arXiv subjects

Hao Cheng

Publications and source records attributed to Hao Cheng.

At least 253 records · Page 14Linked to original sources

arXiv2021

Improving Take-over Situation by Active Communication

In this short paper an idea is sketched, how to support drivers of an autonomous vehicle in taking back control of the vehicle after a longer section of autonomous cruising. The hypothesis is that a clear communication about the location and behavior of relevant objects in the environment will help the driver to quickly grasp the situational context and thus support drivers in safely handling the ongoing driving situation manually after take-over. Based on this hypothesis, a research concept is sketched, which entails the necessary components as well as the disciplines involved.

cs.HC↗

arXiv2021

UnitedQA: A Hybrid Approach for Open Domain Question Answering

To date, most of recent work under the retrieval-reader framework for open-domain QA focuses on either extractive or generative reader exclusively. In this paper, we study a hybrid approach for leveraging the strengths of both models. We apply novel techniques to enhance both extractive and generative readers built upon recent pretrained neural language models, and find that proper training methods can provide large improvement over previous state-of-the-art models. We demonstrate that a simple hybrid approach by combining answers from both readers can efficiently take advantages of extractive and generative answer inference strategies and outperforms single models as well as homogeneous ensembles. Our approach outperforms previous state-of-the-art models by 3.3 and 2.7 points in exact match on NaturalQuestions and TriviaQA respectively.

cs.CL↗

arXiv2021

Reconciliation of Statistical and Spatial Sparsity For Robust Image and Image-Set Classification

Recent image classification algorithms, by learning deep features from large-scale datasets, have achieved significantly better results comparing to the classic feature-based approaches. However, there are still various challenges of image classifications in practice, such as classifying noisy image or image-set queries and training deep image classification models over the limited-scale dataset. Instead of applying generic deep features, the model-based approaches can be more effective and data-efficient for robust image and image-set classification tasks, as various image priors are exploited for modeling the inter- and intra-set data variations while preventing over-fitting. In this work, we propose a novel Joint Statistical and Spatial Sparse representation, dubbed \textit{J3S}, to model the image or image-set data for classification, by reconciling both their local patch structures and global Gaussian distribution mapped into Riemannian manifold. To the best of our knowledge, no work to date utilized both global statistics and local patch structures jointly via joint sparse representation. We propose to solve the joint sparse coding problem based on the J3S model, by coupling the local and global image representations using joint sparsity. The learned J3S models are used for robust image and image-set classification. Experiments show that the proposed J3S-based image classification scheme outperforms the popular or state-of-the-art competing methods over FMD, UIUC, ETH-80 and YTC databases.

cs.CV↗

arXiv2021

CNN Retrieval based Unsupervised Metric Learning for Near-Duplicated Video Retrieval

As important data carriers, the drastically increasing number of multimedia videos often brings many duplicate and near-duplicate videos in the top results of search. Near-duplicate video retrieval (NDVR) can cluster and filter out the redundant contents. In this paper, the proposed NDVR approach extracts the frame-level video representation based on convolutional neural network (CNN) features from fully-connected layer and aggregated intermediate convolutional layers. Unsupervised metric learning is used for similarity measurement and feature matching. An efficient re-ranking algorithm combined with k-nearest neighborhood fuses the retrieval results from two levels of features and further improves the retrieval performance. Extensive experiments on the widely used CC\_WEB\_VIDEO dataset shows that the proposed approach exhibits superior performance over the state-of-the-art.

cs.IR↗

arXiv2021

Interaction Detection Between Vehicles and Vulnerable Road Users: A Deep Generative Approach with Attention

Intersections where vehicles are permitted to turn and interact with vulnerable road users (VRUs) like pedestrians and cyclists are among some of the most challenging locations for automated and accurate recognition of road users' behavior. In this paper, we propose a deep conditional generative model for interaction detection at such locations. It aims to automatically analyze massive video data about the continuity of road users' behavior. This task is essential for many intelligent transportation systems such as traffic safety control and self-driving cars that depend on the understanding of road users' locomotion. A Conditional Variational Auto-Encoder based model with Gaussian latent variables is trained to encode road users' behavior and perform probabilistic and diverse predictions of interactions. The model takes as input the information of road users' type, position and motion automatically extracted by a deep learning object detector and optical flow from videos, and generates frame-wise probabilities that represent the dynamics of interactions between a turning vehicle and any VRUs involved. The model's efficacy was validated by testing on real--world datasets acquired from two different intersections. It achieved an F1-score above 0.96 at a right--turn intersection in Germany and 0.89 at a left--turn intersection in Japan, both with very busy traffic flows.

cs.CV↗

arXiv2021

Removing the Background by Adding the Background: Towards Background Robust Self-supervised Video Representation Learning

Self-supervised learning has shown great potentials in improving the video representation ability of deep neural networks by getting supervision from the data itself. However, some of the current methods tend to cheat from the background, i.e., the prediction is highly dependent on the video background instead of the motion, making the model vulnerable to background changes. To mitigate the model reliance towards the background, we propose to remove the background impact by adding the background. That is, given a video, we randomly select a static frame and add it to every other frames to construct a distracting video sample. Then we force the model to pull the feature of the distracting video and the feature of the original video closer, so that the model is explicitly restricted to resist the background influence, focusing more on the motion changes. We term our method as \emph{Background Erasing} (BE). It is worth noting that the implementation of our method is so simple and neat and can be added to most of the SOTA methods without much efforts. Specifically, BE brings 16.4% and 19.1% improvements with MoCo on the severely biased datasets UCF101 and HMDB51, and 14.5% improvement on the less biased dataset Diving48.

cs.CV↗

arXiv2021

Posterior Differential Regularization with f-divergence for Improving Model Robustness

We address the problem of enhancing model robustness through regularization. Specifically, we focus on methods that regularize the model posterior difference between clean and noisy inputs. Theoretically, we provide a connection of two recent methods, Jacobian Regularization and Virtual Adversarial Training, under this framework. Additionally, we generalize the posterior differential regularization to the family of $f$-divergences and characterize the overall regularization framework in terms of Jacobian matrix. Empirically, we systematically compare those regularizations and standard BERT training on a diverse set of tasks to provide a comprehensive profile of their effect on model in-domain and out-of-domain generalization. For both fully supervised and semi-supervised settings, our experiments show that regularizing the posterior differential with $f$-divergence can result in well-improved model robustness. In particular, with a proper $f$-divergence, a BERT-base model can achieve comparable generalization as its BERT-large counterpart for in-domain, adversarial and domain shift scenarios, indicating the great potential of the proposed framework for boosting model generalization for NLP models.

cs.CL↗

arXiv2021

Targeted Adversarial Training for Natural Language Understanding

We present a simple yet effective Targeted Adversarial Training (TAT) algorithm to improve adversarial training for natural language understanding. The key idea is to introspect current mistakes and prioritize adversarial training steps to where the model errs the most. Experiments show that TAT can significantly improve accuracy over standard adversarial training on GLUE and attain new state-of-the-art zero-shot results on XNLI. Our code will be released at: https://github.com/namisan/mt-dnn.

cs.CL↗

arXiv2021

Exploring Dynamic Context for Multi-path Trajectory Prediction

To accurately predict future positions of different agents in traffic scenarios is crucial for safely deploying intelligent autonomous systems in the real-world environment. However, it remains a challenge due to the behavior of a target agent being affected by other agents dynamically and there being more than one socially possible paths the agent could take. In this paper, we propose a novel framework, named Dynamic Context Encoder Network (DCENet). In our framework, first, the spatial context between agents is explored by using self-attention architectures. Then, the two-stream encoders are trained to learn temporal context between steps by taking the respective observed trajectories and the extracted dynamic spatial context as input. The spatial-temporal context is encoded into a latent space using a Conditional Variational Auto-Encoder (CVAE) module. Finally, a set of future trajectories for each agent is predicted conditioned on the learned spatial-temporal context by sampling from the latent space, repeatedly. DCENet is evaluated on one of the most popular challenging benchmarks for trajectory forecasting Trajnet and reports a new state-of-the-art performance. It also demonstrates superior performance evaluated on the benchmark inD for mixed traffic at intersections. A series of ablation studies is conducted to validate the effectiveness of each proposed module. Our code is available at https://github.com/wtliao/DCENet.

cs.CV↗

arXiv2021

Learning with Instance-Dependent Label Noise: A Sample Sieve Approach

Human-annotated labels are often prone to noise, and the presence of such noise will degrade the performance of the resulting deep neural network (DNN) models. Much of the literature (with several recent exceptions) of learning with noisy labels focuses on the case when the label noise is independent of features. Practically, annotations errors tend to be instance-dependent and often depend on the difficulty levels of recognizing a certain task. Applying existing results from instance-independent settings would require a significant amount of estimation of noise rates. Therefore, providing theoretically rigorous solutions for learning with instance-dependent label noise remains a challenge. In this paper, we propose CORES$^{2}$ (COnfidence REgularized Sample Sieve), which progressively sieves out corrupted examples. The implementation of CORES$^{2}$ does not require specifying noise rates and yet we are able to provide theoretical guarantees of CORES$^{2}$ in filtering out the corrupted examples. This high-quality sample sieve allows us to treat clean examples and the corrupted ones separately in training a DNN solution, and such a separation is shown to be advantageous in the instance-dependent noise setting. We demonstrate the performance of CORES$^{2}$ on CIFAR10 and CIFAR100 datasets with synthetic instance-dependent label noise and Clothing1M with real-world human noise. As of independent interests, our sample sieve provides a generic machinery for anatomizing noisy datasets and provides a flexible interface for various robust training techniques to further improve the performance. Code is available at https://github.com/UCSC-REAL/cores.

cs.LG↗

arXiv2021

Orientation to Pose: Continuum Robots Shape Sensing Based on Piecewise Polynomial Curvature Model

Continuum robots are typically slender and flexible with infinite freedoms in theory, which poses a challenge for their control and application. The shape sensing of continuum robots is vital to realise accuracy control. This letter proposed a novel general real-time shape sensing framework of continuum robots based on the piecewise polynomial curvature (PPC) kinematics model. We illustrate the coupling between orientation and position at any given location of the continuum robots. Further, the coupling relation could be bridged by the PPC kinematics. Therefore, we propose to estimate the shape of continuum robots through orientation estimation, using the off-the-shelf orientation sensors, e.g., IMUs, mounted on certain locations. The approach gives a valuable framework to the shape sensing of continuum robots, universality, accuracy and convenience. The accuracy of the general approach is verified in the experiments of multi-type physical prototypes.

cs.RO↗

arXiv2021

Filter Grafting for Deep Neural Networks: Reason, Method, and Cultivation

Filter is the key component in modern convolutional neural networks (CNNs). However, since CNNs are usually over-parameterized, a pre-trained network always contain some invalid (unimportant) filters. These filters have relatively small $l_{1}$ norm and contribute little to the output (\textbf{Reason}). While filter pruning removes these invalid filters for efficiency consideration, we tend to reactivate them to improve the representation capability of CNNs. In this paper, we introduce filter grafting (\textbf{Method}) to achieve this goal. The activation is processed by grafting external information (weights) into invalid filters. To better perform the grafting, we develop a novel criterion to measure the information of filters and an adaptive weighting strategy to balance the grafted information among networks. After the grafting operation, the network has fewer invalid filters compared with its initial state, enpowering the model with more representation capacity. Meanwhile, since grafting is operated reciprocally on all networks involved, we find that grafting may lose the information of valid filters when improving invalid filters. To gain a universal improvement on both valid and invalid filters, we compensate grafting with distillation (\textbf{Cultivation}) to overcome the drawback of grafting . Extensive experiments are performed on the classification and recognition tasks to show the superiority of our method. Code is available at \textcolor{black}{\emph{https://github.com/fxmeng/filter-grafting}}.

cs.LG↗

arXiv2021

Joint Dimensionality Reduction for Separable Embedding Estimation

Low-dimensional embeddings for data from disparate sources play critical roles in multi-modal machine learning, multimedia information retrieval, and bioinformatics. In this paper, we propose a supervised dimensionality reduction method that learns linear embeddings jointly for two feature vectors representing data of different modalities or data from distinct types of entities. We also propose an efficient feature selection method that complements, and can be applied prior to, our joint dimensionality reduction method. Assuming that there exist true linear embeddings for these features, our analysis of the error in the learned linear embeddings provides theoretical guarantees that the dimensionality reduction method accurately estimates the true embeddings when certain technical conditions are satisfied and the number of samples is sufficiently large. The derived sample complexity results are echoed by numerical experiments. We apply the proposed dimensionality reduction method to gene-disease association, and predict unknown associations using kernel regression on the dimension-reduced feature vectors. Our approach compares favorably against other dimensionality reduction methods, and against a state-of-the-art method of bilinear regression for predicting gene-disease associations.

cs.LG↗

arXiv2021

AMENet: Attentive Maps Encoder Network for Trajectory Prediction

Trajectory prediction is critical for applications of planning safe future movements and remains challenging even for the next few seconds in urban mixed traffic. How an agent moves is affected by the various behaviors of its neighboring agents in different environments. To predict movements, we propose an end-to-end generative model named Attentive Maps Encoder Network (AMENet) that encodes the agent's motion and interaction information for accurate and realistic multi-path trajectory prediction. A conditional variational auto-encoder module is trained to learn the latent space of possible future paths based on attentive dynamic maps for interaction modeling and then is used to predict multiple plausible future trajectories conditioned on the observed past trajectories. The efficacy of AMENet is validated using two public trajectory prediction benchmarks Trajnet and InD.

cs.CV↗

arXiv2020

One for More: Selecting Generalizable Samples for Generalizable ReID Model

Current training objectives of existing person Re-IDentification (ReID) models only ensure that the loss of the model decreases on selected training batch, with no regards to the performance on samples outside the batch. It will inevitably cause the model to over-fit the data in the dominant position (e.g., head data in imbalanced class, easy samples or noisy samples). %We call the sample that updates the model towards generalizing on more data a generalizable sample. The latest resampling methods address the issue by designing specific criterion to select specific samples that trains the model generalize more on certain type of data (e.g., hard samples, tail data), which is not adaptive to the inconsistent real world ReID data distributions. Therefore, instead of simply presuming on what samples are generalizable, this paper proposes a one-for-more training objective that directly takes the generalization ability of selected samples as a loss function and learn a sampler to automatically select generalizable samples. More importantly, our proposed one-for-more based sampler can be seamlessly integrated into the ReID training framework which is able to simultaneously train ReID models and the sampler in an end-to-end fashion. The experimental results show that our method can effectively improve the ReID model training and boost the performance of ReID models.

cs.CV↗

arXiv2020

Pruning Filter in Filter

Pruning has become a very powerful and effective technique to compress and accelerate modern neural networks. Existing pruning methods can be grouped into two categories: filter pruning (FP) and weight pruning (WP). FP wins at hardware compatibility but loses at the compression ratio compared with WP. To converge the strength of both methods, we propose to prune the filter in the filter. Specifically, we treat a filter $F \in \mathbb{R}^{C\times K\times K}$ as $K \times K$ stripes, i.e., $1\times 1$ filters $\in \mathbb{R}^{C}$, then by pruning the stripes instead of the whole filter, we can achieve finer granularity than traditional FP while being hardware friendly. We term our method as SWP (\emph{Stripe-Wise Pruning}). SWP is implemented by introducing a novel learnable matrix called Filter Skeleton, whose values reflect the shape of each filter. As some recent work has shown that the pruned architecture is more crucial than the inherited important weights, we argue that the architecture of a single filter, i.e., the shape, also matters. Through extensive experiments, we demonstrate that SWP is more effective compared to the previous FP-based methods and achieves the state-of-art pruning ratio on CIFAR-10 and ImageNet datasets without obvious accuracy drop. Code is available at https://github.com/fxmeng/Pruning-Filter-in-Filter

cs.CV↗

arXiv2020

Attentive Graph Neural Networks for Few-Shot Learning

Graph Neural Networks (GNN) has demonstrated the superior performance in many challenging applications, including the few-shot learning tasks. Despite its powerful capacity to learn and generalize the model from few samples, GNN usually suffers from severe over-fitting and over-smoothing as the model becomes deep, which limit the scalability. In this work, we propose a novel Attentive GNN to tackle these challenges, by incorporating a triple-attention mechanism, i.e. node self-attention, neighborhood attention, and layer memory attention. We explain why the proposed attentive modules can improve GNN for few-shot learning with theoretical analysis and illustrations. Extensive experiments show that the proposed Attentive GNN model achieves the promising results, comparing to the state-of-the-art GNN- and CNN-based methods for few-shot learning tasks, over the mini-ImageNet and tiered-ImageNet benchmarks, under ConvNet-4 and ResNet-based backbone with both inductive and transductive settings. The codes will be made publicly available.

cs.LG↗

arXiv2020

Approximate Piecewise Constant Curvature Equivalent Model and Their Application to Continuum Robot Configuration Estimation

The continuum robot has attracted more attention for its flexibility. Continuum robot kinematics models are the basis for further perception, planning, and control. The design and research of continuum robots are usually based on the assumption of piecewise constant curvature (PCC). However, due to the influence of friction, etc., the actual motion of the continuum robot is approximate piecewise constant curvature (APCC). To address this, we present a kinematic equivalent model for continuum robots, i.e. APCC 2L-5R. Using classical rigid linkages to replace the original model in kinematic, the APCC 2L-5R model effectively reduces complexity and improves numerical stability. Furthermore, based on the model, the configuration self-estimation of the continuum robot is realized by monocular cameras installed at the end of each approximate constant curvature segment. The potential of APCC 2L-5R in perception, planning, and control of continuum robots remains to be explored.

cs.RO↗