arXiv subjects

Hongbo Zhang

Publications and source records attributed to Hongbo Zhang.

At least 73 records · Page 4Linked to original sources

arXiv2023

Multi-step prediction of chlorophyll concentration based on Adaptive Graph-Temporal Convolutional Network with Series Decomposition

Chlorophyll concentration can well reflect the nutritional status and algal blooms of water bodies, and is an important indicator for evaluating water quality. The prediction of chlorophyll concentration change trend is of great significance to environmental protection and aquaculture. However, there is a complex and indistinguishable nonlinear relationship between many factors affecting chlorophyll concentration. In order to effectively mine the nonlinear features contained in the data. This paper proposes a time-series decomposition adaptive graph-time convolutional network ( AGTCNSD ) prediction model. Firstly, the original sequence is decomposed into trend component and periodic component by moving average method. Secondly, based on the graph convolutional neural network, the water quality parameter data is modeled, and a parameter embedding matrix is defined. The idea of matrix decomposition is used to assign weight parameters to each node. The adaptive graph convolution learns the relationship between different water quality parameters, updates the state information of each parameter, and improves the learning ability of the update relationship between nodes. Finally, time dependence is captured by time convolution to achieve multi-step prediction of chlorophyll concentration. The validity of the model is verified by the water quality data of the coastal city Beihai. The results show that the prediction effect of this method is better than other methods. It can be used as a scientific resource for environmental management decision-making.

cs.LG↗

arXiv2023

Enhancing Dialogue Generation via Dynamic Graph Knowledge Aggregation

Incorporating external graph knowledge into neural chatbot models has been proven effective for enhancing dialogue generation. However, in conventional graph neural networks (GNNs), message passing on a graph is independent from text, resulting in the graph representation hidden space differing from that of the text. This training regime of existing models therefore leads to a semantic gap between graph knowledge and text. In this study, we propose a novel framework for knowledge graph enhanced dialogue generation. We dynamically construct a multi-hop knowledge graph with pseudo nodes to involve the language model in feature aggregation within the graph at all steps. To avoid the semantic biases caused by learning on vanilla subgraphs, the proposed framework applies hierarchical graph attention to aggregate graph features on pseudo nodes and then attains a global feature. Therefore, the framework can better utilise the heterogeneous features from both the post and external graph knowledge. Extensive experiments demonstrate that our framework outperforms state-of-the-art (SOTA) baselines on dialogue generation. Further analysis also shows that our representation learning framework can fill the semantic gap by coagulating representations of both text and graph knowledge. Moreover, the language model also learns how to better select knowledge triples for a more informative response via exploiting subgraph patterns within our feature aggregation process. Our code and resources are available at https://github.com/tangg555/SaBART.

cs.CL↗

arXiv2023

BBCA-LEDGER: High Throughput Consensus meets Low Latency

This paper presents BBCA-LEDGER, a Byzantine log replication technology for partially synchronous networks enabling blocks to be broadcast in parallel, such that each broadcast is finalized independently and instantaneously into an individual slot in the log. Every finalized broadcast is eventually committed to the total ordering, so that all network bandwidth has utility in disseminating blocks. Finalizing log slots in parallel achieves both high throughput and low latency. BBCA-LEDGER is composed of two principal protocols that interweave together, a low-latency/high-throughput happy path, and a high-throughput DAG-based fallback path. The happy path employs a novel primitive called BBCA, a consistent broadcast enforcing unique slot numbering. In steady state, BBCA ensures that a transaction can be committed with low latency, in just 3 network steps. Under network partitions or faults, we harness recent advances in BFT and build a fallback mechanism on a direct acyclic graph (DAG) created by BBCA broadcasts. In this manner, BBCA-LEDGER exhibits the throughput benefits of DAG-based BFT in face of gaps.

cs.DC↗

arXiv2023

Injecting Knowledge into Biomedical Pre-trained Models via Polymorphism and Synonymous Substitution

Pre-trained language models (PLMs) were considered to be able to store relational knowledge present in the training data. However, some relational knowledge seems to be discarded unsafely in PLMs due to \textbf{report bias}: low-frequency relational knowledge might be underexpressed compared to high-frequency one in PLMs. This gives us a hint that relational knowledge might not be redundant to the stored knowledge of PLMs, but rather be complementary. To additionally inject relational knowledge into PLMs, we propose a simple-yet-effective approach to inject relational knowledge into PLMs, which is inspired by three observations (namely, polymorphism, synonymous substitution, and association). In particular, we switch entities in the training corpus to related entities (either hypernyms/hyponyms/synonyms, or arbitrarily-related concepts). Experimental results show that the proposed approach could not only better capture relational knowledge, but also improve the performance in various biomedical downstream tasks. Our model is available in \url{https://github.com/StevenZHB/BioPLM_InjectingKnowledge}.

cs.CL↗

arXiv2023

HuatuoGPT, towards Taming Language Model to Be a Doctor

In this paper, we present HuatuoGPT, a large language model (LLM) for medical consultation. The core recipe of HuatuoGPT is to leverage both \textit{distilled data from ChatGPT} and \textit{real-world data from doctors} in the supervised fine-tuned stage. The responses of ChatGPT are usually detailed, well-presented and informative while it cannot perform like a doctor in many aspects, e.g. for integrative diagnosis. We argue that real-world data from doctors would be complementary to distilled data in the sense the former could tame a distilled language model to perform like doctors. To better leverage the strengths of both data, we train a reward model to align the language model with the merits that both data bring, following an RLAIF (reinforced learning from AI feedback) fashion. To evaluate and benchmark the models, we propose a comprehensive evaluation scheme (including automatic and manual metrics). Experimental results demonstrate that HuatuoGPT achieves state-of-the-art results in performing medical consultation among open-source LLMs in GPT-4 evaluation, human evaluation, and medical benchmark datasets. It is worth noting that by using additional real-world data and RLAIF, the distilled language model (i.e., HuatuoGPT) outperforms its teacher model ChatGPT in most cases. Our code, data, and models are publicly available at \url{https://github.com/FreedomIntelligence/HuatuoGPT}. The online demo is available at \url{https://www.HuatuoGPT.cn/}.

cs.CL↗

arXiv2023

Natural Language Reasoning, A Survey

This survey paper proposes a clearer view of natural language reasoning in the field of Natural Language Processing (NLP), both conceptually and practically. Conceptually, we provide a distinct definition for natural language reasoning in NLP, based on both philosophy and NLP scenarios, discuss what types of tasks require reasoning, and introduce a taxonomy of reasoning. Practically, we conduct a comprehensive literature review on natural language reasoning in NLP, mainly covering classical logical reasoning, natural language inference, multi-hop question answering, and commonsense reasoning. The paper also identifies and views backward reasoning, a powerful paradigm for multi-step reasoning, and introduces defeasible reasoning as one of the most important future directions in natural language reasoning research. We focus on single-modality unstructured natural language text, excluding neuro-symbolic techniques and mathematical reasoning.

cs.CL↗

arXiv2023

Phoenix: Democratizing ChatGPT across Languages

This paper presents our efforts to democratize ChatGPT across language. We release a large language model "Phoenix", achieving competitive performance among open-source English and Chinese models while excelling in languages with limited resources (covering both Latin and non-Latin languages). We believe this work will be beneficial to make ChatGPT more accessible, especially in countries where people cannot use ChatGPT due to restrictions from OpenAI or local goverments. Our data, code, and models are available at https://github.com/FreedomIntelligence/LLMZoo.

cs.CL↗

arXiv2023

Terminology-aware Medical Dialogue Generation

Medical dialogue generation aims to generate responses according to a history of dialogue turns between doctors and patients. Unlike open-domain dialogue generation, this requires background knowledge specific to the medical domain. Existing generative frameworks for medical dialogue generation fall short of incorporating domain-specific knowledge, especially with regard to medical terminology. In this paper, we propose a novel framework to improve medical dialogue generation by considering features centered on domain-specific terminology. We leverage an attention mechanism to incorporate terminologically centred features, and fill in the semantic gap between medical background knowledge and common utterances by enforcing language models to learn terminology representations with an auxiliary terminology recognition task. Experimental results demonstrate the effectiveness of our approach, in which our proposed framework outperforms SOTA language models. Additionally, we provide a new dataset with medical terminology annotations to support the research on medical dialogue generation. Our dataset and code are available at https://github.com/tangg555/meddialog.

cs.CL↗

arXiv2023

A Localization Method of High Energy Transients for All-Sky Gamma-Ray Monitor

Fast and reliable localization of high-energy transients is crucial for characterizing the burst properties and guiding the follow-up observations. Localization based on the relative counts of different detectors has been widely used for all-sky gamma-ray monitors. There are two major methods for this counts distribution localization: $χ^{2}$ minimization method and the Bayesian method. Here we propose a modified Bayesian method that could take advantage of both the accuracy of the Bayesian method and the simplicity of the $χ^{2}$ method. With comprehensive simulations, we find that our Bayesian method with Poisson likelihood is generally more applicable for various bursts than $χ^{2}$ method, especially for weak bursts. We further proposed a location-spectrum iteration approach based on the Bayesian inference, which could alleviate the problems caused by the spectral difference between the burst and location templates. Our method is very suitable for scenarios with limited computation resources or time-sensitive applications, such as in-flight localization software, and low-latency localization for rapid follow-up observations.

astro-ph.HE↗

arXiv2023

FG-Depth: Flow-Guided Unsupervised Monocular Depth Estimation

The great potential of unsupervised monocular depth estimation has been demonstrated by many works due to low annotation cost and impressive accuracy comparable to supervised methods. To further improve the performance, recent works mainly focus on designing more complex network structures and exploiting extra supervised information, e.g., semantic segmentation. These methods optimize the models by exploiting the reconstructed relationship between the target and reference images in varying degrees. However, previous methods prove that this image reconstruction optimization is prone to get trapped in local minima. In this paper, our core idea is to guide the optimization with prior knowledge from pretrained Flow-Net. And we show that the bottleneck of unsupervised monocular depth estimation can be broken with our simple but effective framework named FG-Depth. In particular, we propose (i) a flow distillation loss to replace the typical photometric loss that limits the capacity of the model and (ii) a prior flow based mask to remove invalid pixels that bring the noise in training loss. Extensive experiments demonstrate the effectiveness of each component, and our approach achieves state-of-the-art results on both KITTI and NYU-Depth-v2 datasets.

cs.CV↗

arXiv2022

GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots

Recent years have seen a surge in commercially-available and affordable quadrupedal robots, with many of these platforms being actively used in research and industry. As the availability of legged robots grows, so does the need for controllers that enable these robots to perform useful skills. However, most learning-based frameworks for controller development focus on training robot-specific controllers, a process that needs to be repeated for every new robot. In this work, we introduce a framework for training generalized locomotion (GenLoco) controllers for quadrupedal robots. Our framework synthesizes general-purpose locomotion controllers that can be deployed on a large variety of quadrupedal robots with similar morphologies. We present a simple but effective morphology randomization method that procedurally generates a diverse set of simulated robots for training. We show that by training a controller on this large set of simulated robots, our models acquire more general control strategies that can be directly transferred to novel simulated and real-world robots with diverse morphologies, which were not observed during training.

cs.RO↗

arXiv2021

Semantic Segmentation-assisted Scene Completion for LiDAR Point Clouds

Outdoor scene completion is a challenging issue in 3D scene understanding, which plays an important role in intelligent robotics and autonomous driving. Due to the sparsity of LiDAR acquisition, it is far more complex for 3D scene completion and semantic segmentation. Since semantic features can provide constraints and semantic priors for completion tasks, the relationship between them is worth exploring. Therefore, we propose an end-to-end semantic segmentation-assisted scene completion network, including a 2D completion branch and a 3D semantic segmentation branch. Specifically, the network takes a raw point cloud as input, and merges the features from the segmentation branch into the completion branch hierarchically to provide semantic information. By adopting BEV representation and 3D sparse convolution, we can benefit from the lower operand while maintaining effective expression. Besides, the decoder of the segmentation branch is used as an auxiliary, which can be discarded in the inference stage to save computational consumption. Extensive experiments demonstrate that our method achieves competitive performance on SemanticKITTI dataset with low latency. Code and models will be released at https://github.com/jokester-zzz/SSA-SC.

cs.CV↗

arXiv2021

Control of Pneumatic Artificial Muscles with SNN-based Cerebellar-like Model

Soft robotics technologies have gained growing interest in recent years, which allows various applications from manufacturing to human-robot interaction. Pneumatic artificial muscle (PAM), a typical soft actuator, has been widely applied to soft robots. The compliance and resilience of soft actuators allow soft robots to behave compliant when interacting with unstructured environments, while the utilization of soft actuators also introduces nonlinearity and uncertainty. Inspired by Cerebellum's vital functions in control of human's physical movement, a neural network model of Cerebellum based on spiking neuron networks (SNNs) is designed. This model is used as a feed-forward controller in controlling a 1-DOF robot arm driven by PAMs. The simulation results show that this Cerebellar-based system achieves good performance and increases the system's response.

cs.RO↗

arXiv2021

CedrusDB: Persistent Key-Value Store with Memory-Mapped Lazy-Trie

As a result of RAM becoming cheaper, there has been a trend in key-value store design towards maintaining a fast in-memory index (such as a hash table) while logging user operations to disk, allowing high performance under failure-free conditions while still being able to recover from failures. This design, however, comes at the cost of long recovery times or expensive checkpoint operations. This paper presents a new in-memory index that is also storage-friendly. A "lazy-trie" is a variant of the hash-trie data structure that achieves near-optimal height, has practical storage overhead, and can be maintained on-disk with standard write-ahead logging. We implemented CedrusDB, persistent key-value store based on a lazy-trie. The lazy-trie is kept on disk while made available in memory using standard memory-mapping. The lazy-trie organization in virtual memory allows CedrusDB to better leverage concurrent processing than other on-disk index schemes (LSMs, B+-trees). CedrusDB achieves comparable or superior performance to recent log-based in-memory key-value stores in mixed workloads while being able to recover quickly from failures.

cs.DB↗

arXiv2021

Reinforcement Learning based Negotiation-aware Motion Planning of Autonomous Vehicles

For autonomous vehicles integrating onto roadways with human traffic participants, it requires understanding and adapting to the participants' intention and driving styles by responding in predictable ways without explicit communication. This paper proposes a reinforcement learning based negotiation-aware motion planning framework, which adopts RL to adjust the driving style of the planner by dynamically modifying the prediction horizon length of the motion planner in real time adaptively w.r.t the event of a change in environment, typically triggered by traffic participants' switch of intents with different driving styles. The framework models the interaction between the autonomous vehicle and other traffic participants as a Markov Decision Process. A temporal sequence of occupancy grid maps are taken as inputs for RL module to embed an implicit intention reasoning. Curriculum learning is employed to enhance the training efficiency and the robustness of the algorithm. We applied our method to narrow lane navigation in both simulation and real world to demonstrate that the proposed method outperforms the common alternative due to its advantage in alleviating the social dilemma problem with proper negotiation skills.

cs.RO↗

arXiv2021

SA-LOAM: Semantic-aided LiDAR SLAM with Loop Closure

LiDAR-based SLAM system is admittedly more accurate and stable than others, while its loop closure detection is still an open issue. With the development of 3D semantic segmentation for point cloud, semantic information can be obtained conveniently and steadily, essential for high-level intelligence and conductive to SLAM. In this paper, we present a novel semantic-aided LiDAR SLAM with loop closure based on LOAM, named SA-LOAM, which leverages semantics in odometry as well as loop closure detection. Specifically, we propose a semantic-assisted ICP, including semantically matching, downsampling and plane constraint, and integrates a semantic graph-based place recognition method in our loop closure detection module. Benefitting from semantics, we can improve the localization accuracy, detect loop closures effectively, and construct a global consistent semantic map even in large-scale scenes. Extensive experiments on KITTI and Ford Campus dataset show that our system significantly improves baseline performance, has generalization ability to unseen data and achieves competitive results compared with state-of-the-art methods.

cs.RO↗

arXiv2021

Uncertainty-aware INVASE: Enhanced Breast Cancer Diagnosis Feature Selection

In this paper, we present an uncertainty-aware INVASE to quantify predictive confidence of healthcare problem. By introducing learnable Gaussian distributions, we lever-age their variances to measure the degree of uncertainty. Based on the vanilla INVASE, two additional modules are proposed, i.e., an uncertainty quantification module in the predictor, and a reward shaping module in the selector. We conduct extensive experiments on UCI-WDBC dataset. Notably, our method eliminates almost all predictive bias with only about 20% queries, while the uncertainty-agnostic counterpart requires nearly 100% queries. The open-source implementation with a detailed tutorial is available at https://github.com/jx-zhong-for-academic-purpose/Uncertainty-aware-INVASE/blob/main/tutorialinvase%2B.ipynb.

cs.LG↗

arXiv2021

Open-set Intersection Intention Prediction for Autonomous Driving

Intention prediction is a crucial task for Autonomous Driving (AD). Due to the variety of size and layout of intersections, it is challenging to predict intention of human driver at different intersections, especially unseen and irregular intersections. In this paper, we formulate the prediction of intention at intersections as an open-set prediction problem that requires context specific matching of the target vehicle state and the diverse intersection configurations that are in principle unbounded. We capture map-centric features that correspond to intersection structures under a spatial-temporal graph representation, and use two MAAMs (mutually auxiliary attention module) that cover respectively lane-level and exitlevel intentions to predict a target that best matches intersection elements in map-centric feature space. Under our model, attention scores estimate the probability distribution of the openset intentions that are contextually defined by the structure of the current intersection. The proposed model is trained and evaluated on simulated dataset. Furthermore, the model, trained on simulated dataset and without any fine tuning, is directly validated on in-house real-world dataset collected at 98 realworld intersections and exhibits satisfactory performance,demonstrating the practical viability of our approach.

cs.RO↗