PEFT-DML: Parameter-Efficient Fine-Tuning Deep Metric Learning for Robust Multi-Modal 3D Object Detection in Autonomous Driving
Year: 2025
Type: preprint
Abstract: This study introduces PEFT-DML, a parameter-efficient deep metric learning framework for robust multi-modal 3D object detection in autonomous driving. Unlike conventional models that assume fixed sensor availability, PEFT-DML maps diverse modalities (LiDAR, radar, camera, IMU, GNSS) into a shared latent space, enabling reliable detection even under sensor dropout or unseen modality class combinations. By integrating Low-Rank Adaptation (LoRA) and adapter layers, PEFT-DML achieves significant training efficiency while enhancing robustness to fast motion, weather variability, and domain shifts. Experiments on benchmarks nuScenes demonstrate superior accuracy.
Source: arXiv (Cornell University)
Authors: Rezaei, Abdolazim, Sookhak, Mehdi
Subfield: Automotive Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4416932182
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