in quick comprehension by the scientific audience.

Manuscript Presentation

The guidelines meticulously outline the language, paper length, and dual submission policy. Authors are reminded of the English language requirement, and the dual submission section clarifies policies to prevent ethical conflicts across multiple submissions. Notably, the specification that papers should not exceed eight pages (excluding references) underscores the conference's emphasis on conciseness and precision. This limitation aids in maintaining a high standard of quality and encourages authors to focus on pivotal research contributions.

Technical Formatting and Blind Review Protocols

A notable feature of the guidelines is the emphasis on proper formatting of mathematical sections. Authors are instructed to number equations, which facilitates easy referencing and enhances the paper's readability. Additionally, the ruler feature is highlighted as a tool for reviewers to pinpoint specific lines, which is crucial for providing precise feedback. The blind review section disambiguates common misconceptions about anonymization and accurately describes how authors should reference their prior work to maintain confidentiality.

Graphic and Textual Element Specifications

Further instructions are provided on handling figures, illustrations, and photographic elements within the manuscript. Authors are urged to consider the readability of graphics in printed form, a suggestion that resonates with the practical considerations of academics who might opt for physical rather than electronic consumption of the papers. Specifications include alignment, sizing, and captioning, which collectively contribute to the professional appearance and clarity of graphical information.

Implications and Future Directions

The structured guidelines presented serve not only to standardize submissions within the ICCV community but also reflect broader trends in academic publishing where precision and adherence to standards are paramount. As AI technology advances, it is conceivable that automated systems might assist authors in complying with such guidelines, improving efficiency and further safeguarding the integrity of the submission process.

While the document does not delve into AI directly, its emphasis on clarity and standardization supports the broader scientific community’s capacity to produce high-caliber work. Enhancements in AI could, in the future, facilitate even more streamlined submission processes and potentially transform aspects of peer review and publication.

Overall, the guidelines provide a critical foundation for prospective ICCV authors, ensuring the publication of work that meets rigorous professional standards, thus fostering both individual scholarly growth and the collective advancement of computer vision research.