arXiv subjects

Xuxin Cheng

Publications and source records attributed to Xuxin Cheng.

At least 55 records · Page 3Linked to original sources

arXiv2024

Qilin-Med: Multi-stage Knowledge Injection Advanced Medical Large Language Model

Integrating large language models (LLMs) into healthcare holds great potential but faces challenges. Pre-training LLMs from scratch for domains like medicine is resource-heavy and often unfeasible. On the other hand, sole reliance on Supervised Fine-tuning (SFT) can result in overconfident predictions and may not tap into domain-specific insights. In response, we present a multi-stage training method combining Domain-specific Continued Pre-training (DCPT), SFT, and Direct Preference Optimization (DPO). In addition, we publish a 3Gb Chinese Medicine (ChiMed) dataset, encompassing medical question answering, plain texts, knowledge graphs, and dialogues, segmented into three training stages. The medical LLM trained with our pipeline, Qilin-Med, shows substantial performance improvement. In the CPT and SFT phases, Qilin-Med achieved 38.4% and 40.0% accuracy on the CMExam test set, respectively. It outperformed the basemodel Baichuan-7B (accuracy: 33.5%), by 7.5%. In the DPO phase, it scored 16.66 in BLEU-1 and 27.44 in ROUGE-1 on the Huatuo-26M test set, bringing further improvement to the SFT phase (12.69 in BLEU-1 and 24.21 in ROUGE-1). Additionally, we have further enhanced the model's performance through the Retrieval Augmented Generation (RAG) approach. Experiments demonstrate that Qilin-Med-RAG achieves an accuracy rate of 42.8% on CMExam. These results highlight the contribution of our novel training approach in building LLMs for medical applications.

cs.CL↗

arXiv2024

Exploiting Auxiliary Caption for Video Grounding

Video grounding aims to locate a moment of interest matching the given query sentence from an untrimmed video. Previous works ignore the {sparsity dilemma} in video annotations, which fails to provide the context information between potential events and query sentences in the dataset. In this paper, we contend that exploiting easily available captions which describe general actions, i.e., auxiliary captions defined in our paper, will significantly boost the performance. To this end, we propose an Auxiliary Caption Network (ACNet) for video grounding. Specifically, we first introduce dense video captioning to generate dense captions and then obtain auxiliary captions by Non-Auxiliary Caption Suppression (NACS). To capture the potential information in auxiliary captions, we propose Caption Guided Attention (CGA) project the semantic relations between auxiliary captions and query sentences into temporal space and fuse them into visual representations. Considering the gap between auxiliary captions and ground truth, we propose Asymmetric Cross-modal Contrastive Learning (ACCL) for constructing more negative pairs to maximize cross-modal mutual information. Extensive experiments on three public datasets (i.e., ActivityNet Captions, TACoS and ActivityNet-CG) demonstrate that our method significantly outperforms state-of-the-art methods.

cs.CV↗

arXiv2024

Retrieval is Accurate Generation

Standard language models generate text by selecting tokens from a fixed, finite, and standalone vocabulary. We introduce a novel method that selects context-aware phrases from a collection of supporting documents. One of the most significant challenges for this paradigm shift is determining the training oracles, because a string of text can be segmented in various ways and each segment can be retrieved from numerous possible documents. To address this, we propose to initialize the training oracles using linguistic heuristics and, more importantly, bootstrap the oracles through iterative self-reinforcement. Extensive experiments show that our model not only outperforms standard language models on a variety of knowledge-intensive tasks but also demonstrates improved generation quality in open-ended text generation. For instance, compared to the standard language model counterpart, our model raises the accuracy from 23.47% to 36.27% on OpenbookQA, and improves the MAUVE score from 42.61% to 81.58% in open-ended text generation. Remarkably, our model also achieves the best performance and the lowest latency among several retrieval-augmented baselines. In conclusion, we assert that retrieval is more accurate generation and hope that our work will encourage further research on this new paradigm shift.

cs.CL↗

arXiv2024

Expressive Whole-Body Control for Humanoid Robots

Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible. To train such a policy, we leverage the large-scale human motion capture data from the graphics community in a Reinforcement Learning framework. However, directly performing imitation learning with the motion capture dataset would not work on the real humanoid robot, given the large gap in degrees of freedom and physical capabilities. Our method Expressive Whole-Body Control (Exbody) tackles this problem by encouraging the upper humanoid body to imitate a reference motion, while relaxing the imitation constraint on its two legs and only requiring them to follow a given velocity robustly. With training in simulation and Sim2Real transfer, our policy can control a humanoid robot to walk in different styles, shake hands with humans, and even dance with a human in the real world. We conduct extensive studies and comparisons on diverse motions in both simulation and the real world to show the effectiveness of our approach.

cs.RO↗

arXiv2024

Embracing Language Inclusivity and Diversity in CLIP through Continual Language Learning

While vision-language pre-trained models (VL-PTMs) have advanced multimodal research in recent years, their mastery in a few languages like English restricts their applicability in broader communities. To this end, there is an increasing interest in developing multilingual VL models via a joint-learning setup, which, however, could be unrealistic due to expensive costs and data availability. In this work, we propose to extend VL-PTMs' language capacity by continual language learning (CLL), where a model needs to update its linguistic knowledge incrementally without suffering from catastrophic forgetting (CF). We begin our study by introducing a model dubbed CLL-CLIP, which builds upon CLIP, a prevailing VL-PTM that has acquired image-English text alignment. Specifically, CLL-CLIP contains an expandable token embedding layer to handle linguistic differences. It solely trains token embeddings to improve memory stability and is optimized under cross-modal and cross-lingual objectives to learn the alignment between images and multilingual texts. To alleviate CF raised by covariate shift and lexical overlap, we further propose a novel approach that ensures the identical distribution of all token embeddings during initialization and regularizes token embedding learning during training. We construct a CLL benchmark covering 36 languages based on MSCOCO and XM3600 datasets and then evaluate multilingual image-text retrieval performance. Extensive experiments verify the effectiveness of CLL-CLIP and show that our approach can boost CLL-CLIP, e.g., by 6.7% in text-to-image average Recall@1 on XM3600, and improve various state-of-the-art methods consistently. Our code and data are available at \url{https://github.com/yangbang18/CLFM}.

cs.CV↗

arXiv2024

G2L: Semantically Aligned and Uniform Video Grounding via Geodesic and Game Theory

The recent video grounding works attempt to introduce vanilla contrastive learning into video grounding. However, we claim that this naive solution is suboptimal. Contrastive learning requires two key properties: (1) \emph{alignment} of features of similar samples, and (2) \emph{uniformity} of the induced distribution of the normalized features on the hypersphere. Due to two annoying issues in video grounding: (1) the co-existence of some visual entities in both ground truth and other moments, \ie semantic overlapping; (2) only a few moments in the video are annotated, \ie sparse annotation dilemma, vanilla contrastive learning is unable to model the correlations between temporally distant moments and learned inconsistent video representations. Both characteristics lead to vanilla contrastive learning being unsuitable for video grounding. In this paper, we introduce Geodesic and Game Localization (G2L), a semantically aligned and uniform video grounding framework via geodesic and game theory. We quantify the correlations among moments leveraging the geodesic distance that guides the model to learn the correct cross-modal representations. Furthermore, from the novel perspective of game theory, we propose semantic Shapley interaction based on geodesic distance sampling to learn fine-grained semantic alignment in similar moments. Experiments on three benchmarks demonstrate the effectiveness of our method.

cs.CV↗

arXiv2023

ML-LMCL: Mutual Learning and Large-Margin Contrastive Learning for Improving ASR Robustness in Spoken Language Understanding

Spoken language understanding (SLU) is a fundamental task in the task-oriented dialogue systems. However, the inevitable errors from automatic speech recognition (ASR) usually impair the understanding performance and lead to error propagation. Although there are some attempts to address this problem through contrastive learning, they (1) treat clean manual transcripts and ASR transcripts equally without discrimination in fine-tuning; (2) neglect the fact that the semantically similar pairs are still pushed away when applying contrastive learning; (3) suffer from the problem of Kullback-Leibler (KL) vanishing. In this paper, we propose Mutual Learning and Large-Margin Contrastive Learning (ML-LMCL), a novel framework for improving ASR robustness in SLU. Specifically, in fine-tuning, we apply mutual learning and train two SLU models on the manual transcripts and the ASR transcripts, respectively, aiming to iteratively share knowledge between these two models. We also introduce a distance polarization regularizer to avoid pushing away the intra-cluster pairs as much as possible. Moreover, we use a cyclical annealing schedule to mitigate KL vanishing issue. Experiments on three datasets show that ML-LMCL outperforms existing models and achieves new state-of-the-art performance.

cs.CL↗

arXiv2023

Extreme Parkour with Legged Robots

Humans can perform parkour by traversing obstacles in a highly dynamic fashion requiring precise eye-muscle coordination and movement. Getting robots to do the same task requires overcoming similar challenges. Classically, this is done by independently engineering perception, actuation, and control systems to very low tolerances. This restricts them to tightly controlled settings such as a predetermined obstacle course in labs. In contrast, humans are able to learn parkour through practice without significantly changing their underlying biology. In this paper, we take a similar approach to developing robot parkour on a small low-cost robot with imprecise actuation and a single front-facing depth camera for perception which is low-frequency, jittery, and prone to artifacts. We show how a single neural net policy operating directly from a camera image, trained in simulation with large-scale RL, can overcome imprecise sensing and actuation to output highly precise control behavior end-to-end. We show our robot can perform a high jump on obstacles 2x its height, long jump across gaps 2x its length, do a handstand and run across tilted ramps, and generalize to novel obstacle courses with different physical properties. Parkour videos at https://extreme-parkour.github.io/

cs.RO↗

arXiv2023

Unify, Align and Refine: Multi-Level Semantic Alignment for Radiology Report Generation

Automatic radiology report generation has attracted enormous research interest due to its practical value in reducing the workload of radiologists. However, simultaneously establishing global correspondences between the image (e.g., Chest X-ray) and its related report and local alignments between image patches and keywords remains challenging. To this end, we propose an Unify, Align and then Refine (UAR) approach to learn multi-level cross-modal alignments and introduce three novel modules: Latent Space Unifier (LSU), Cross-modal Representation Aligner (CRA) and Text-to-Image Refiner (TIR). Specifically, LSU unifies multimodal data into discrete tokens, making it flexible to learn common knowledge among modalities with a shared network. The modality-agnostic CRA learns discriminative features via a set of orthonormal basis and a dual-gate mechanism first and then globally aligns visual and textual representations under a triplet contrastive loss. TIR boosts token-level local alignment via calibrating text-to-image attention with a learnable mask. Additionally, we design a two-stage training procedure to make UAR gradually grasp cross-modal alignments at different levels, which imitates radiologists' workflow: writing sentence by sentence first and then checking word by word. Extensive experiments and analyses on IU-Xray and MIMIC-CXR benchmark datasets demonstrate the superiority of our UAR against varied state-of-the-art methods.

cs.CV↗

arXiv2023

PolyVoice: Language Models for Speech to Speech Translation

We propose PolyVoice, a language model-based framework for speech-to-speech translation (S2ST) system. Our framework consists of two language models: a translation language model and a speech synthesis language model. We use discretized speech units, which are generated in a fully unsupervised way, and thus our framework can be used for unwritten languages. For the speech synthesis part, we adopt the existing VALL-E X approach and build a unit-based audio language model. This grants our framework the ability to preserve the voice characteristics and the speaking style of the original speech. We examine our system on Chinese $\rightarrow$ English and English $\rightarrow$ Spanish pairs. Experimental results show that our system can generate speech with high translation quality and audio quality. Speech samples are available at https://speechtranslation.github.io/polyvoice.

cs.CL↗

arXiv2023

Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion

Locomotion has seen dramatic progress for walking or running across challenging terrains. However, robotic quadrupeds are still far behind their biological counterparts, such as dogs, which display a variety of agile skills and can use the legs beyond locomotion to perform several basic manipulation tasks like interacting with objects and climbing. In this paper, we take a step towards bridging this gap by training quadruped robots not only to walk but also to use the front legs to climb walls, press buttons, and perform object interaction in the real world. To handle this challenging optimization, we decouple the skill learning broadly into locomotion, which involves anything that involves movement whether via walking or climbing a wall, and manipulation, which involves using one leg to interact while balancing on the other three legs. These skills are trained in simulation using curriculum and transferred to the real world using our proposed sim2real variant that builds upon recent locomotion success. Finally, we combine these skills into a robust long-term plan by learning a behavior tree that encodes a high-level task hierarchy from one clean expert demonstration. We evaluate our method in both simulation and real-world showing successful executions of both short as well as long-range tasks and how robustness helps confront external perturbations. Videos at https://robot-skills.github.io

cs.RO↗

arXiv2023

PoseRAC: Pose Saliency Transformer for Repetitive Action Counting

This paper presents a significant contribution to the field of repetitive action counting through the introduction of a new approach called Pose Saliency Representation. The proposed method efficiently represents each action using only two salient poses instead of redundant frames, which significantly reduces the computational cost while improving the performance. Moreover, we introduce a pose-level method, PoseRAC, which is based on this representation and achieves state-of-the-art performance on two new version datasets by using Pose Saliency Annotation to annotate salient poses for training. Our lightweight model is highly efficient, requiring only 20 minutes for training on a GPU, and infers nearly 10x faster compared to previous methods. In addition, our approach achieves a substantial improvement over the previous state-of-the-art TransRAC, achieving an OBO metric of 0.56 compared to 0.29 of TransRAC. The code and new dataset are available at https://github.com/MiracleDance/PoseRAC for further research and experimentation, making our proposed approach highly accessible to the research community.

cs.CV↗

arXiv2023

SSVMR: Saliency-based Self-training for Video-Music Retrieval

With the rise of short videos, the demand for selecting appropriate background music (BGM) for a video has increased significantly, video-music retrieval (VMR) task gradually draws much attention by research community. As other cross-modal learning tasks, existing VMR approaches usually attempt to measure the similarity between the video and music in the feature space. However, they (1) neglect the inevitable label noise; (2) neglect to enhance the ability to capture critical video clips. In this paper, we propose a novel saliency-based self-training framework, which is termed SSVMR. Specifically, we first explore to fully make use of the information containing in the training dataset by applying a semi-supervised method to suppress the adverse impact of label noise problem, where a self-training approach is adopted. In addition, we propose to capture the saliency of the video by mixing two videos at span level and preserving the locality of the two original videos. Inspired by back translation in NLP, we also conduct back retrieval to obtain more training data. Experimental results on MVD dataset show that our SSVMR achieves the state-of-the-art performance by a large margin, obtaining a relative improvement of 34.8% over the previous best model in terms of R@1.

cs.MM↗

arXiv2022

M3ST: Mix at Three Levels for Speech Translation

How to solve the data scarcity problem for end-to-end speech-to-text translation (ST)? It's well known that data augmentation is an efficient method to improve performance for many tasks by enlarging the dataset. In this paper, we propose Mix at three levels for Speech Translation (M^3ST) method to increase the diversity of the augmented training corpus. Specifically, we conduct two phases of fine-tuning based on a pre-trained model using external machine translation (MT) data. In the first stage of fine-tuning, we mix the training corpus at three levels, including word level, sentence level and frame level, and fine-tune the entire model with mixed data. At the second stage of fine-tuning, we take both original speech sequences and original text sequences in parallel into the model to fine-tune the network, and use Jensen-Shannon divergence to regularize their outputs. Experiments on MuST-C speech translation benchmark and analysis show that M^3ST outperforms current strong baselines and achieves state-of-the-art results on eight directions with an average BLEU of 29.9.

cs.CL↗

arXiv2022

A Dynamic Graph Interactive Framework with Label-Semantic Injection for Spoken Language Understanding

Multi-intent detection and slot filling joint models are gaining increasing traction since they are closer to complicated real-world scenarios. However, existing approaches (1) focus on identifying implicit correlations between utterances and one-hot encoded labels in both tasks while ignoring explicit label characteristics; (2) directly incorporate multi-intent information for each token, which could lead to incorrect slot prediction due to the introduction of irrelevant intent. In this paper, we propose a framework termed DGIF, which first leverages the semantic information of labels to give the model additional signals and enriched priors. Then, a multi-grain interactive graph is constructed to model correlations between intents and slots. Specifically, we propose a novel approach to construct the interactive graph based on the injection of label semantics, which can automatically update the graph to better alleviate error propagation. Experimental results show that our framework significantly outperforms existing approaches, obtaining a relative improvement of 13.7% over the previous best model on the MixATIS dataset in overall accuracy.

cs.CL↗

arXiv2022

Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion

An attached arm can significantly increase the applicability of legged robots to several mobile manipulation tasks that are not possible for the wheeled or tracked counterparts. The standard hierarchical control pipeline for such legged manipulators is to decouple the controller into that of manipulation and locomotion. However, this is ineffective. It requires immense engineering to support coordination between the arm and legs, and error can propagate across modules causing non-smooth unnatural motions. It is also biological implausible given evidence for strong motor synergies across limbs. In this work, we propose to learn a unified policy for whole-body control of a legged manipulator using reinforcement learning. We propose Regularized Online Adaptation to bridge the Sim2Real gap for high-DoF control, and Advantage Mixing exploiting the causal dependency in the action space to overcome local minima during training the whole-body system. We also present a simple design for a low-cost legged manipulator, and find that our unified policy can demonstrate dynamic and agile behaviors across several task setups. Videos are at https://maniploco.github.io

cs.RO↗

arXiv2021

Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots

Developing robust walking controllers for bipedal robots is a challenging endeavor. Traditional model-based locomotion controllers require simplifying assumptions and careful modelling; any small errors can result in unstable control. To address these challenges for bipedal locomotion, we present a model-free reinforcement learning framework for training robust locomotion policies in simulation, which can then be transferred to a real bipedal Cassie robot. To facilitate sim-to-real transfer, domain randomization is used to encourage the policies to learn behaviors that are robust across variations in system dynamics. The learned policies enable Cassie to perform a set of diverse and dynamic behaviors, while also being more robust than traditional controllers and prior learning-based methods that use residual control. We demonstrate this on versatile walking behaviors such as tracking a target walking velocity, walking height, and turning yaw.

cs.RO↗

arXiv2020

Automated Lane Change Strategy using Proximal Policy Optimization-based Deep Reinforcement Learning

Lane-change maneuvers are commonly executed by drivers to follow a certain routing plan, overtake a slower vehicle, adapt to a merging lane ahead, etc. However, improper lane change behaviors can be a major cause of traffic flow disruptions and even crashes. While many rule-based methods have been proposed to solve lane change problems for autonomous driving, they tend to exhibit limited performance due to the uncertainty and complexity of the driving environment. Machine learning-based methods offer an alternative approach, as Deep reinforcement learning (DRL) has shown promising success in many application domains including robotic manipulation, navigation, and playing video games. However, applying DRL to autonomous driving still faces many practical challenges in terms of slow learning rates, sample inefficiency, and safety concerns. In this study, we propose an automated lane change strategy using proximal policy optimization-based deep reinforcement learning, which shows great advantages in learning efficiency while still maintaining stable performance. The trained agent is able to learn a smooth, safe, and efficient driving policy to make lane-change decisions (i.e. when and how) in a challenging situation such as dense traffic scenarios. The effectiveness of the proposed policy is validated by using metrics of task success rate and collision rate. The simulation results demonstrate the lane change maneuvers can be efficiently learned and executed in a safe, smooth, and efficient manner.

cs.LG↗