arXiv subjects

Bowen Li

Publications and source records attributed to Bowen Li.

At least 181 records · Page 10Linked to original sources

arXiv2023

Minimax Concave Penalty Regularized Adaptive System Identification

We develop a recursive least square (RLS) type algorithm with a minimax concave penalty (MCP) for adaptive identification of a sparse tap-weight vector that represents a communication channel. The proposed algorithm recursively yields its estimate of the tap-vector, from noisy streaming observations of a received signal, using expectation-maximization (EM) update. We prove the convergence of our algorithm to a local optimum and provide bounds for the steady state error. Using simulation studies of Rayleigh fading channel, Volterra system and multivariate time series model, we demonstrate that our algorithm outperforms, in the mean-squared error (MSE) sense, the standard RLS and the $\ell_1$-regularized RLS.

eess.SP↗

arXiv2023

PyPose: A Library for Robot Learning with Physics-based Optimization

Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physics-based optimization generalizes better, but it does not perform as well in complicated tasks due to the lack of high-level semantic information and reliance on manual parametric tuning. To take advantage of these two complementary worlds, we present PyPose: a robotics-oriented, PyTorch-based library that combines deep perceptual models with physics-based optimization. PyPose's architecture is tidy and well-organized, it has an imperative style interface and is efficient and user-friendly, making it easy to integrate into real-world robotic applications. Besides, it supports parallel computing of any order gradients of Lie groups and Lie algebras and $2^{\text{nd}}$-order optimizers, such as trust region methods. Experiments show that PyPose achieves more than $10\times$ speedup in computation compared to the state-of-the-art libraries. To boost future research, we provide concrete examples for several fields of robot learning, including SLAM, planning, control, and inertial navigation.

cs.RO↗

arXiv2023

Tracker Meets Night: A Transformer Enhancer for UAV Tracking

Most previous progress in object tracking is realized in daytime scenes with favorable illumination. State-of-the-arts can hardly carry on their superiority at night so far, thereby considerably blocking the broadening of visual tracking-related unmanned aerial vehicle (UAV) applications. To realize reliable UAV tracking at night, a spatial-channel Transformer-based low-light enhancer (namely SCT), which is trained in a novel task-inspired manner, is proposed and plugged prior to tracking approaches. To achieve semantic-level low-light enhancement targeting the high-level task, the novel spatial-channel attention module is proposed to model global information while preserving local context. In the enhancement process, SCT denoises and illuminates nighttime images simultaneously through a robust non-linear curve projection. Moreover, to provide a comprehensive evaluation, we construct a challenging nighttime tracking benchmark, namely DarkTrack2021, which contains 110 challenging sequences with over 100 K frames in total. Evaluations on both the public UAVDark135 benchmark and the newly constructed DarkTrack2021 benchmark show that the task-inspired design enables SCT with significant performance gains for nighttime UAV tracking compared with other top-ranked low-light enhancers. Real-world tests on a typical UAV platform further verify the practicability of the proposed approach. The DarkTrack2021 benchmark and the code of the proposed approach are publicly available at https://github.com/vision4robotics/SCT.

cs.CV↗

arXiv2023

Polytopic Superset Algorithm for Nonlinear Robust Optimization

Nonlinear robust optimization (NRO) is widely used in different applications, including energy, control, and economics, to make robust decisions under uncertainty. One of the classical solution methods in NRO is an outer approximation method that iteratively solves a sample-based nonlinear problem and updates the sample set by solving an auxiliary problem subject to the uncertainty set. Although it guarantees convergence under certain assumptions, its solution iterates are generally infeasible in the original NRO problem, and it provides only a lower bound on the optimal objective value. We propose a new algorithm for a class of NRO problems that generates feasible solution iterates and provides both lower and upper bounds to the optimal objective value. In each iteration, the algorithm solves the reformulation of an NRO subproblem with respect to the polytopic supersets of the original uncertainty set and uses a cutting plane method to improve the supersets over iteration. If the NRO subproblem is infeasible, we provide a feasibility restoration step to detect whether the original NRO problem is infeasible or construct a new superset to restore the feasibility of the NRO subproblem. Further, we prove that our superset algorithm converges to the optimal solution of the original NRO problem. In numerical studies, we use application instances from portfolio optimization and production cost minimization and compare the performance between the superset algorithm and an outer approximation method called Polak's algorithm. Our result shows that the superset algorithm is more advantageous than Polak's algorithm when the number of robust constraints is large.

math.OC↗

arXiv2023

Linear Convergence of ISTA and FISTA

In this paper, we revisit the class of iterative shrinkage-thresholding algorithms (ISTA) for solving the linear inverse problem with sparse representation, which arises in signal and image processing. It is shown in the numerical experiment to deblur an image that the convergence behavior in the logarithmic-scale ordinate tends to be linear instead of logarithmic, approximating to be flat. Making meticulous observations, we find that the previous assumption for the smooth part to be convex weakens the least-square model. Specifically, assuming the smooth part to be strongly convex is more reasonable for the least-square model, even though the image matrix is probably ill-conditioned. Furthermore, we improve the pivotal inequality tighter for composite optimization with the smooth part to be strongly convex instead of general convex, which is first found in [Li et al., 2022]. Based on this pivotal inequality, we generalize the linear convergence to composite optimization in both the objective value and the squared proximal subgradient norm. Meanwhile, we set a simple ill-conditioned matrix which is easy to compute the singular values instead of the original blur matrix. The new numerical experiment shows the proximal generalization of Nesterov's accelerated gradient descent (NAG) for the strongly convex function has a faster linear convergence rate than ISTA. Based on the tighter pivotal inequality, we also generalize the faster linear convergence rate to composite optimization, in both the objective value and the squared proximal subgradient norm, by taking advantage of the well-constructed Lyapunov function with a slight modification and the phase-space representation based on the high-resolution differential equation framework from the implicit-velocity scheme.

math.OC↗

arXiv2022

Photonic frequency microcombs based on dissipative Kerr and quadratic cavity solitons

Optical frequency comb, with precisely controlled spectral lines spanning a broad range, has been the key enabling technology for many scientific breakthroughs. In addition to the traditional implementation based on modelocked lasers, photonic frequency microcombs based on dissipative Kerr and quadratic cavity solitons in high-Q microresonators have become invaluable in applications requiring compact footprint, low cost, good energy efficiency, large comb spacing, and access to nonconventional spectral regions. In this review, we comprehensively examine the recent progress of photonic frequency microcombs and discuss how various phenomena can be utilized to enhance the microcomb performances that benefit a plethora of applications including optical atomic clockwork, optical frequency synthesizer, precision spectroscopy, astrospectrograph calibration, biomedical imaging, optical communications, coherent ranging, and quantum information science.

physics.optics↗

arXiv2022

Siamese Object Tracking for Vision-Based UAM Approaching with Pairwise Scale-Channel Attention

Although the manipulating of the unmanned aerial manipulator (UAM) has been widely studied, vision-based UAM approaching, which is crucial to the subsequent manipulating, generally lacks effective design. The key to the visual UAM approaching lies in object tracking, while current UAM tracking typically relies on costly model-based methods. Besides, UAM approaching often confronts more severe object scale variation issues, which makes it inappropriate to directly employ state-of-the-art model-free Siamese-based methods from the object tracking field. To address the above problems, this work proposes a novel Siamese network with pairwise scale-channel attention (SiamSA) for vision-based UAM approaching. Specifically, SiamSA consists of a pairwise scale-channel attention network (PSAN) and a scale-aware anchor proposal network (SA-APN). PSAN acquires valuable scale information for feature processing, while SA-APN mainly attaches scale awareness to anchor proposing. Moreover, a new tracking benchmark for UAM approaching, namely UAMT100, is recorded with 35K frames on a flying UAM platform for evaluation. Exhaustive experiments on the benchmarks and real-world tests validate the efficiency and practicality of SiamSA with a promising speed. Both the code and UAMT100 benchmark are now available at https://github.com/vision4robotics/SiamSA.

cs.CV↗

arXiv2022

CGoDial: A Large-Scale Benchmark for Chinese Goal-oriented Dialog Evaluation

Practical dialog systems need to deal with various knowledge sources, noisy user expressions, and the shortage of annotated data. To better solve the above problems, we propose CGoDial, new challenging and comprehensive Chinese benchmark for multi-domain Goal-oriented Dialog evaluation. It contains 96,763 dialog sessions and 574,949 dialog turns totally, covering three datasets with different knowledge sources: 1) a slot-based dialog (SBD) dataset with table-formed knowledge, 2) a flow-based dialog (FBD) dataset with tree-formed knowledge, and a retrieval-based dialog (RBD) dataset with candidate-formed knowledge. To bridge the gap between academic benchmarks and spoken dialog scenarios, we either collect data from real conversations or add spoken features to existing datasets via crowd-sourcing. The proposed experimental settings include the combinations of training with either the entire training set or a few-shot training set, and testing with either the standard test set or a hard test subset, which can assess model capabilities in terms of general prediction, fast adaptability and reliable robustness.

cs.CL↗

arXiv2022

Learning to Model Multimodal Semantic Alignment for Story Visualization

Story visualization aims to generate a sequence of images to narrate each sentence in a multi-sentence story, where the images should be realistic and keep global consistency across dynamic scenes and characters. Current works face the problem of semantic misalignment because of their fixed architecture and diversity of input modalities. To address this problem, we explore the semantic alignment between text and image representations by learning to match their semantic levels in the GAN-based generative model. More specifically, we introduce dynamic interactions according to learning to dynamically explore various semantic depths and fuse the different-modal information at a matched semantic level, which thus relieves the text-image semantic misalignment problem. Extensive experiments on different datasets demonstrate the improvements of our approach, neither using segmentation masks nor auxiliary captioning networks, on image quality and story consistency, compared with state-of-the-art methods.

cs.CV↗

arXiv2022

Predictive Visual Tracking: A New Benchmark and Baseline Approach

As a crucial robotic perception capability, visual tracking has been intensively studied recently. In the real-world scenarios, the onboard processing time of the image streams inevitably leads to a discrepancy between the tracking results and the real-world states. However, existing visual tracking benchmarks commonly run the trackers offline and ignore such latency in the evaluation. In this work, we aim to deal with a more realistic problem of latency-aware tracking. The state-of-the-art trackers are evaluated in the aerial scenarios with new metrics jointly assessing the tracking accuracy and efficiency. Moreover, a new predictive visual tracking baseline is developed to compensate for the latency stemming from the onboard computation. Our latency-aware benchmark can provide a more realistic evaluation of the trackers for the robotic applications. Besides, exhaustive experiments have proven the effectiveness of the proposed predictive visual tracking baseline approach.

cs.CV↗

arXiv2022

Proximal Subgradient Norm Minimization of ISTA and FISTA

For first-order smooth optimization, the research on the acceleration phenomenon has a long-time history. Until recently, the mechanism leading to acceleration was not successfully uncovered by the gradient correction term and its equivalent implicit-velocity form. Furthermore, based on the high-resolution differential equation framework with the corresponding emerging techniques, phase-space representation and Lyapunov function, the squared gradient norm of Nesterov's accelerated gradient descent (\texttt{NAG}) method at an inverse cubic rate is discovered. However, this result cannot be directly generalized to composite optimization widely used in practice, e.g., the linear inverse problem with sparse representation. In this paper, we meticulously observe a pivotal inequality used in composite optimization about the step size $s$ and the Lipschitz constant $L$ and find that it can be improved tighter. We apply the tighter inequality discovered in the well-constructed Lyapunov function and then obtain the proximal subgradient norm minimization by the phase-space representation, regardless of gradient-correction or implicit-velocity. Furthermore, we demonstrate that the squared proximal subgradient norm for the class of iterative shrinkage-thresholding algorithms (ISTA) converges at an inverse square rate, and the squared proximal subgradient norm for the class of faster iterative shrinkage-thresholding algorithms (FISTA) is accelerated to convergence at an inverse cubic rate.

math.OC↗

arXiv2022

SUN: Exploring Intrinsic Uncertainties in Text-to-SQL Parsers

This paper aims to improve the performance of text-to-SQL parsing by exploring the intrinsic uncertainties in the neural network based approaches (called SUN). From the data uncertainty perspective, it is indisputable that a single SQL can be learned from multiple semantically-equivalent questions.Different from previous methods that are limited to one-to-one mapping, we propose a data uncertainty constraint to explore the underlying complementary semantic information among multiple semantically-equivalent questions (many-to-one) and learn the robust feature representations with reduced spurious associations. In this way, we can reduce the sensitivity of the learned representations and improve the robustness of the parser. From the model uncertainty perspective, there is often structural information (dependence) among the weights of neural networks. To improve the generalizability and stability of neural text-to-SQL parsers, we propose a model uncertainty constraint to refine the query representations by enforcing the output representations of different perturbed encoding networks to be consistent with each other. Extensive experiments on five benchmark datasets demonstrate that our method significantly outperforms strong competitors and achieves new state-of-the-art results. For reproducibility, we release our code and data at https://github.com/AlibabaResearch/DAMO-ConvAI/tree/main/sunsql.

cs.CL↗

arXiv2022

STAR: SQL Guided Pre-Training for Context-dependent Text-to-SQL Parsing

In this paper, we propose a novel SQL guided pre-training framework STAR for context-dependent text-to-SQL parsing, which leverages contextual information to enrich natural language (NL) utterance and table schema representations for text-to-SQL conversations. Concretely, we propose two novel pre-training objectives which respectively explore the context-dependent interactions of NL utterances and SQL queries within each text-to-SQL conversation: (i) schema state tracking (SST) objective that tracks and explores the schema states of context-dependent SQL queries in the form of schema-states by predicting and updating the value of each schema slot during interaction; (ii) utterance dependency tracking (UDT) objective that employs weighted contrastive learning to pull together two semantically similar NL utterances and push away the representations of semantically dissimilar NL utterances within each conversation. In addition, we construct a high-quality large-scale context-dependent text-to-SQL conversation corpus to pre-train STAR. Extensive experiments show that STAR achieves new state-of-the-art performance on two downstream benchmarks (SParC and CoSQL), significantly outperforming previous pre-training methods and ranking first on the leaderboard. We believe the release of the constructed corpus, codebase and pre-trained STAR checkpoints would push forward the research in this area. For reproducibility, we release our code and data at https://github.com/AlibabaResearch/DAMO-ConvAI/tree/main/star.

cs.CL↗

arXiv2022

Towards Generalizable and Robust Text-to-SQL Parsing

Text-to-SQL parsing tackles the problem of mapping natural language questions to executable SQL queries. In practice, text-to-SQL parsers often encounter various challenging scenarios, requiring them to be generalizable and robust. While most existing work addresses a particular generalization or robustness challenge, we aim to study it in a more comprehensive manner. In specific, we believe that text-to-SQL parsers should be (1) generalizable at three levels of generalization, namely i.i.d., zero-shot, and compositional, and (2) robust against input perturbations. To enhance these capabilities of the parser, we propose a novel TKK framework consisting of Task decomposition, Knowledge acquisition, and Knowledge composition to learn text-to-SQL parsing in stages. By dividing the learning process into multiple stages, our framework improves the parser's ability to acquire general SQL knowledge instead of capturing spurious patterns, making it more generalizable and robust. Experimental results under various generalization and robustness settings show that our framework is effective in all scenarios and achieves state-of-the-art performance on the Spider, SParC, and CoSQL datasets. Code can be found at https://github.com/AlibabaResearch/DAMO-ConvAI/tree/main/tkk.

cs.CL↗

arXiv2022

Word-Level Fine-Grained Story Visualization

Story visualization aims to generate a sequence of images to narrate each sentence in a multi-sentence story with a global consistency across dynamic scenes and characters. Current works still struggle with output images' quality and consistency, and rely on additional semantic information or auxiliary captioning networks. To address these challenges, we first introduce a new sentence representation, which incorporates word information from all story sentences to mitigate the inconsistency problem. Then, we propose a new discriminator with fusion features and further extend the spatial attention to improve image quality and story consistency. Extensive experiments on different datasets and human evaluation demonstrate the superior performance of our approach, compared to state-of-the-art methods, neither using segmentation masks nor auxiliary captioning networks.

cs.CV↗

arXiv2022

Graph-to-Text Generation with Dynamic Structure Pruning

Most graph-to-text works are built on the encoder-decoder framework with cross-attention mechanism. Recent studies have shown that explicitly modeling the input graph structure can significantly improve the performance. However, the vanilla structural encoder cannot capture all specialized information in a single forward pass for all decoding steps, resulting in inaccurate semantic representations. Meanwhile, the input graph is flatted as an unordered sequence in the cross attention, ignoring the original graph structure. As a result, the obtained input graph context vector in the decoder may be flawed. To address these issues, we propose a Structure-Aware Cross-Attention (SACA) mechanism to re-encode the input graph representation conditioning on the newly generated context at each decoding step in a structure aware manner. We further adapt SACA and introduce its variant Dynamic Graph Pruning (DGP) mechanism to dynamically drop irrelevant nodes in the decoding process. We achieve new state-of-the-art results on two graph-to-text datasets, LDC2020T02 and ENT-DESC, with only minor increase on computational cost.

cs.CL↗

arXiv2022

Lightweight Long-Range Generative Adversarial Networks

In this paper, we introduce novel lightweight generative adversarial networks, which can effectively capture long-range dependencies in the image generation process, and produce high-quality results with a much simpler architecture. To achieve this, we first introduce a long-range module, allowing the network to dynamically adjust the number of focused sampling pixels and to also augment sampling locations. Thus, it can break the limitation of the fixed geometric structure of the convolution operator, and capture long-range dependencies in both spatial and channel-wise directions. Also, the proposed long-range module can highlight negative relations between pixels, working as a regularization to stabilize training. Furthermore, we propose a new generation strategy through which we introduce metadata into the image generation process to provide basic information about target images, which can stabilize and speed up the training process. Our novel long-range module only introduces few additional parameters and is easily inserted into existing models to capture long-range dependencies. Extensive experiments demonstrate the competitive performance of our method with a lightweight architecture.

cs.CV↗

arXiv2022

FedIPR: Ownership Verification for Federated Deep Neural Network Models

Federated learning models are collaboratively developed upon valuable training data owned by multiple parties. During the development and deployment of federated models, they are exposed to risks including illegal copying, re-distribution, misuse and/or free-riding. To address these risks, the ownership verification of federated learning models is a prerequisite that protects federated learning model intellectual property rights (IPR) i.e., FedIPR. We propose a novel federated deep neural network (FedDNN) ownership verification scheme that allows private watermarks to be embedded and verified to claim legitimate IPR of FedDNN models. In the proposed scheme, each client independently verifies the existence of the model watermarks and claims respective ownership of the federated model without disclosing neither private training data nor private watermark information. The effectiveness of embedded watermarks is theoretically justified by the rigorous analysis of conditions under which watermarks can be privately embedded and detected by multiple clients. Moreover, extensive experimental results on computer vision and natural language processing tasks demonstrate that varying bit-length watermarks can be embedded and reliably detected without compromising original model performances. Our watermarking scheme is also resilient to various federated training settings and robust against removal attacks.

cs.LG↗