arXiv subjects

Chengyuan Ma

Publications and source records attributed to Chengyuan Ma.

34 records · Page 2Linked to original sources

arXiv2024

Goal-based Neural Physics Vehicle Trajectory Prediction Model

Vehicle trajectory prediction plays a vital role in intelligent transportation systems and autonomous driving, as it significantly affects vehicle behavior planning and control, thereby influencing traffic safety and efficiency. Numerous studies have been conducted to predict short-term vehicle trajectories in the immediate future. However, long-term trajectory prediction remains a major challenge due to accumulated errors and uncertainties. Additionally, balancing accuracy with interpretability in the prediction is another challenging issue in predicting vehicle trajectory. To address these challenges, this paper proposes a Goal-based Neural Physics Vehicle Trajectory Prediction Model (GNP). The GNP model simplifies vehicle trajectory prediction into a two-stage process: determining the vehicle's goal and then choosing the appropriate trajectory to reach this goal. The GNP model contains two sub-modules to achieve this process. The first sub-module employs a multi-head attention mechanism to accurately predict goals. The second sub-module integrates a deep learning model with a physics-based social force model to progressively predict the complete trajectory using the generated goals. The GNP demonstrates state-of-the-art long-term prediction accuracy compared to four baseline models. We provide interpretable visualization results to highlight the multi-modality and inherent nature of our neural physics framework. Additionally, ablation studies are performed to validate the effectiveness of our key designs.

cs.AI↗

arXiv2024

HAIM-DRL: Enhanced Human-in-the-loop Reinforcement Learning for Safe and Efficient Autonomous Driving

Despite significant progress in autonomous vehicles (AVs), the development of driving policies that ensure both the safety of AVs and traffic flow efficiency has not yet been fully explored. In this paper, we propose an enhanced human-in-the-loop reinforcement learning method, termed the Human as AI mentor-based deep reinforcement learning (HAIM-DRL) framework, which facilitates safe and efficient autonomous driving in mixed traffic platoon. Drawing inspiration from the human learning process, we first introduce an innovative learning paradigm that effectively injects human intelligence into AI, termed Human as AI mentor (HAIM). In this paradigm, the human expert serves as a mentor to the AI agent. While allowing the agent to sufficiently explore uncertain environments, the human expert can take control in dangerous situations and demonstrate correct actions to avoid potential accidents. On the other hand, the agent could be guided to minimize traffic flow disturbance, thereby optimizing traffic flow efficiency. In detail, HAIM-DRL leverages data collected from free exploration and partial human demonstrations as its two training sources. Remarkably, we circumvent the intricate process of manually designing reward functions; instead, we directly derive proxy state-action values from partial human demonstrations to guide the agents' policy learning. Additionally, we employ a minimal intervention technique to reduce the human mentor's cognitive load. Comparative results show that HAIM-DRL outperforms traditional methods in driving safety, sampling efficiency, mitigation of traffic flow disturbance, and generalizability to unseen traffic scenarios. The code and demo videos for this paper can be accessed at: https://zilin-huang.github.io/HAIM-DRL-website/

cs.LG↗

arXiv2024

Invariants of Unimodular Quadratic Polynomial Poisson Algebras of Dimension 3

Let $P = \Bbbk[x1,x2,x3]$ be a unimodular quadratic Poisson algebra and let $G$ be a finite subgroup of the graded Poisson automorphism group of $P$. In this paper, we prove a variant of the Shephard-Todd-Chevalley theorem for $P$ and variants the Shephard-Todd-Chevalley theorem and the Watanabe theorem for its Poisson enveloping algebra $U(P)$ under the induced group $\widetilde{G}$.

math.RA↗

arXiv2024

Position-Aware Parameter Efficient Fine-Tuning Approach for Reducing Positional Bias in LLMs

Recent advances in large language models (LLMs) have enhanced their ability to process long input contexts. This development is particularly crucial for tasks that involve retrieving knowledge from an external datastore, which can result in long inputs. However, recent studies show a positional bias in LLMs, demonstrating varying performance depending on the location of useful information within the input sequence. In this study, we conduct extensive experiments to investigate the root causes of positional bias. Our findings indicate that the primary contributor to LLM positional bias stems from the inherent positional preferences of different models. We demonstrate that merely employing prompt-based solutions is inadequate for overcoming the positional preferences. To address this positional bias issue of a pre-trained LLM, we developed a Position-Aware Parameter Efficient Fine-Tuning (PAPEFT) approach which is composed of a data augmentation technique and a parameter efficient adapter, enhancing a uniform attention distribution across the input context. Our experiments demonstrate that the proposed approach effectively reduces positional bias, improving LLMs' effectiveness in handling long context sequences for various tasks that require externally retrieved knowledge.

cs.CL↗

arXiv2024

Invariants of Quantizations of Unimodular Quadratic Polynomial Poisson Algebras of Dimension 3

Let $P = \Bbbk[x_1, x_2, x_3]$ be a unimodular quadratic Poisson algebra, with its Poisson bracket written as $\{x_i, x_j\} = \displaystyle{\sum_{k,l}c_{i,j}^{k,l}x_kx_l}$, $1 \leq i < j \leq 3$. Let $P_{\hbar}$ be the deformation quantization of $P$ constructed as follows: $P_{\hbar} = \Bbbk\langle y_1, y_2, y_3\rangle/([y_i,y_j]=\frac{\hbar}{2}\displaystyle{\sum_{k,l}}c_{i,j}^{k,l}(y_ky_l+y_ly_k))_{1 \leq i < j \leq 3}$. In this paper, we establish that $P$ and $P_{\hbar}$ possess identical graded automorphisms and reflections, and that taking invariant subalgebras and taking deformation quantizations are two commutative processes.

math.RA↗

arXiv2023

Language-Grounded Control for Coordinated Robot Motion and Speech

Recent advancements have enabled human-robot collaboration through physical assistance and verbal guidance. However, limitations persist in coordinating robots' physical motions and speech in response to real-time changes in human behavior during collaborative contact tasks. We first derive principles from analyzing physical therapists' movements and speech during patient exercises. These principles are translated into control objectives to: 1) guide users through trajectories, 2) control motion and speech pace to align completion times with varying user cooperation, and 3) dynamically paraphrase speech along the trajectory. We then propose a Language Controller that synchronizes motion and speech, modulating both based on user cooperation. Experiments with 12 users show the Language Controller successfully aligns motion and speech compared to baselines. This provides a framework for fluent human-robot collaboration.

cs.RO↗

arXiv2023

KEPLET: Knowledge-Enhanced Pretrained Language Model with Topic Entity Awareness

In recent years, Pre-trained Language Models (PLMs) have shown their superiority by pre-training on unstructured text corpus and then fine-tuning on downstream tasks. On entity-rich textual resources like Wikipedia, Knowledge-Enhanced PLMs (KEPLMs) incorporate the interactions between tokens and mentioned entities in pre-training, and are thus more effective on entity-centric tasks such as entity linking and relation classification. Although exploiting Wikipedia's rich structures to some extent, conventional KEPLMs still neglect a unique layout of the corpus where each Wikipedia page is around a topic entity (identified by the page URL and shown in the page title). In this paper, we demonstrate that KEPLMs without incorporating the topic entities will lead to insufficient entity interaction and biased (relation) word semantics. We thus propose KEPLET, a novel Knowledge-Enhanced Pre-trained LanguagE model with Topic entity awareness. In an end-to-end manner, KEPLET identifies where to add the topic entity's information in a Wikipedia sentence, fuses such information into token and mentioned entities representations, and supervises the network learning, through which it takes topic entities back into consideration. Experiments demonstrated the generality and superiority of KEPLET which was applied to two representative KEPLMs, achieving significant improvements on four entity-centric tasks.

cs.CL↗

arXiv2023

An Avatar Robot Overlaid with the 3D Human Model of a Remote Operator

Although telepresence assistive robots have made significant progress, they still lack the sense of realism and physical presence of the remote operator. This results in a lack of trust and adoption of such robots. In this paper, we introduce an Avatar Robot System which is a mixed real/virtual robotic system that physically interacts with a person in proximity of the robot. The robot structure is overlaid with the 3D model of the remote caregiver and visualized through Augmented Reality (AR). In this way, the person receives haptic feedback as the robot touches him/her. We further present an Optimal Non-Iterative Alignment solver that solves for the optimally aligned pose of 3D Human model to the robot (shoulder to the wrist non-iteratively). The proposed alignment solver is stateless, achieves optimal alignment and faster than the baseline solvers (demonstrated in our evaluations). We also propose an evaluation framework that quantifies the alignment quality of the solvers through multifaceted metrics. We show that our solver can consistently produce poses with similar or superior alignments as IK-based baselines without their potential drawbacks.

cs.RO↗

arXiv2023

CLICKER: Attention-Based Cross-Lingual Commonsense Knowledge Transfer

Recent advances in cross-lingual commonsense reasoning (CSR) are facilitated by the development of multilingual pre-trained models (mPTMs). While mPTMs show the potential to encode commonsense knowledge for different languages, transferring commonsense knowledge learned in large-scale English corpus to other languages is challenging. To address this problem, we propose the attention-based Cross-LIngual Commonsense Knowledge transfER (CLICKER) framework, which minimizes the performance gaps between English and non-English languages in commonsense question-answering tasks. CLICKER effectively improves commonsense reasoning for non-English languages by differentiating non-commonsense knowledge from commonsense knowledge. Experimental results on public benchmarks demonstrate that CLICKER achieves remarkable improvements in the cross-lingual CSR task for languages other than English.

cs.CL↗

arXiv2022

Self-Aware Feedback-Based Self-Learning in Large-Scale Conversational AI

Self-learning paradigms in large-scale conversational AI agents tend to leverage user feedback in bridging between what they say and what they mean. However, such learning, particularly in Markov-based query rewriting systems have far from addressed the impact of these models on future training where successive feedback is inevitably contingent on the rewrite itself, especially in a continually updating environment. In this paper, we explore the consequences of this inherent lack of self-awareness towards impairing the model performance, ultimately resulting in both Type I and II errors over time. To that end, we propose augmenting the Markov Graph construction with a superposition-based adjacency matrix. Here, our method leverages an induced stochasticity to reactively learn a locally-adaptive decision boundary based on the performance of the individual rewrites in a bi-variate beta setting. We also surface a data augmentation strategy that leverages template-based generation in abridging complex conversation hierarchies of dialogs so as to simplify the learning process. All in all, we demonstrate that our self-aware model improves the overall PR-AUC by 27.45%, achieves a relative defect reduction of up to 31.22%, and is able to adapt quicker to changes in global preferences across a large number of customers.

cs.CL↗

arXiv2022

A Vocabulary-Free Multilingual Neural Tokenizer for End-to-End Task Learning

Subword tokenization is a commonly used input pre-processing step in most recent NLP models. However, it limits the models' ability to leverage end-to-end task learning. Its frequency-based vocabulary creation compromises tokenization in low-resource languages, leading models to produce suboptimal representations. Additionally, the dependency on a fixed vocabulary limits the subword models' adaptability across languages and domains. In this work, we propose a vocabulary-free neural tokenizer by distilling segmentation information from heuristic-based subword tokenization. We pre-train our character-based tokenizer by processing unique words from multilingual corpus, thereby extensively increasing word diversity across languages. Unlike the predefined and fixed vocabularies in subword methods, our tokenizer allows end-to-end task learning, resulting in optimal task-specific tokenization. The experimental results show that replacing the subword tokenizer with our neural tokenizer consistently improves performance on multilingual (NLI) and code-switching (sentiment analysis) tasks, with larger gains in low-resource languages. Additionally, our neural tokenizer exhibits a robust performance on downstream tasks when adversarial noise is present (typos and misspelling), further increasing the initial improvements over statistical subword tokenizers.

cs.CL↗

arXiv2022

Query Expansion and Entity Weighting for Query Reformulation Retrieval in Voice Assistant Systems

Voice assistants such as Alexa, Siri, and Google Assistant have become increasingly popular worldwide. However, linguistic variations, variability of speech patterns, ambient acoustic conditions, and other such factors are often correlated with the assistants misinterpreting the user's query. In order to provide better customer experience, retrieval based query reformulation (QR) systems are widely used to reformulate those misinterpreted user queries. Current QR systems typically focus on neural retrieval model training or direct entities retrieval for the reformulating. However, these methods rarely focus on query expansion and entity weighting simultaneously, which may limit the scope and accuracy of the query reformulation retrieval. In this work, we propose a novel Query Expansion and Entity Weighting method (QEEW), which leverages the relationships between entities in the entity catalog (consisting of users' queries, assistant's responses, and corresponding entities), to enhance the query reformulation performance. Experiments on Alexa annotated data demonstrate that QEEW improves all top precision metrics, particularly 6% improvement in top10 precision, compared with baselines not using query expansion and weighting; and more than 5% improvement in top10 precision compared with other baselines using query expansion and weighting.

cs.IR↗

arXiv2022

Incremental user embedding modeling for personalized text classification

Individual user profiles and interaction histories play a significant role in providing customized experiences in real-world applications such as chatbots, social media, retail, and education. Adaptive user representation learning by utilizing user personalized information has become increasingly challenging due to ever-growing history data. In this work, we propose an incremental user embedding modeling approach, in which embeddings of user's recent interaction histories are dynamically integrated into the accumulated history vectors via a transformer encoder. This modeling paradigm allows us to create generalized user representations in a consecutive manner and also alleviate the challenges of data management. We demonstrate the effectiveness of this approach by applying it to a personalized multi-class classification task based on the Reddit dataset, and achieve 9% and 30% relative improvement on prediction accuracy over a baseline system for two experiment settings through appropriate comment history encoding and task modeling.

cs.LG↗

arXiv2021

VAE based Text Style Transfer with Pivot Words Enhancement Learning

Text Style Transfer (TST) aims to alter the underlying style of the source text to another specific style while keeping the same content. Due to the scarcity of high-quality parallel training data, unsupervised learning has become a trending direction for TST tasks. In this paper, we propose a novel VAE based Text Style Transfer with pivOt Words Enhancement leaRning (VT-STOWER) method which utilizes Variational AutoEncoder (VAE) and external style embeddings to learn semantics and style distribution jointly. Additionally, we introduce pivot words learning, which is applied to learn decisive words for a specific style and thereby further improve the overall performance of the style transfer. The proposed VT-STOWER can be scaled to different TST scenarios given very limited and non-parallel training data with a novel and flexible style strength control mechanism. Experiments demonstrate that the VT-STOWER outperforms the state-of-the-art on sentiment, formality, and code-switching TST tasks.

cs.CL↗

arXiv2021

Trajectory Planning for Connected and Automated Vehicles at Isolated Signalized Intersections under Mixed Traffic Environment

Trajectory planning for connected and automated vehicles (CAVs) has the potential to improve operational efficiency and vehicle fuel economy in traffic systems. Despite abundant studies in this research area, most of them only consider trajectory planning in the longitudinal dimension or assume the fully CAV environment. This study proposes an approach to the decentralized planning of CAV trajectories at an isolated signalized intersection under the mixed traffic environment, which consists of connected and human-driven vehicles (CHVs) and CAVs. A bi-level optimization model is formulated based on discrete time to optimize the trajectory of a single CAV in both the longitudinal and lateral dimensions given signal timings and the trajectory information of surrounding vehicles. The upper-level model optimizes lateral lane-changing strategies. The lower-level model optimizes longitudinal acceleration profiles based on the lane-changing strategies from the upper-level model. Minimization of vehicle delay, fuel consumption, and lane-changing costs are considered in the objective functions. A Lane-Changing Strategy Tree (LCST) and a Parallel Monte-Carlo Tree Search (PMCTS) algorithm are designed to solve the bi-level optimization model. CAV trajectories are planned one by one according to their distance to the stop bar. A rolling horizon scheme is applied for the dynamic implementation of the proposed model with time-varying traffic condition. Numerical studies validate the advantages of the proposed trajectory planning model compared with the benchmark cases without CAV trajectory planning.

eess.SY↗

arXiv2020

LSTM-based Whisper Detection

This article presents a whisper speech detector in the far-field domain. The proposed system consists of a long-short term memory (LSTM) neural network trained on log-filterbank energy (LFBE) acoustic features. This model is trained and evaluated on recordings of human interactions with voice-controlled, far-field devices in whisper and normal phonation modes. We compare multiple inference approaches for utterance-level classification by examining trajectories of the LSTM posteriors. In addition, we engineer a set of features based on the signal characteristics inherent to whisper speech, and evaluate their effectiveness in further separating whisper from normal speech. A benchmarking of these features using multilayer perceptrons (MLP) and LSTMs suggests that the proposed features, in combination with LFBE features, can help us further improve our classifiers. We prove that, with enough data, the LSTM model is indeed as capable of learning whisper characteristics from LFBE features alone compared to a simpler MLP model that uses both LFBE and features engineered for separating whisper and normal speech. In addition, we prove that the LSTM classifiers accuracy can be further improved with the incorporation of the proposed engineered features.

cs.CL↗