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Mingze Dong

Publications and source records attributed to Mingze Dong.

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Understanding and Enhancing Mask-Based Pretraining towards Universal Representations

Mask-based pretraining has become a cornerstone of modern large-scale models across language, vision, and recently biology. Despite its empirical success, its role and limits in learning data representations have been unclear. In this work, we show that the behavior of mask-based pretraining can be directly characterized by test risk in high-dimensional minimum-norm ("ridge-less") linear regression, without relying on further model specifications. Further analysis of linear models uncovers several novel aspects of mask-based pretraining. The theoretical framework and its implications have been validated across diverse neural architectures (including MLPs, CNNs, and Transformers) applied to both vision and language tasks. Guided by our theory, we propose an embarrassingly simple yet overlooked pretraining scheme named Randomly Random Mask AutoEncoding (R$^2$MAE), which enforces capturing multi-scale features from data and is able to outperform optimal fixed mask ratio settings in our linear model framework. We implement R$^2$MAE in vision, language, DNA sequence, and single-cell models, where it consistently outperforms standard and more complicated masking schemes, leading to improvements for state-of-the-art models. Our code is available at: https://github.com/MingzeDong/r2mae

cs.LG

Collision-Free Robot Navigation in Crowded Environments using Learning based Convex Model Predictive Control

Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to track is particularly difficult. In this paper, we uniquely bridge the robot's perception, decision-making and control processes by utilizing the convex obstacle-free region computed from 2D LiDAR data. The overall pipeline is threefold: (1) We proposes a robot navigation framework that utilizes deep reinforcement learning (DRL), conceptualizing the observation as the convex obstacle-free region, a departure from general reliance on raw sensor inputs. (2) We design the action space, derived from the intersection of the robot's kinematic limits and the convex region, to enable efficient sampling of inherently collision-free reference points. These actions assists in guiding the robot to move towards the goal and interact with other obstacles during navigation. (3) We employ model predictive control (MPC) to track the trajectory formed by the reference points while satisfying constraints imposed by the convex obstacle-free region and the robot's kinodynamic limits. The effectiveness of proposed improvements has been validated through two sets of ablation studies and a comparative experiment against the Timed Elastic Band (TEB), demonstrating improved navigation performance in crowded and complex environments.

cs.RO