{"id":"https://openalex.org/W4403182884","doi":"https://doi.org/10.1109/jiot.2024.3475390","title":"Boosting Rare Scenario Perception in Autonomous Driving: An Adaptive Approach With MoEs and LoRA","display_name":"Boosting Rare Scenario Perception in Autonomous Driving: An Adaptive Approach With MoEs and LoRA","publication_year":2024,"publication_date":"2024-10-07","ids":{"openalex":"https://openalex.org/W4403182884","doi":"https://doi.org/10.1109/jiot.2024.3475390"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2024.3475390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2024.3475390","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://riunet.upv.es/bitstreams/2b819ac8-3f24-4180-a7d1-44e5d9769e42/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087948974","display_name":"Y Li","orcid":null},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yalong Li","raw_affiliation_strings":["Department of Computer and Network Engineering, The University of Electro-Communications, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0002-6360-5325","affiliations":[{"raw_affiliation_string":"Department of Computer and Network Engineering, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083019638","display_name":"Yangfei Lin","orcid":"https://orcid.org/0000-0002-5739-6654"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yangfei Lin","raw_affiliation_strings":["Department of Computer and Network Engineering, The University of Electro-Communications, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5739-6654","affiliations":[{"raw_affiliation_string":"Department of Computer and Network Engineering, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085713075","display_name":"Lei Zhong","orcid":"https://orcid.org/0000-0002-7937-5379"},"institutions":[{"id":"https://openalex.org/I4210137853","display_name":"Toyota Motor Corporation (Japan)","ror":"https://ror.org/02zqm6r10","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Lei Zhong","raw_affiliation_strings":["Information and Communication Planning Division, Toyota Motor Corporation, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7937-5379","affiliations":[{"raw_affiliation_string":"Information and Communication Planning Division, Toyota Motor Corporation, Tokyo, Japan","institution_ids":["https://openalex.org/I4210137853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015239198","display_name":"Rui Yin","orcid":"https://orcid.org/0000-0003-0252-9664"},"institutions":[{"id":"https://openalex.org/I4400573310","display_name":"Hangzhou City University","ror":"https://ror.org/01wck0s05","country_code":null,"type":"education","lineage":["https://openalex.org/I4400573310"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Yin","raw_affiliation_strings":["School of Information and Electrical Engineering, Hangzhou City University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-0252-9664","affiliations":[{"raw_affiliation_string":"School of Information and Electrical Engineering, Hangzhou City University, Hangzhou, China","institution_ids":["https://openalex.org/I4400573310"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037098061","display_name":"Yusheng Ji","orcid":"https://orcid.org/0000-0003-4364-8491"},"institutions":[{"id":"https://openalex.org/I184597095","display_name":"National Institute of Informatics","ror":"https://ror.org/04ksd4g47","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1319490839","https://openalex.org/I184597095","https://openalex.org/I4210158934"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yusheng Ji","raw_affiliation_strings":["Information Systems Architecture Science Research Division, National Institute of Informatics, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4364-8491","affiliations":[{"raw_affiliation_string":"Information Systems Architecture Science Research Division, National Institute of Informatics, Tokyo, Japan","institution_ids":["https://openalex.org/I184597095"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066242048","display_name":"Carlos T. Calafate","orcid":"https://orcid.org/0000-0001-5729-3041"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Carlos T. Calafate","raw_affiliation_strings":["Computer Engineering Department, Universitat Politècnica de València, Valencia, Spain"],"raw_orcid":"https://orcid.org/0000-0001-5729-3041","affiliations":[{"raw_affiliation_string":"Computer Engineering Department, Universitat Politècnica de València, Valencia, Spain","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046333931","display_name":"Celimuge Wu","orcid":"https://orcid.org/0000-0001-6853-5878"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Celimuge Wu","raw_affiliation_strings":["Meta-Networking Research Center, The University of Electro-Communications, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0001-6853-5878","affiliations":[{"raw_affiliation_string":"Meta-Networking Research Center, The University of Electro-Communications, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2262,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.80581863,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"12","issue":"5","first_page":"4872","last_page":"4887"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/boosting","display_name":"Boosting (machine learning)","score":0.7659975290298462},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7022081017494202},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.46895450353622437},{"id":"https://openalex.org/keywords/rare-events","display_name":"Rare events","score":0.4350045323371887},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35675540566444397},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.12353909015655518},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11954745650291443}],"concepts":[{"id":"https://openalex.org/C46686674","wikidata":"https://www.wikidata.org/wiki/Q466303","display_name":"Boosting (machine learning)","level":2,"score":0.7659975290298462},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7022081017494202},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.46895450353622437},{"id":"https://openalex.org/C2777317252","wikidata":"https://www.wikidata.org/wiki/Q18393516","display_name":"Rare events","level":2,"score":0.4350045323371887},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35675540566444397},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.12353909015655518},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11954745650291443},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/jiot.2024.3475390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2024.3475390","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"},{"id":"pmh:oai:riunet.upv.es:10251/233853","is_oa":true,"landing_page_url":"https://riunet.upv.es/handle/10251/233853","pdf_url":"https://riunet.upv.es/bitstreams/2b819ac8-3f24-4180-a7d1-44e5d9769e42/download","source":{"id":"https://openalex.org/S4306400639","display_name":"RiuNet (Universitat Polit\u00e8cnica de Val\u00e8ncia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I60053951","host_organization_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","host_organization_lineage":["https://openalex.org/I60053951"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:riunet.upv.es:10251/233853","is_oa":true,"landing_page_url":"https://riunet.upv.es/handle/10251/233853","pdf_url":"https://riunet.upv.es/bitstreams/2b819ac8-3f24-4180-a7d1-44e5d9769e42/download","source":{"id":"https://openalex.org/S4306400639","display_name":"RiuNet (Universitat Polit\u00e8cnica de Val\u00e8ncia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I60053951","host_organization_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","host_organization_lineage":["https://openalex.org/I60053951"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Climate action","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G1227963759","display_name":null,"funder_award_id":"62271438","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3663501687","display_name":"Autonomous Control and Integrity Assurance for Large-scale Distributed Systems","funder_award_id":"24K02937","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G4165086885","display_name":null,"funder_award_id":"LGG22F010008","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7101822232","display_name":null,"funder_award_id":"62062031","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403182884.pdf","grobid_xml":"https://content.openalex.org/works/W4403182884.grobid-xml"},"referenced_works_count":56,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W3168863497","https://openalex.org/W3168867926","https://openalex.org/W3174770825","https://openalex.org/W3195380476","https://openalex.org/W3203597819","https://openalex.org/W4205427072","https://openalex.org/W4214895168","https://openalex.org/W4285144577","https://openalex.org/W4285278949","https://openalex.org/W4293718192","https://openalex.org/W4294811323","https://openalex.org/W4306926018","https://openalex.org/W4312652047","https://openalex.org/W4312769831","https://openalex.org/W4312778197","https://openalex.org/W4319303369","https://openalex.org/W4352977781","https://openalex.org/W4361861254","https://openalex.org/W4367277043","https://openalex.org/W4368755186","https://openalex.org/W4375798902","https://openalex.org/W4376456718","https://openalex.org/W4379930160","https://openalex.org/W4380763455","https://openalex.org/W4382118873","https://openalex.org/W4382119214","https://openalex.org/W4385250367","https://openalex.org/W4385801443","https://openalex.org/W4385819725","https://openalex.org/W4386075558","https://openalex.org/W4386075951","https://openalex.org/W4386076132","https://openalex.org/W4386320422","https://openalex.org/W4386363040","https://openalex.org/W4386634496","https://openalex.org/W4387092319","https://openalex.org/W4387092527","https://openalex.org/W4387623867","https://openalex.org/W4388286312","https://openalex.org/W4389665306","https://openalex.org/W4389897702","https://openalex.org/W4390017992","https://openalex.org/W4390603558","https://openalex.org/W4390605292","https://openalex.org/W4390871869","https://openalex.org/W4391164477","https://openalex.org/W4391407195","https://openalex.org/W4391769377","https://openalex.org/W4391770088","https://openalex.org/W4391793305","https://openalex.org/W4392152454","https://openalex.org/W4392397377","https://openalex.org/W6732520560","https://openalex.org/W6759579507","https://openalex.org/W6796581206"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2125652721","https://openalex.org/W1540371141","https://openalex.org/W1549363203","https://openalex.org/W2147697413","https://openalex.org/W2154063878","https://openalex.org/W4231274751","https://openalex.org/W171365191"],"abstract_inverted_index":{"Autonomous":[0],"driving":[1,29,73,92,174],"technology":[2],"has":[3],"achieved":[4],"remarkable":[5],"advancements,":[6],"offering":[7],"substantial":[8],"potential":[9],"to":[10,39,66,84,93,99,107,123,187],"revolutionize":[11],"traffic":[12],"safety":[13],"and":[14,26,60,102,115,119,138,146],"smart":[15],"mobility.":[16],"However,":[17],"when":[18],"faced":[19],"with":[20],"rare":[21,44,77,100,109,178],"scenarios":[22,101,179],"(weather,":[23],"accident":[24],"scenes,":[25],"lighting),":[27],"autonomous":[28,72,91,173],"systems":[30],"can":[31],"still":[32],"only":[33,166],"play":[34],"a":[35,52],"limited":[36],"role":[37],"due":[38],"insufficient":[40],"learning":[41],"in":[42,75,177],"these":[43],"situations.":[45,78,110],"To":[46],"address":[47],"this":[48],"challenge,":[49],"we":[50,80,112,150],"propose":[51,116],"novel":[53],"approach":[54],"that":[55,161],"leverages":[56],"low-rank":[57],"adaptation":[58,156],"(LoRA)":[59],"Mixture":[61],"of":[62,70,90,135,171],"Experts":[63],"(MoEs)":[64],"technologies":[65],"enhance":[67,103],"the":[68,87,104,140,169,172],"performance":[69,142,170],"pretrained":[71,88],"models":[74],"handling":[76],"Specifically,":[79],"first":[81],"use":[82],"LoRA":[83],"fine":[85],"tune":[86],"model":[89,176],"focus":[94],"on":[95],"capturing":[96],"knowledge":[97],"related":[98],"model\u2019s":[105,141],"ability":[106],"handle":[108],"Furthermore,":[111],"introduce":[113],"MoEs":[114],"local,":[117],"global,":[118],"hybrid":[120],"adaptive":[121,133],"solutions":[122,164],"overcome":[124],"LoRA\u2019s":[125,136],"fixed":[126],"intrinsic":[127],"rank":[128],"limitation.":[129],"These":[130],"approaches":[131],"enable":[132],"adjustment":[134],"rank,":[137],"improve":[139,168],"from":[143],"both":[144],"local":[145],"global":[147],"perspectives.":[148],"Finally,":[149],"design":[151],"detailed":[152],"algorithms":[153],"for":[154],"different":[155],"schemes.":[157],"Extensive":[158],"experiments":[159],"demonstrate":[160],"our":[162],"proposed":[163],"not":[165],"effectively":[167],"perception":[175],"but":[180],"also":[181],"maintain":[182],"lower":[183],"inference":[184],"latency":[185],"compared":[186],"baseline":[188],"methods.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}