{"id":"https://openalex.org/W4414404859","doi":"https://doi.org/10.1109/tpami.2025.3611795","title":"Toward Optimal Mixture of Experts System for 3D Object Detection: A Game of Accuracy, Efficiency and Adaptivity","display_name":"Toward Optimal Mixture of Experts System for 3D Object Detection: A Game of Accuracy, Efficiency and Adaptivity","publication_year":2025,"publication_date":"2025-09-22","ids":{"openalex":"https://openalex.org/W4414404859","doi":"https://doi.org/10.1109/tpami.2025.3611795","pmid":"https://pubmed.ncbi.nlm.nih.gov/40982523"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2025.3611795","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2025.3611795","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Transactions on Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Linshen Liu","orcid":"https://orcid.org/0009-0009-3749-2233"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Linshen Liu","raw_affiliation_strings":["Department of Civil and Systems Engineering (System Track), Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":"https://orcid.org/0009-0009-3749-2233","affiliations":[{"raw_affiliation_string":"Department of Civil and Systems Engineering (System Track), Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I2799853436","https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100383518","display_name":"Pu Wang","orcid":"https://orcid.org/0000-0002-4718-3102"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pu Wang","raw_affiliation_strings":["Department of Civil and Systems Engineering (System Track), Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Civil and Systems Engineering (System Track), Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I2799853436","https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Guanlin Wu","orcid":"https://orcid.org/0009-0001-2799-9876"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guanlin Wu","raw_affiliation_strings":["Department of Civil and Systems Engineering (System Track), Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":"https://orcid.org/0009-0001-2799-9876","affiliations":[{"raw_affiliation_string":"Department of Civil and Systems Engineering (System Track), Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I2799853436","https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004220960","display_name":"Junyue Jiang","orcid":"https://orcid.org/0000-0001-6413-0056"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junyue Jiang","raw_affiliation_strings":["Department of Civil and Systems Engineering (System Track), Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Civil and Systems Engineering (System Track), Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I2799853436","https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045287885","display_name":"Hao Yang","orcid":"https://orcid.org/0000-0001-6431-8956"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2799853436","display_name":"Johns Hopkins Medicine","ror":"https://ror.org/037zgn354","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I2799853436"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hao Frank Yang","raw_affiliation_strings":["Department of Civil and Systems Engineering, Data Science and AI Institute, Johns Hopkins University, Baltimore, MD, USA","Department of Civil and Systems Engineering, and the Data Science and AI Institute, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":"https://orcid.org/0000-0001-6431-8956","affiliations":[{"raw_affiliation_string":"Department of Civil and Systems Engineering, Data Science and AI Institute, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436"]},{"raw_affiliation_string":"Department of Civil and Systems Engineering, and the Data Science and AI Institute, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2799853436"],"apc_list":null,"apc_paid":null,"fwci":4.7878,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.9520595,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"48","issue":"1","first_page":"914","last_page":"931"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8422999978065491,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8422999978065491,"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"}},{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","score":0.8334000110626221,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.8187000155448914,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/scheduling","display_name":"Scheduling (production processes)","score":0.5029000043869019},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.44909998774528503},{"id":"https://openalex.org/keywords/backpropagation","display_name":"Backpropagation","score":0.44130000472068787},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.42910000681877136},{"id":"https://openalex.org/keywords/pooling","display_name":"Pooling","score":0.4101000130176544},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.37929999828338623},{"id":"https://openalex.org/keywords/activity-recognition","display_name":"Activity recognition","score":0.3634999990463257},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.3499000072479248},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.3483999967575073}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7993000149726868},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.5029000043869019},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48179998993873596},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.44909998774528503},{"id":"https://openalex.org/C155032097","wikidata":"https://www.wikidata.org/wiki/Q798503","display_name":"Backpropagation","level":3,"score":0.44130000472068787},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.42910000681877136},{"id":"https://openalex.org/C70437156","wikidata":"https://www.wikidata.org/wiki/Q7228652","display_name":"Pooling","level":2,"score":0.4101000130176544},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.37929999828338623},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3698999881744385},{"id":"https://openalex.org/C121687571","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Activity recognition","level":2,"score":0.3634999990463257},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.35499998927116394},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.3499000072479248},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3483999967575073},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.34689998626708984},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.3359000086784363},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33500000834465027},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3319000005722046},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.3260999917984009},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3109000027179718},{"id":"https://openalex.org/C2780186347","wikidata":"https://www.wikidata.org/wiki/Q11414","display_name":"Subnetwork","level":2,"score":0.30140000581741333},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.287200003862381},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.2736000120639801},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.2711000144481659},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.26759999990463257},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.26600000262260437},{"id":"https://openalex.org/C73752529","wikidata":"https://www.wikidata.org/wiki/Q79872","display_name":"Object-oriented programming","level":2,"score":0.2581999897956848},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.257999986410141},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.2558000087738037},{"id":"https://openalex.org/C2983523559","wikidata":"https://www.wikidata.org/wiki/Q410657","display_name":"On demand","level":2,"score":0.2517000138759613}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tpami.2025.3611795","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2025.3611795","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Transactions on Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},{"id":"pmid:40982523","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40982523","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on pattern analysis and machine intelligence","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":70,"referenced_works":["https://openalex.org/W2131396337","https://openalex.org/W2150066425","https://openalex.org/W2150884987","https://openalex.org/W2285660444","https://openalex.org/W2558294288","https://openalex.org/W2605189827","https://openalex.org/W2895946091","https://openalex.org/W2895973886","https://openalex.org/W2897529137","https://openalex.org/W2905810301","https://openalex.org/W2911486422","https://openalex.org/W2949708697","https://openalex.org/W2962888833","https://openalex.org/W2963727135","https://openalex.org/W2968296999","https://openalex.org/W2981380746","https://openalex.org/W3005620403","https://openalex.org/W3008105217","https://openalex.org/W3034314779","https://openalex.org/W3035346742","https://openalex.org/W3035461736","https://openalex.org/W3035574168","https://openalex.org/W3080980548","https://openalex.org/W3105073457","https://openalex.org/W3107212734","https://openalex.org/W3108426750","https://openalex.org/W3114509423","https://openalex.org/W3118341329","https://openalex.org/W3159695738","https://openalex.org/W3167095230","https://openalex.org/W3172261075","https://openalex.org/W3187481008","https://openalex.org/W3201482996","https://openalex.org/W3202087803","https://openalex.org/W3217335336","https://openalex.org/W4205508137","https://openalex.org/W4220932287","https://openalex.org/W4225986494","https://openalex.org/W4231902444","https://openalex.org/W4246166885","https://openalex.org/W4312461898","https://openalex.org/W4312707458","https://openalex.org/W4313142137","https://openalex.org/W4313149358","https://openalex.org/W4320472723","https://openalex.org/W4382240183","https://openalex.org/W4383066393","https://openalex.org/W4383751451","https://openalex.org/W4385945813","https://openalex.org/W4385975752","https://openalex.org/W4386065878","https://openalex.org/W4386071550","https://openalex.org/W4386075636","https://openalex.org/W4386075853","https://openalex.org/W4386076066","https://openalex.org/W4386076253","https://openalex.org/W4386083121","https://openalex.org/W4388145452","https://openalex.org/W4389104737","https://openalex.org/W4390873008","https://openalex.org/W4390874213","https://openalex.org/W4390905122","https://openalex.org/W4392265934","https://openalex.org/W4393154112","https://openalex.org/W4394597983","https://openalex.org/W4394998532","https://openalex.org/W4400445270","https://openalex.org/W4401634204","https://openalex.org/W4409365599","https://openalex.org/W4409916842"],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"vehicles,":[1,198],"open-world":[2,62],"robots,":[3],"and":[4,26,33,55,78,99,123,168,175,184,192],"other":[5],"automated":[6],"systems":[7],"rely":[8],"on":[9,145,157],"accurate,":[10,190],"efficient":[11,191],"perception":[12,194],"modules":[13],"for":[14,196],"real-time":[15,31],"object":[16],"detection.":[17],"Although":[18],"high-precision":[19],"models":[20],"improve":[21],"reliability,":[22],"their":[23],"processing":[24],"time":[25],"computational":[27],"overhead":[28],"can":[29],"hinder":[30],"performance":[32],"raise":[34],"safety":[35],"concerns.":[36],"This":[37],"paper":[38],"introduces":[39],"an":[40,73,113],"Edge-based":[41],"Mixture-of-Experts":[42],"Optimal":[43],"Sensing":[44],"(EMOS)":[45],"System":[46],"that":[47],"addresses":[48],"the":[49,61,139,143],"challenge":[50],"of":[51,90,142],"co-achieving":[52],"accuracy,":[53],"latency":[54],"scene":[56],"adaptivity,":[57],"further":[58],"demonstrated":[59],"in":[60,204],"autonomous":[63,197],"driving":[64,132],"scenarios.":[65,206],"Algorithmically,":[66],"EMOS":[67,137,188],"fuses":[68],"multimodal":[69,182],"sensor":[70],"streams":[71],"via":[72],"Adaptive":[74],"Multimodal":[75],"Data":[76],"Bridge":[77],"uses":[79],"a":[80,87,100,176],"scenario-aware":[81],"MoE":[82],"switch":[83],"to":[84],"activate":[85],"only":[86],"complementary":[88],"set":[89],"specialized":[91],"experts":[92,186],"as":[93,138],"needed.":[94],"The":[95],"proposed":[96],"hierarchical":[97],"backpropagation":[98],"multiscale":[101],"pooling":[102],"layer":[103],"let":[104],"model":[105],"capacity":[106],"scale":[107],"with":[108,116,171],"real-world":[109,205],"demand":[110],"complexity.":[111],"System-wise,":[112],"edge-optimized":[114],"runtime":[115],"accelerator-aware":[117],"scheduling":[118],"(e.g.,":[119],"ONNX/TensorRT),":[120],"zero-copy":[121],"buffering,":[122],"overlapped":[124],"I/O-compute":[125],"enforces":[126],"explicit":[127],"latency/accuracy":[128],"budgets":[129],"across":[130],"diverse":[131],"conditions.":[133],"Experimental":[134],"results":[135],"establish":[136],"new":[140],"state":[141],"art:":[144],"KITTI,":[146],"it":[147,162],"increases":[148],"average":[149],"AP":[150],"by":[151,165],"3.17%":[152],"while":[153],"running":[154],"$2.6\\times$2.6\u00d7":[155],"faster":[156],"Nvidia":[158,178],"Jetson.":[159],"On":[160],"nuScenes,":[161],"improves":[163],"accuracy":[164],"0.2%":[166],"mAP":[167],"0.5%":[169],"NDS,":[170],"34%":[172],"fewer":[173],"parameters":[174],"$15.35\\times$15.35\u00d7":[177],"Jetson":[179],"speedup.":[180],"Leveraging":[181],"data":[183],"intelligent":[185],"cooperation,":[187],"delivers":[189],"edge-adaptive":[193],"system":[195],"thereby":[199],"ensuring":[200],"robust,":[201],"timely":[202],"responses":[203]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-12-04T23:47:47.292601","created_date":"2025-10-10T00:00:00"}
