arXiv subjects

Yang You

Publications and source records attributed to Yang You.

At least 145 records · Page 8Linked to original sources

arXiv2024

CPPF++: Uncertainty-Aware Sim2Real Object Pose Estimation by Vote Aggregation

Object pose estimation constitutes a critical area within the domain of 3D vision. While contemporary state-of-the-art methods that leverage real-world pose annotations have demonstrated commendable performance, the procurement of such real training data incurs substantial costs. This paper focuses on a specific setting wherein only 3D CAD models are utilized as a priori knowledge, devoid of any background or clutter information. We introduce a novel method, CPPF++, designed for sim-to-real pose estimation. This method builds upon the foundational point-pair voting scheme of CPPF, reformulating it through a probabilistic view. To address the challenge posed by vote collision, we propose a novel approach that involves modeling the voting uncertainty by estimating the probabilistic distribution of each point pair within the canonical space. Furthermore, we augment the contextual information provided by each voting unit through the introduction of N-point tuples. To enhance the robustness and accuracy of the model, we incorporate several innovative modules, including noisy pair filtering, online alignment optimization, and a tuple feature ensemble. Alongside these methodological advancements, we introduce a new category-level pose estimation dataset, named DiversePose 300. Empirical evidence demonstrates that our method significantly surpasses previous sim-to-real approaches and achieves comparable or superior performance on novel datasets. Our code is available on https://github.com/qq456cvb/CPPF2.

cs.CV↗

arXiv2024

OpenMoE: An Early Effort on Open Mixture-of-Experts Language Models

To help the open-source community have a better understanding of Mixture-of-Experts (MoE) based large language models (LLMs), we train and release OpenMoE, a series of fully open-sourced and reproducible decoder-only MoE LLMs, ranging from 650M to 34B parameters and trained on up to over 1T tokens. Our investigation confirms that MoE-based LLMs can offer a more favorable cost-effectiveness trade-off than dense LLMs, highlighting the potential effectiveness for future LLM development. One more important contribution of this study is an in-depth analysis of the routing mechanisms within our OpenMoE models, leading to three significant findings: Context-Independent Specialization, Early Routing Learning, and Drop-towards-the-End. We discovered that routing decisions in MoE models are predominantly based on token IDs, with minimal context relevance. The token-to-expert assignments are determined early in the pre-training phase and remain largely unchanged. This imperfect routing can result in performance degradation, particularly in sequential tasks like multi-turn conversations, where tokens appearing later in a sequence are more likely to be dropped. Finally, we rethink our design based on the above-mentioned observations and analysis. To facilitate future MoE LLM development, we propose potential strategies for mitigating the issues we found and further improving off-the-shelf MoE LLM designs.

cs.CL↗

arXiv2024

Efficient Dataset Distillation via Minimax Diffusion

Dataset distillation reduces the storage and computational consumption of training a network by generating a small surrogate dataset that encapsulates rich information of the original large-scale one. However, previous distillation methods heavily rely on the sample-wise iterative optimization scheme. As the images-per-class (IPC) setting or image resolution grows larger, the necessary computation will demand overwhelming time and resources. In this work, we intend to incorporate generative diffusion techniques for computing the surrogate dataset. Observing that key factors for constructing an effective surrogate dataset are representativeness and diversity, we design additional minimax criteria in the generative training to enhance these facets for the generated images of diffusion models. We present a theoretical model of the process as hierarchical diffusion control demonstrating the flexibility of the diffusion process to target these criteria without jeopardizing the faithfulness of the sample to the desired distribution. The proposed method achieves state-of-the-art validation performance while demanding much less computational resources. Under the 100-IPC setting on ImageWoof, our method requires less than one-twentieth the distillation time of previous methods, yet yields even better performance. Source code and generated data are available in https://github.com/vimar-gu/MinimaxDiffusion.

cs.CV↗

arXiv2024

ManiPose: A Comprehensive Benchmark for Pose-aware Object Manipulation in Robotics

Robotic manipulation in everyday scenarios, especially in unstructured environments, requires skills in pose-aware object manipulation (POM), which adapts robots' grasping and handling according to an object's 6D pose. Recognizing an object's position and orientation is crucial for effective manipulation. For example, if a mug is lying on its side, it's more effective to grasp it by the rim rather than the handle. Despite its importance, research in POM skills remains limited, because learning manipulation skills requires pose-varying simulation environments and datasets. This paper introduces ManiPose, a pioneering benchmark designed to advance the study of pose-varying manipulation tasks. ManiPose encompasses: 1) Simulation environments for POM feature tasks ranging from 6D pose-specific pick-and-place of single objects to cluttered scenes, further including interactions with articulated objects. 2) A comprehensive dataset featuring geometrically consistent and manipulation-oriented 6D pose labels for 2936 real-world scanned rigid objects and 100 articulated objects across 59 categories. 3) A baseline for POM, leveraging the inferencing abilities of LLM (e.g., ChatGPT) to analyze the relationship between 6D pose and task-specific requirements, offers enhanced pose-aware grasp prediction and motion planning capabilities. Our benchmark demonstrates notable advancements in pose estimation, pose-aware manipulation, and real-robot skill transfer, setting new standards for POM research. We will open-source the ManiPose benchmark with the final version paper, inviting the community to engage with our resources, available at our website:https://sites.google.com/view/manipose.

cs.RO↗

arXiv2024

Towards Lossless Dataset Distillation via Difficulty-Aligned Trajectory Matching

The ultimate goal of Dataset Distillation is to synthesize a small synthetic dataset such that a model trained on this synthetic set will perform equally well as a model trained on the full, real dataset. Until now, no method of Dataset Distillation has reached this completely lossless goal, in part due to the fact that previous methods only remain effective when the total number of synthetic samples is extremely small. Since only so much information can be contained in such a small number of samples, it seems that to achieve truly loss dataset distillation, we must develop a distillation method that remains effective as the size of the synthetic dataset grows. In this work, we present such an algorithm and elucidate why existing methods fail to generate larger, high-quality synthetic sets. Current state-of-the-art methods rely on trajectory-matching, or optimizing the synthetic data to induce similar long-term training dynamics as the real data. We empirically find that the training stage of the trajectories we choose to match (i.e., early or late) greatly affects the effectiveness of the distilled dataset. Specifically, early trajectories (where the teacher network learns easy patterns) work well for a low-cardinality synthetic set since there are fewer examples wherein to distribute the necessary information. Conversely, late trajectories (where the teacher network learns hard patterns) provide better signals for larger synthetic sets since there are now enough samples to represent the necessary complex patterns. Based on our findings, we propose to align the difficulty of the generated patterns with the size of the synthetic dataset. In doing so, we successfully scale trajectory matching-based methods to larger synthetic datasets, achieving lossless dataset distillation for the very first time. Code and distilled datasets are available at https://gzyaftermath.github.io/DATM.

cs.CV↗

arXiv2024

SparseDFF: Sparse-View Feature Distillation for One-Shot Dexterous Manipulation

Humans demonstrate remarkable skill in transferring manipulation abilities across objects of varying shapes, poses, and appearances, a capability rooted in their understanding of semantic correspondences between different instances. To equip robots with a similar high-level comprehension, we present SparseDFF, a novel DFF for 3D scenes utilizing large 2D vision models to extract semantic features from sparse RGBD images, a domain where research is limited despite its relevance to many tasks with fixed-camera setups. SparseDFF generates view-consistent 3D DFFs, enabling efficient one-shot learning of dexterous manipulations by mapping image features to a 3D point cloud. Central to SparseDFF is a feature refinement network, optimized with a contrastive loss between views and a point-pruning mechanism for feature continuity. This facilitates the minimization of feature discrepancies w.r.t. end-effector parameters, bridging demonstrations and target manipulations. Validated in real-world scenarios with a dexterous hand, SparseDFF proves effective in manipulating both rigid and deformable objects, demonstrating significant generalization capabilities across object and scene variations.

cs.RO↗

arXiv2024

MLLMs-Augmented Visual-Language Representation Learning

Visual-language pre-training has achieved remarkable success in many multi-modal tasks, largely attributed to the availability of large-scale image-text datasets. In this work, we demonstrate that Multi-modal Large Language Models (MLLMs) can enhance visual-language representation learning by establishing richer image-text associations for image-text datasets. Our approach is simple, utilizing MLLMs to extend multiple diverse captions for each image. To prevent the bias introduced by MLLMs' hallucinations and monotonous language styles, we propose "text shearing" to maintain the quality and availability of extended captions. In image-text retrieval, without introducing additional training cost, our method consistently obtains 5.6 ~ 35.0 and 16.8 ~ 46.1 improvement on Recall@1 under the fine-tuning and zero-shot settings, respectively. Notably, we obtain zero-shot results that are comparable to fine-tuning on target datasets, which encourages more exploration of the versatile use of MLLMs.

cs.CV↗

arXiv2024

HeteGen: Heterogeneous Parallel Inference for Large Language Models on Resource-Constrained Devices

In recent times, the emergence of Large Language Models (LLMs) has resulted in increasingly larger model size, posing challenges for inference on low-resource devices. Prior approaches have explored offloading to facilitate low-memory inference but often suffer from efficiency due to I/O bottlenecks. To achieve low-latency LLMs inference on resource-constrained devices, we introduce HeteGen, a novel approach that presents a principled framework for heterogeneous parallel computing using CPUs and GPUs. Based on this framework, HeteGen further employs heterogeneous parallel computing and asynchronous overlap for LLMs to mitigate I/O bottlenecks. Our experiments demonstrate a substantial improvement in inference speed, surpassing state-of-the-art methods by over 317% at most.

cs.PF↗

arXiv2024

Inconsistencies in Masked Language Models

Learning to predict masked tokens in a sequence has been shown to be a helpful pretraining objective for powerful language models such as PaLM2. After training, such masked language models (MLMs) can provide distributions of tokens in the masked positions in a sequence. However, this paper shows that distributions corresponding to different masking patterns can demonstrate considerable inconsistencies, i.e., they cannot be derived from a coherent joint distribution when considered together. This fundamental flaw in MLMs can lead to self-contradictory behaviors during inference. On various benchmark datasets including MMLU, MLMs can give different predictions to the same input question. From BERT-base to UL2-20B, we show that such inconsistencies exist ubiquitously in MLMs of diverse sizes and configurations. In light of our observations, we further propose an inference-time strategy for MLMs called Ensemble of Conditionals. It jointly considers a selected range of inconsistent conditionals directly produced by the MLM for the final prediction, which often leads to considerable accuracy improvement.

cs.CL↗

arXiv2024

Helen: Optimizing CTR Prediction Models with Frequency-wise Hessian Eigenvalue Regularization

Click-Through Rate (CTR) prediction holds paramount significance in online advertising and recommendation scenarios. Despite the proliferation of recent CTR prediction models, the improvements in performance have remained limited, as evidenced by open-source benchmark assessments. Current researchers tend to focus on developing new models for various datasets and settings, often neglecting a crucial question: What is the key challenge that truly makes CTR prediction so demanding? In this paper, we approach the problem of CTR prediction from an optimization perspective. We explore the typical data characteristics and optimization statistics of CTR prediction, revealing a strong positive correlation between the top hessian eigenvalue and feature frequency. This correlation implies that frequently occurring features tend to converge towards sharp local minima, ultimately leading to suboptimal performance. Motivated by the recent advancements in sharpness-aware minimization (SAM), which considers the geometric aspects of the loss landscape during optimization, we present a dedicated optimizer crafted for CTR prediction, named Helen. Helen incorporates frequency-wise Hessian eigenvalue regularization, achieved through adaptive perturbations based on normalized feature frequencies. Empirical results under the open-source benchmark framework underscore Helen's effectiveness. It successfully constrains the top eigenvalue of the Hessian matrix and demonstrates a clear advantage over widely used optimization algorithms when applied to seven popular models across three public benchmark datasets on BARS. Our code locates at github.com/NUS-HPC-AI-Lab/Helen.

cs.IR↗

arXiv2024

RAP: Retrieval-Augmented Planning with Contextual Memory for Multimodal LLM Agents

Owing to recent advancements, Large Language Models (LLMs) can now be deployed as agents for increasingly complex decision-making applications in areas including robotics, gaming, and API integration. However, reflecting past experiences in current decision-making processes, an innate human behavior, continues to pose significant challenges. Addressing this, we propose Retrieval-Augmented Planning (RAP) framework, designed to dynamically leverage past experiences corresponding to the current situation and context, thereby enhancing agents' planning capabilities. RAP distinguishes itself by being versatile: it excels in both text-only and multimodal environments, making it suitable for a wide range of tasks. Empirical evaluations demonstrate RAP's effectiveness, where it achieves SOTA performance in textual scenarios and notably enhances multimodal LLM agents' performance for embodied tasks. These results highlight RAP's potential in advancing the functionality and applicability of LLM agents in complex, real-world applications.

cs.LG↗

arXiv2024

GliDe with a CaPE: A Low-Hassle Method to Accelerate Speculative Decoding

Speculative decoding is a relatively new decoding framework that leverages small and efficient draft models to reduce the latency of LLMs. In this study, we introduce GliDe and CaPE, two low-hassle modifications to vanilla speculative decoding to further improve the decoding speed of a frozen LLM. Specifically, GliDe is a modified draft model architecture that reuses the cached keys and values from the target LLM, while CaPE is a proposal expansion method that uses the draft model's confidence scores to help select additional candidate tokens for verification. Extensive experiments on different benchmarks demonstrate that our proposed GliDe draft model significantly reduces the expected decoding latency. Additional evaluation using walltime reveals that GliDe can accelerate Vicuna models up to 2.17x and further extend the improvement to 2.61x with CaPE. We will release our code, data, and the trained draft models.

cs.CL↗

arXiv2024

Optical Data Transmission ASICs for the High-Luminosity LHC (HL-LHC) Experiments

We present the design and test results of two optical data transmission ASICs for the High-Luminosity LHC (HL-LHC) experiments. These ASICs include a two-channel serializer (LOCs2) and a single-channel Vertical Cavity Surface Emitting Laser (VCSEL) driver (LOCld1V2). Both ASICs are fabricated in a commercial 0.25-um Silicon-on-Sapphire (SoS) CMOS technology and operate at a data rate up to 8 Gbps per channel. The power consumption of LOCs2 and LOCld1V2 are 1.25 W and 0.27 W at 8-Gbps data rate, respectively. LOCld1V2 has been verified meeting the radiation-tolerance requirements for HL-LHC experiments.

physics.ins-det↗

arXiv2024

The Clock Distribution System for the ATLAS Liquid Argon Calorimeter Phase-I Upgrade Demonstrator

A prototype Liquid-argon Trigger Digitizer Board (LTDB), called the LTDB Demonstrator, has been developed to demonstrate the functions of the ATLAS Liquid Argon Calorimeter Phase-I trigger electronics upgrade. Forty Analog-to-Digital converters and four FPGAs with embedded multi-gigabit-transceivers on each Demonstrator need high quality clocks. A clock distribution system based on commercial components has been developed for the Demonstrator. The design of the clock distribution system is presented. The performance of the clock distribution system has been evaluated. The components used in the clock distribution system have been qualified to meet radiation tolerance requirements of the Demonstrator.

physics.ins-det↗

arXiv2024

The VCSEL-based Array Optical Transmitter (ATx) Development Towards 120-Gbps Link for Collider Detector: Development Update

A compact radiation-tolerant array optical transmitter module (ATx) is developed to provide data transmission up to 10Gbps per channel with 12 parallel channels for collider detector applications. The ATx integrates a Vertical Cavity Surface-Emitting Laser (VCSEL) array and driver circuitry for electrical to optical conversion, an edge warp substrate for the electrical interface and a micro-lens array for the optical interface. This paper reports the continuing development of the ATx custom package. A simple, high-accuracy and reliable active-alignment method for the optical coupling is introduced. The radiation-resistance of the optoelectronic components is evaluated and the inclusion of a custom-designed array driver is discussed.

physics.ins-det↗

arXiv2024

JTAG-based Remote Configuration of FPGAs over Optical Fibers

In this paper, a remote FPGA-configuration method based on JTAG extension over optical fibers is presented. The method takes advantage of commercial components and ready-to-use software such as iMPACT and does not require any hardware or software development. The method combines the advantages of the slow remote JTAG configuration and the fast local flash memory configuration. The method has been verified successfully and used in the Demonstrator of Liquid-Argon Trigger Digitization Board (LTDB) for the ATLAS liquid argon calorimeter Phase-I trigger upgrade. All components on the FPGA side are verified to meet the radiation tolerance requirements.

physics.ins-det↗

arXiv2024

Must: Maximizing Latent Capacity of Spatial Transcriptomics Data

Spatial transcriptomics (ST) technologies have revolutionized the study of gene expression patterns in tissues by providing multimodality data in transcriptomic, spatial, and morphological, offering opportunities for understanding tissue biology beyond transcriptomics. However, we identify the modality bias phenomenon in ST data species, i.e., the inconsistent contribution of different modalities to the labels leads to a tendency for the analysis methods to retain the information of the dominant modality. How to mitigate the adverse effects of modality bias to satisfy various downstream tasks remains a fundamental challenge. This paper introduces Multiple-modality Structure Transformation, named MuST, a novel methodology to tackle the challenge. MuST integrates the multi-modality information contained in the ST data effectively into a uniform latent space to provide a foundation for all the downstream tasks. It learns intrinsic local structures by topology discovery strategy and topology fusion loss function to solve the inconsistencies among different modalities. Thus, these topology-based and deep learning techniques provide a solid foundation for a variety of analytical tasks while coordinating different modalities. The effectiveness of MuST is assessed by performance metrics and biological significance. The results show that it outperforms existing state-of-the-art methods with clear advantages in the precision of identifying and preserving structures of tissues and biomarkers. MuST offers a versatile toolkit for the intricate analysis of complex biological systems.

cs.CE↗

arXiv2024

Summarizing Stream Data for Memory-Constrained Online Continual Learning

Replay-based methods have proved their effectiveness on online continual learning by rehearsing past samples from an auxiliary memory. With many efforts made on improving training schemes based on the memory, however, the information carried by each sample in the memory remains under-investigated. Under circumstances with restricted storage space, the informativeness of the memory becomes critical for effective replay. Although some works design specific strategies to select representative samples, by only employing a small number of original images, the storage space is still not well utilized. To this end, we propose to Summarize the knowledge from the Stream Data (SSD) into more informative samples by distilling the training characteristics of real images. Through maintaining the consistency of training gradients and relationship to the past tasks, the summarized samples are more representative for the stream data compared to the original images. Extensive experiments are conducted on multiple online continual learning benchmarks to support that the proposed SSD method significantly enhances the replay effects. We demonstrate that with limited extra computational overhead, SSD provides more than 3% accuracy boost for sequential CIFAR-100 under extremely restricted memory buffer. Code in https://github.com/vimar-gu/SSD.

cs.CV↗