arXiv subjects

Shu Jiang

Publications and source records attributed to Shu Jiang.

29 records · Page 2Linked to original sources

arXiv2021

Document-level Neural Machine Translation with Associated Memory Network

Standard neural machine translation (NMT) is on the assumption that the document-level context is independent. Most existing document-level NMT approaches are satisfied with a smattering sense of global document-level information, while this work focuses on exploiting detailed document-level context in terms of a memory network. The capacity of the memory network that detecting the most relevant part of the current sentence from memory renders a natural solution to model the rich document-level context. In this work, the proposed document-aware memory network is implemented to enhance the Transformer NMT baseline. Experiments on several tasks show that the proposed method significantly improves the NMT performance over strong Transformer baselines and other related studies.

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arXiv2021

Exploring Imitation Learning for Autonomous Driving with Feedback Synthesizer and Differentiable Rasterization

We present a learning-based planner that aims to robustly drive a vehicle by mimicking human drivers' driving behavior. We leverage a mid-to-mid approach that allows us to manipulate the input to our imitation learning network freely. With that in mind, we propose a novel feedback synthesizer for data augmentation. It allows our agent to gain more driving experience in various previously unseen environments that are likely to encounter, thus improving overall performance. This is in contrast to prior works that rely purely on random synthesizers. Furthermore, rather than completely commit to imitating, we introduce task losses that penalize undesirable behaviors, such as collision, off-road, and so on. Unlike prior works, this is done by introducing a differentiable vehicle rasterizer that directly converts the waypoints output by the network into images. This effectively avoids the usage of heavyweight ConvLSTM networks, therefore, yields a faster model inference time. About the network architecture, we exploit an attention mechanism that allows the network to reason critical objects in the scene and produce better interpretable attention heatmaps. To further enhance the safety and robustness of the network, we add an optional optimization-based post-processing planner improving the driving comfort. We comprehensively validate our method's effectiveness in different scenarios that are specifically created for evaluating self-driving vehicles. Results demonstrate that our learning-based planner achieves high intelligence and can handle complex situations. Detailed ablation and visualization analysis are included to further demonstrate each of our proposed modules' effectiveness in our method.

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arXiv2021

Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61's Approach to the DARPA Subterranean Challenge

Heterogeneous teams of robots, leveraging a balance between autonomy and human interaction, bring powerful capabilities to the problem of exploring dangerous, unstructured subterranean environments. Here we describe the solution developed by Team CSIRO Data61, consisting of CSIRO, Emesent and Georgia Tech, during the DARPA Subterranean Challenge. These presented systems were fielded in the Tunnel Circuit in August 2019, the Urban Circuit in February 2020, and in our own Cave event, conducted in September 2020. A unique capability of the fielded team is the homogeneous sensing of the platforms utilised, which is leveraged to obtain a decentralised multi-agent SLAM solution on each platform (both ground agents and UAVs) using peer-to-peer communications. This enabled a shift in focus from constructing a pervasive communications network to relying on multi-agent autonomy, motivated by experiences in early circuit events. These experiences also showed the surprising capability of rugged tracked platforms for challenging terrain, which in turn led to the heterogeneous team structure based on a BIA5 OzBot Titan ground robot and an Emesent Hovermap UAV, supplemented by smaller tracked or legged ground robots. The ground agents use a common CatPack perception module, which allowed reuse of the perception and autonomy stack across all ground agents with minimal adaptation.

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arXiv2021

Controllable Dual Skew Divergence Loss for Neural Machine Translation

In sequence prediction tasks like neural machine translation, training with cross-entropy loss often leads to models that overgeneralize and plunge into local optima. In this paper, we propose an extended loss function called \emph{dual skew divergence} (DSD) that integrates two symmetric terms on KL divergences with a balanced weight. We empirically discovered that such a balanced weight plays a crucial role in applying the proposed DSD loss into deep models. Thus we eventually develop a controllable DSD loss for general-purpose scenarios. Our experiments indicate that switching to the DSD loss after the convergence of ML training helps models escape local optima and stimulates stable performance improvements. Our evaluations on the WMT 2014 English-German and English-French translation tasks demonstrate that the proposed loss as a general and convenient mean for NMT training indeed brings performance improvement in comparison to strong baselines.

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arXiv2021

TDR-OBCA: A Reliable Planner for Autonomous Driving in Free-Space Environment

This paper presents an optimization-based collision avoidance trajectory generation method for autonomous driving in free-space environments, with enhanced robustness, driving comfort and efficiency. Starting from the hybrid optimization-based framework, we introduces two warm start methods, temporal and dual variable warm starts, to improve the efficiency. We also reformulate the problem to improve the robustness and efficiency. We name this new algorithm TDR-OBCA. With these changes, compared with original hybrid optimization we achieve a 96.67% failure rate decrease with respect to initial conditions, 13.53% increase in driving comforts and 3.33% to 44.82% increase in planner efficiency as obstacles number scales. We validate our results in hundreds of simulation scenarios and hundreds of hours of public road tests in both U.S. and China. Our source code is available at https://github.com/ApolloAuto/apollo.

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arXiv2020

A Learning-Based Tune-Free Control Framework for Large Scale Autonomous Driving System Deployment

This paper presents the design of a tune-free (human-out-of-the-loop parameter tuning) control framework, aiming at accelerating large scale autonomous driving system deployed on various vehicles and driving environments. The framework consists of three machine-learning-based procedures, which jointly automate the control parameter tuning for autonomous driving, including: a learning-based dynamic modeling procedure, to enable the control-in-the-loop simulation with highly accurate vehicle dynamics for parameter tuning; a learning-based open-loop mapping procedure, to solve the feedforward control parameters tuning; and more significantly, a Bayesian-optimization-based closed-loop parameter tuning procedure, to automatically tune feedback control (PID, LQR, MRAC, MPC, etc.) parameters in simulation environment. The paper shows an improvement in control performance with a significant increase in parameter tuning efficiency, in both simulation and road tests. This framework has been validated on different vehicles in US and China.

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arXiv2020

DRF: A Framework for High-Accuracy Autonomous Driving Vehicle Modeling

An accurate vehicle dynamic model is the key to bridge the gap between simulation and real road test in autonomous driving. In this paper, we present a Dynamic model-Residual correction model Framework (DRF) for vehicle dynamic modeling. On top of any existing open-loop dynamic model, this framework builds a Residual Correction Model (RCM) by integrating deep Neural Networks (NN) with Sparse Variational Gaussian Process (SVGP) model. RCM takes a sequence of vehicle control commands and dynamic status for a certain time duration as modeling inputs, extracts underlying context from this sequence with deep encoder networks, and predicts open-loop dynamic model prediction errors. Five vehicle dynamic models are derived from DRF via encoder variation. Our contribution is consolidated by experiments on evaluation of absolute trajectory error and similarity between DRF outputs and the ground truth. Compared to classic rule-based and learning-based vehicle dynamic models, DRF accomplishes as high as 74.12% to 85.02% of absolute trajectory error drop among all DRF variations.

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arXiv2020

DL-IAPS and PJSO: A Path/Speed Decoupled Trajectory Optimization and its Application in Autonomous Driving

This paper presents a free space trajectory optimization algorithm of autonomous driving vehicle, which decouples the collision-free trajectory planning problem into a Dual-Loop Iterative Anchoring Path Smoothing (DL-IAPS) and a Piece-wise Jerk Speed Optimization (PJSO). The work leads to remarkable driving performance improvements including more precise collision avoidance, higher control feasibility and better driving comfort, as those are often hard to realize in other existing path/speed decoupled trajectory optimization methods. Our algorithm's efficiency, robustness and adaptiveness to complex driving scenarios have been validated by both simulations and real on-road tests.

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arXiv2020

Document-level Neural Machine Translation with Document Embeddings

Standard neural machine translation (NMT) is on the assumption of document-level context independent. Most existing document-level NMT methods are satisfied with a smattering sense of brief document-level information, while this work focuses on exploiting detailed document-level context in terms of multiple forms of document embeddings, which is capable of sufficiently modeling deeper and richer document-level context. The proposed document-aware NMT is implemented to enhance the Transformer baseline by introducing both global and local document-level clues on the source end. Experiments show that the proposed method significantly improves the translation performance over strong baselines and other related studies.

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arXiv2019

Judging Chemical Reaction Practicality From Positive Sample only Learning

Chemical reaction practicality is the core task among all symbol intelligence based chemical information processing, for example, it provides indispensable clue for further automatic synthesis route inference. Considering that chemical reactions have been represented in a language form, we propose a new solution to generally judge the practicality of organic reaction without considering complex quantum physical modeling or chemistry knowledge. While tackling the practicality judgment as a machine learning task from positive and negative (chemical reaction) samples, all existing studies have to carefully handle the serious insufficiency issue on the negative samples. We propose an auto-construction method to well solve the extensively existed long-term difficulty. Experimental results show our model can effectively predict the practicality of chemical reactions, which achieves a high accuracy of 99.76\% on real large-scale chemical lab reaction practicality judgment.

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arXiv2017

Spot Pricing in the Cloud Ecosystem: A Comparative Investigation

Background: Spot pricing is considered as a significant supplement for building a full-fledged market economy for the Cloud ecosystem. However, it seems that both providers and consumers are still hesitating to enter the Cloud spot market. The relevant academic community also has conflicting opinions about Cloud spot pricing in terms of revenue generation. Aim: This work aims to systematically identify, assess, synthesize and report the published evidence in favor of or against spot-price scheme compared with fixed-price scheme of Cloud computing, so as to help relieve the aforementioned conflict. Method: We employed the systematic literature review (SLR) method to collect and investigate the empirical studies of Cloud spot pricing indexed by major electronic libraries. Results: This SLR identified 61 primary studies that either delivered discussions or conducted experiments to perform comparison between spot pricing and fixed pricing in the Cloud domain. The reported benefits and limitations were summarized to facilitate cost-benefit analysis of being a Cloud spot pricing player, while four types of theories were distinguished to help both researchers and practitioners better understand the Cloud spot market. Conclusions: This SLR shows that the academic community strongly advocates the emerging Cloud spot market. Although there is still a lack of practical and easily deployable market-driven mechanisms, the overall findings of our work indicate that spot pricing plays a promising role in the sustainability of Cloud resource exploitation.

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