arXiv subjects

Ji Zhang

Publications and source records attributed to Ji Zhang.

At least 181 records · Page 10Linked to original sources

arXiv2023

Active Velocity Estimation using Light Curtains via Self-Supervised Multi-Armed Bandits

To navigate in an environment safely and autonomously, robots must accurately estimate where obstacles are and how they move. Instead of using expensive traditional 3D sensors, we explore the use of a much cheaper, faster, and higher resolution alternative: programmable light curtains. Light curtains are a controllable depth sensor that sense only along a surface that the user selects. We adapt a probabilistic method based on particle filters and occupancy grids to explicitly estimate the position and velocity of 3D points in the scene using partial measurements made by light curtains. The central challenge is to decide where to place the light curtain to accurately perform this task. We propose multiple curtain placement strategies guided by maximizing information gain and verifying predicted object locations. Then, we combine these strategies using an online learning framework. We propose a novel self-supervised reward function that evaluates the accuracy of current velocity estimates using future light curtain placements. We use a multi-armed bandit framework to intelligently switch between placement policies in real time, outperforming fixed policies. We develop a full-stack navigation system that uses position and velocity estimates from light curtains for downstream tasks such as localization, mapping, path-planning, and obstacle avoidance. This work paves the way for controllable light curtains to accurately, efficiently, and purposefully perceive and navigate complex and dynamic environments. Project website: https://siddancha.github.io/projects/active-velocity-estimation/

cs.RO↗

arXiv2023

Distinguish Before Answer: Generating Contrastive Explanation as Knowledge for Commonsense Question Answering

Existing knowledge-enhanced methods have achieved remarkable results in certain QA tasks via obtaining diverse knowledge from different knowledge bases. However, limited by the properties of retrieved knowledge, they still have trouble benefiting from both the knowledge relevance and distinguishment simultaneously. To address the challenge, we propose CPACE, a Concept-centric Prompt-bAsed Contrastive Explanation Generation model, which aims to convert obtained symbolic knowledge into a contrastive explanation for better distinguishing the differences among given candidates. Firstly, following previous works, we retrieve different types of symbolic knowledge with a concept-centric knowledge extraction module. After that, we generate corresponding contrastive explanations using acquired symbolic knowledge and explanation prompts as guidance for better modeling the knowledge distinguishment and interpretability. Finally, we regard the generated contrastive explanation as external knowledge for downstream task enhancement. We conduct a series of experiments on three widely-used question-answering datasets: CSQA, QASC, and OBQA. Experimental results demonstrate that with the help of generated contrastive explanation, our CPACE model achieves new SOTA on CSQA (89.8% on the testing set, 0.9% higher than human performance), and gains impressive improvement on QASC and OBQA (4.2% and 3.5%, respectively).

cs.CL↗

arXiv2023

ChatPLUG: Open-Domain Generative Dialogue System with Internet-Augmented Instruction Tuning for Digital Human

In this paper, we present ChatPLUG, a Chinese open-domain dialogue system for digital human applications that instruction finetunes on a wide range of dialogue tasks in a unified internet-augmented format. Different from other open-domain dialogue models that focus on large-scale pre-training and scaling up model size or dialogue corpus, we aim to build a powerful and practical dialogue system for digital human with diverse skills and good multi-task generalization by internet-augmented instruction tuning. To this end, we first conduct large-scale pre-training on both common document corpus and dialogue data with curriculum learning, so as to inject various world knowledge and dialogue abilities into ChatPLUG. Then, we collect a wide range of dialogue tasks spanning diverse features of knowledge, personality, multi-turn memory, and empathy, on which we further instruction tune \modelname via unified natural language instruction templates. External knowledge from an internet search is also used during instruction finetuning for alleviating the problem of knowledge hallucinations. We show that \modelname outperforms state-of-the-art Chinese dialogue systems on both automatic and human evaluation, and demonstrates strong multi-task generalization on a variety of text understanding and generation tasks. In addition, we deploy \modelname to real-world applications such as Smart Speaker and Instant Message applications with fast inference. Our models and code will be made publicly available on ModelScope: https://modelscope.cn/models/damo/ChatPLUG-3.7B and Github: https://github.com/X-PLUG/ChatPLUG .

cs.CL↗

arXiv2023

AMTSS: An Adaptive Multi-Teacher Single-Student Knowledge Distillation Framework For Multilingual Language Inference

Knowledge distillation is of key importance to launching multilingual pre-trained language models for real applications. To support cost-effective language inference in multilingual settings, we propose AMTSS, an adaptive multi-teacher single-student distillation framework, which allows distilling knowledge from multiple teachers to a single student. We first introduce an adaptive learning strategy and teacher importance weight, which enables a student to effectively learn from max-margin teachers and easily adapt to new languages. Moreover, we present a shared student encoder with different projection layers in support of multiple languages, which contributes to largely reducing development and machine cost. Experimental results show that AMTSS gains competitive results on the public XNLI dataset and the realistic industrial dataset AliExpress (AE) in the E-commerce scenario.

cs.CL↗

arXiv2023

ContrastMotion: Self-supervised Scene Motion Learning for Large-Scale LiDAR Point Clouds

In this paper, we propose a novel self-supervised motion estimator for LiDAR-based autonomous driving via BEV representation. Different from usually adopted self-supervised strategies for data-level structure consistency, we predict scene motion via feature-level consistency between pillars in consecutive frames, which can eliminate the effect caused by noise points and view-changing point clouds in dynamic scenes. Specifically, we propose \textit{Soft Discriminative Loss} that provides the network with more pseudo-supervised signals to learn discriminative and robust features in a contrastive learning manner. We also propose \textit{Gated Multi-frame Fusion} block that learns valid compensation between point cloud frames automatically to enhance feature extraction. Finally, \textit{pillar association} is proposed to predict pillar correspondence probabilities based on feature distance, and whereby further predicts scene motion. Extensive experiments show the effectiveness and superiority of our \textbf{ContrastMotion} on both scene flow and motion prediction tasks. The code is available soon.

cs.CV↗

arXiv2023

Self-Supervised Category-Level Articulated Object Pose Estimation with Part-Level SE(3) Equivariance

Category-level articulated object pose estimation aims to estimate a hierarchy of articulation-aware object poses of an unseen articulated object from a known category. To reduce the heavy annotations needed for supervised learning methods, we present a novel self-supervised strategy that solves this problem without any human labels. Our key idea is to factorize canonical shapes and articulated object poses from input articulated shapes through part-level equivariant shape analysis. Specifically, we first introduce the concept of part-level SE(3) equivariance and devise a network to learn features of such property. Then, through a carefully designed fine-grained pose-shape disentanglement strategy, we expect that canonical spaces to support pose estimation could be induced automatically. Thus, we could further predict articulated object poses as per-part rigid transformations describing how parts transform from their canonical part spaces to the camera space. Extensive experiments demonstrate the effectiveness of our method on both complete and partial point clouds from synthetic and real articulated object datasets.

cs.CV↗

arXiv2023

mPLUG-2: A Modularized Multi-modal Foundation Model Across Text, Image and Video

Recent years have witnessed a big convergence of language, vision, and multi-modal pretraining. In this work, we present mPLUG-2, a new unified paradigm with modularized design for multi-modal pretraining, which can benefit from modality collaboration while addressing the problem of modality entanglement. In contrast to predominant paradigms of solely relying on sequence-to-sequence generation or encoder-based instance discrimination, mPLUG-2 introduces a multi-module composition network by sharing common universal modules for modality collaboration and disentangling different modality modules to deal with modality entanglement. It is flexible to select different modules for different understanding and generation tasks across all modalities including text, image, and video. Empirical study shows that mPLUG-2 achieves state-of-the-art or competitive results on a broad range of over 30 downstream tasks, spanning multi-modal tasks of image-text and video-text understanding and generation, and uni-modal tasks of text-only, image-only, and video-only understanding. Notably, mPLUG-2 shows new state-of-the-art results of 48.0 top-1 accuracy and 80.3 CIDEr on the challenging MSRVTT video QA and video caption tasks with a far smaller model size and data scale. It also demonstrates strong zero-shot transferability on vision-language and video-language tasks. Code and models will be released in https://github.com/alibaba/AliceMind.

cs.CV↗

arXiv2023

A Generic Knowledge Based Medical Diagnosis Expert System

In this paper, we design and implement a generic medical knowledge based system (MKBS) for identifying diseases from several symptoms. In this system, some important aspects like knowledge bases system, knowledge representation, inference engine have been addressed. The system asks users different questions and inference engines will use the certainty factor to prune out low possible solutions. The proposed disease diagnosis system also uses a graphical user interface (GUI) to facilitate users to interact with the expert system. Our expert system is generic and flexible, which can be integrated with any rule bases system in disease diagnosis.

cs.AI↗

arXiv2022

HiTeA: Hierarchical Temporal-Aware Video-Language Pre-training

Video-language pre-training has advanced the performance of various downstream video-language tasks. However, most previous methods directly inherit or adapt typical image-language pre-training paradigms to video-language pre-training, thus not fully exploiting the unique characteristic of video, i.e., temporal. In this paper, we propose a Hierarchical Temporal-Aware video-language pre-training framework, HiTeA, with two novel pre-training tasks for modeling cross-modal alignment between moments and texts as well as the temporal relations of video-text pairs. Specifically, we propose a cross-modal moment exploration task to explore moments in videos, which results in detailed video moment representation. Besides, the inherent temporal relations are captured by aligning video-text pairs as a whole in different time resolutions with multi-modal temporal relation exploration task. Furthermore, we introduce the shuffling test to evaluate the temporal reliance of datasets and video-language pre-training models. We achieve state-of-the-art results on 15 well-established video-language understanding and generation tasks, especially on temporal-oriented datasets (e.g., SSv2-Template and SSv2-Label) with 8.6% and 11.1% improvement respectively. HiTeA also demonstrates strong generalization ability when directly transferred to downstream tasks in a zero-shot manner. Models and demo will be available on ModelScope.

cs.CV↗

arXiv2022

Intelligent Computing: The Latest Advances, Challenges and Future

Computing is a critical driving force in the development of human civilization. In recent years, we have witnessed the emergence of intelligent computing, a new computing paradigm that is reshaping traditional computing and promoting digital revolution in the era of big data, artificial intelligence and internet-of-things with new computing theories, architectures, methods, systems, and applications. Intelligent computing has greatly broadened the scope of computing, extending it from traditional computing on data to increasingly diverse computing paradigms such as perceptual intelligence, cognitive intelligence, autonomous intelligence, and human-computer fusion intelligence. Intelligence and computing have undergone paths of different evolution and development for a long time but have become increasingly intertwined in recent years: intelligent computing is not only intelligence-oriented but also intelligence-driven. Such cross-fertilization has prompted the emergence and rapid advancement of intelligent computing. Intelligent computing is still in its infancy and an abundance of innovations in the theories, systems, and applications of intelligent computing are expected to occur soon. We present the first comprehensive survey of literature on intelligent computing, covering its theory fundamentals, the technological fusion of intelligence and computing, important applications, challenges, and future perspectives. We believe that this survey is highly timely and will provide a comprehensive reference and cast valuable insights into intelligent computing for academic and industrial researchers and practitioners.

cs.AI↗

arXiv2022

Zero-shot Image Captioning by Anchor-augmented Vision-Language Space Alignment

CLIP (Contrastive Language-Image Pre-Training) has shown remarkable zero-shot transfer capabilities in cross-modal correlation tasks such as visual classification and image retrieval. However, its performance in cross-modal generation tasks like zero-shot image captioning remains unsatisfied. In this work, we discuss that directly employing CLIP for zero-shot image captioning relies more on the textual modality in context and largely ignores the visual information, which we call \emph{contextual language prior}. To address this, we propose Cross-modal Language Models (CLMs) to facilitate unsupervised cross-modal learning. We further propose Anchor Augment to guide the generative model's attention to the fine-grained information in the representation of CLIP. Experiments on MS COCO and Flickr 30K validate the promising performance of proposed approach in both captioning quality and computational efficiency.

cs.CV↗

arXiv2022

Incorporating Causal Analysis into Diversified and Logical Response Generation

Although the Conditional Variational AutoEncoder (CVAE) model can generate more diversified responses than the traditional Seq2Seq model, the responses often have low relevance with the input words or are illogical with the question. A causal analysis is carried out to study the reasons behind, and a methodology of searching for the mediators and mitigating the confounding bias in dialogues is provided. Specifically, we propose to predict the mediators to preserve relevant information and auto-regressively incorporate the mediators into generating process. Besides, a dynamic topic graph guided conditional variational autoencoder (TGG-CVAE) model is utilized to complement the semantic space and reduce the confounding bias in responses. Extensive experiments demonstrate that the proposed model is able to generate both relevant and informative responses, and outperforms the state-of-the-art in terms of automatic metrics and human evaluations.

cs.CL↗

arXiv2022

Class-Level Logit Perturbation

Features, logits, and labels are the three primary data when a sample passes through a deep neural network. Feature perturbation and label perturbation receive increasing attention in recent years. They have been proven to be useful in various deep learning approaches. For example, (adversarial) feature perturbation can improve the robustness or even generalization capability of learned models. However, limited studies have explicitly explored for the perturbation of logit vectors. This work discusses several existing methods related to class-level logit perturbation. A unified viewpoint between positive/negative data augmentation and loss variations incurred by logit perturbation is established. A theoretical analysis is provided to illuminate why class-level logit perturbation is useful. Accordingly, new methodologies are proposed to explicitly learn to perturb logits for both single-label and multi-label classification tasks. Extensive experiments on benchmark image classification data sets and their long-tail versions indicated the competitive performance of our learning method. As it only perturbs on logit, it can be used as a plug-in to fuse with any existing classification algorithms. All the codes are available at https://github.com/limengyang1992/lpl.

cs.LG↗

arXiv2022

X-CLIP: End-to-End Multi-grained Contrastive Learning for Video-Text Retrieval

Video-text retrieval has been a crucial and fundamental task in multi-modal research. The development of video-text retrieval has been considerably promoted by large-scale multi-modal contrastive pre-training, which primarily focuses on coarse-grained or fine-grained contrast. However, cross-grained contrast, which is the contrast between coarse-grained representations and fine-grained representations, has rarely been explored in prior research. Compared with fine-grained or coarse-grained contrasts, cross-grained contrast calculate the correlation between coarse-grained features and each fine-grained feature, and is able to filter out the unnecessary fine-grained features guided by the coarse-grained feature during similarity calculation, thus improving the accuracy of retrieval. To this end, this paper presents a novel multi-grained contrastive model, namely X-CLIP, for video-text retrieval. However, another challenge lies in the similarity aggregation problem, which aims to aggregate fine-grained and cross-grained similarity matrices to instance-level similarity. To address this challenge, we propose the Attention Over Similarity Matrix (AOSM) module to make the model focus on the contrast between essential frames and words, thus lowering the impact of unnecessary frames and words on retrieval results. With multi-grained contrast and the proposed AOSM module, X-CLIP achieves outstanding performance on five widely-used video-text retrieval datasets, including MSR-VTT (49.3 R@1), MSVD (50.4 R@1), LSMDC (26.1 R@1), DiDeMo (47.8 R@1) and ActivityNet (46.2 R@1). It outperforms the previous state-of-theart by +6.3%, +6.6%, +11.1%, +6.7%, +3.8% relative improvements on these benchmarks, demonstrating the superiority of multi-grained contrast and AOSM.

cs.CV↗

arXiv2022

MUI-TARE: Multi-Agent Cooperative Exploration with Unknown Initial Position

Multi-agent exploration of a bounded 3D environment with unknown initial positions of agents is a challenging problem. It requires quickly exploring the environments as well as robustly merging the sub-maps built by the agents. We take the view that the existing approaches are either aggressive or conservative: Aggressive strategies merge two sub-maps built by different agents together when overlap is detected, which can lead to incorrect merging due to the false-positive detection of the overlap and is thus not robust. Conservative strategies direct one agent to revisit an excessive amount of the historical trajectory of another agent for verification before merging, which can lower the exploration efficiency due to the repeated exploration of the same space. To intelligently balance the robustness of sub-map merging and exploration efficiency, we develop a new approach for lidar-based multi-agent exploration, which can direct one agent to repeat another agent's trajectory in an \emph{adaptive} manner based on the quality indicator of the sub-map merging process. Additionally, our approach extends the recent single-agent hierarchical exploration strategy to multiple agents in a \emph{cooperative} manner by planning for agents with merged sub-maps together to further improve exploration efficiency. Our experiments show that our approach is up to 50\% more efficient than the baselines on average while merging sub-maps robustly.

cs.RO↗

arXiv2022

Generating Persuasive Responses to Customer Reviews with Multi-Source Prior Knowledge in E-commerce

Customer reviews usually contain much information about one's online shopping experience. While positive reviews are beneficial to the stores, negative ones will largely influence consumers' decision and may lead to a decline in sales. Therefore, it is of vital importance to carefully and persuasively reply to each negative review and minimize its disadvantageous effect. Recent studies consider leveraging generation models to help the sellers respond. However, this problem is not well-addressed as the reviews may contain multiple aspects of issues which should be resolved accordingly and persuasively. In this work, we propose a Multi-Source Multi-Aspect Attentive Generation model for persuasive response generation. Various sources of information are appropriately obtained and leveraged by the proposed model for generating more informative and persuasive responses. A multi-aspect attentive network is proposed to automatically attend to different aspects in a review and ensure most of the issues are tackled. Extensive experiments on two real-world datasets, demonstrate that our approach outperforms the state-of-the-art methods and online tests prove that our deployed system significantly enhances the efficiency of the stores' dealing with negative reviews.

cs.CL↗

arXiv2022

iSimLoc: Visual Global Localization for Previously Unseen Environments with Simulated Images

The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant modality to GPS failures. However, state-of-the-art visual localization algorithms are unable to match visual data that have a significantly different appearance due to illuminations or viewpoints. This paper presents iSimLoc, a condition/viewpoint consistent hierarchical global re-localization approach. The place features of iSimLoc can be utilized to search target images under changing appearances and viewpoints. Additionally, our hierarchical global re-localization module refines in a coarse-to-fine manner, allowing iSimLoc to perform a fast and accurate estimation. We evaluate our method on one dataset with appearance variations and one dataset that focuses on demonstrating large-scale matching over a long flight in complicated environments. On our two datasets, iSimLoc achieves 88.7\% and 83.8\% successful retrieval rates with 1.5s inferencing time, compared to 45.8% and 39.7% using the next best method. These results demonstrate robust localization in a range of environments.

cs.CV↗

arXiv2022

ALITA: A Large-scale Incremental Dataset for Long-term Autonomy

For long-term autonomy, most place recognition methods are mainly evaluated on simplified scenarios or simulated datasets, which cannot provide solid evidence to evaluate the readiness for current Simultaneous Localization and Mapping (SLAM). In this paper, we present a long-term place recognition dataset for use in mobile localization under large-scale dynamic environments. This dataset includes a campus-scale track and a city-scale track: 1) the campus-track focuses the long-term property, we record LiDAR device and an omnidirectional camera on 10 trajectories, and each trajectory are repeatly recorded 8 times under variant illumination conditions. 2) the city-track focuses the large-scale property, we mount the LiDAR device on the vehicle and traversing through a 120km trajectories, which contains open streets, residential areas, natural terrains, etc. They includes 200 hours of raw data of all kinds scenarios within urban environments. The ground truth position for both tracks are provided on each trajectory, which is obtained from the Global Position System with an additional General ICP based point cloud refinement. To simplify the evaluation procedure, we also provide the Python-API with a set of place recognition metrics is proposed to quickly load our dataset and evaluate the recognition performance against different methods. This dataset targets at finding methods with high place recognition accuracy and robustness, and providing real robotic system with long-term autonomy. The dataset and the provided tools can be accessed from https://github.com/MetaSLAM/ALITA.

cs.RO↗