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Yifan Liu

Publications and source records attributed to Yifan Liu.

At least 163 records · Page 9Linked to original sources
arXiv2023

The Effects of Robot Motion on Comfort Dynamics of Novice Users in Close-Proximity Human-Robot Interaction

Effective and fluent close-proximity human-robot interaction requires understanding how humans get habituated to robots and how robot motion affects human comfort. While prior work has identified humans' preferences over robot motion characteristics and studied their influence on comfort, we are yet to understand how novice first-time robot users get habituated to robots and how robot motion impacts the dynamics of comfort over repeated interactions. To take the first step towards such understanding, we carry out a user study to investigate the connections between robot motion and user comfort and habituation. Specifically, we study the influence of workspace overlap, end-effector speed, and robot motion legibility on overall comfort and its evolution over repeated interactions. Our analyses reveal that workspace overlap, in contrast to speed and legibility, has a significant impact on users' perceived comfort and habituation. In particular, lower workspace overlap leads to users reporting significantly higher overall comfort, lower variations in comfort, and fewer fluctuations in comfort levels during habituation.

cs.RO↗
arXiv2023

3DPPE: 3D Point Positional Encoding for Multi-Camera 3D Object Detection Transformers

Transformer-based methods have swept the benchmarks on 2D and 3D detection on images. Because tokenization before the attention mechanism drops the spatial information, positional encoding becomes critical for those methods. Recent works found that encodings based on samples of the 3D viewing rays can significantly improve the quality of multi-camera 3D object detection. We hypothesize that 3D point locations can provide more information than rays. Therefore, we introduce 3D point positional encoding, 3DPPE, to the 3D detection Transformer decoder. Although 3D measurements are not available at the inference time of monocular 3D object detection, 3DPPE uses predicted depth to approximate the real point positions. Our hybriddepth module combines direct and categorical depth to estimate the refined depth of each pixel. Despite the approximation, 3DPPE achieves 46.0 mAP and 51.4 NDS on the competitive nuScenes dataset, significantly outperforming encodings based on ray samples. We make the codes available at https://github.com/drilistbox/3DPPE.

cs.CV↗
arXiv2023

Towards Hierarchical Policy Learning for Conversational Recommendation with Hypergraph-based Reinforcement Learning

Conversational recommendation systems (CRS) aim to timely and proactively acquire user dynamic preferred attributes through conversations for item recommendation. In each turn of CRS, there naturally have two decision-making processes with different roles that influence each other: 1) director, which is to select the follow-up option (i.e., ask or recommend) that is more effective for reducing the action space and acquiring user preferences; and 2) actor, which is to accordingly choose primitive actions (i.e., asked attribute or recommended item) that satisfy user preferences and give feedback to estimate the effectiveness of the director's option. However, existing methods heavily rely on a unified decision-making module or heuristic rules, while neglecting to distinguish the roles of different decision procedures, as well as the mutual influences between them. To address this, we propose a novel Director-Actor Hierarchical Conversational Recommender (DAHCR), where the director selects the most effective option, followed by the actor accordingly choosing primitive actions that satisfy user preferences. Specifically, we develop a dynamic hypergraph to model user preferences and introduce an intrinsic motivation to train from weak supervision over the director. Finally, to alleviate the bad effect of model bias on the mutual influence between the director and actor, we model the director's option by sampling from a categorical distribution. Extensive experiments demonstrate that DAHCR outperforms state-of-the-art methods.

cs.IR↗
arXiv2023

CTVIS: Consistent Training for Online Video Instance Segmentation

The discrimination of instance embeddings plays a vital role in associating instances across time for online video instance segmentation (VIS). Instance embedding learning is directly supervised by the contrastive loss computed upon the contrastive items (CIs), which are sets of anchor/positive/negative embeddings. Recent online VIS methods leverage CIs sourced from one reference frame only, which we argue is insufficient for learning highly discriminative embeddings. Intuitively, a possible strategy to enhance CIs is replicating the inference phase during training. To this end, we propose a simple yet effective training strategy, called Consistent Training for Online VIS (CTVIS), which devotes to aligning the training and inference pipelines in terms of building CIs. Specifically, CTVIS constructs CIs by referring inference the momentum-averaged embedding and the memory bank storage mechanisms, and adding noise to the relevant embeddings. Such an extension allows a reliable comparison between embeddings of current instances and the stable representations of historical instances, thereby conferring an advantage in modeling VIS challenges such as occlusion, re-identification, and deformation. Empirically, CTVIS outstrips the SOTA VIS models by up to +5.0 points on three VIS benchmarks, including YTVIS19 (55.1% AP), YTVIS21 (50.1% AP) and OVIS (35.5% AP). Furthermore, we find that pseudo-videos transformed from images can train robust models surpassing fully-supervised ones.

cs.CV↗
arXiv2023

Photonic chip-based low noise microwave oscillator

Numerous modern technologies are reliant on the low-phase noise and exquisite timing stability of microwave signals. Substantial progress has been made in the field of microwave photonics, whereby low noise microwave signals are generated by the down-conversion of ultra-stable optical references using a frequency comb. Such systems, however, are constructed with bulk or fiber optics and are difficult to further reduce in size and power consumption. Our work addresses this challenge by leveraging advances in integrated photonics to demonstrate low-noise microwave generation via two-point optical frequency division. Narrow linewidth self-injection locked integrated lasers are stabilized to a miniature Fabry-Pérot cavity, and the frequency gap between the lasers is divided with an efficient dark-soliton frequency comb. The stabilized output of the microcomb is photodetected to produce a microwave signal at 20 GHz with phase noise of -96 dBc/Hz at 100 Hz offset frequency that decreases to -135 dBc/Hz at 10 kHz offset--values which are unprecedented for an integrated photonic system. All photonic components can be heterogeneously integrated on a single chip, providing a significant advance for the application of photonics to high-precision navigation, communication and timing systems.

physics.optics↗
arXiv2023

ZegCLIP: Towards Adapting CLIP for Zero-shot Semantic Segmentation

Recently, CLIP has been applied to pixel-level zero-shot learning tasks via a two-stage scheme. The general idea is to first generate class-agnostic region proposals and then feed the cropped proposal regions to CLIP to utilize its image-level zero-shot classification capability. While effective, such a scheme requires two image encoders, one for proposal generation and one for CLIP, leading to a complicated pipeline and high computational cost. In this work, we pursue a simpler-and-efficient one-stage solution that directly extends CLIP's zero-shot prediction capability from image to pixel level. Our investigation starts with a straightforward extension as our baseline that generates semantic masks by comparing the similarity between text and patch embeddings extracted from CLIP. However, such a paradigm could heavily overfit the seen classes and fail to generalize to unseen classes. To handle this issue, we propose three simple-but-effective designs and figure out that they can significantly retain the inherent zero-shot capacity of CLIP and improve pixel-level generalization ability. Incorporating those modifications leads to an efficient zero-shot semantic segmentation system called ZegCLIP. Through extensive experiments on three public benchmarks, ZegCLIP demonstrates superior performance, outperforming the state-of-the-art methods by a large margin under both "inductive" and "transductive" zero-shot settings. In addition, compared with the two-stage method, our one-stage ZegCLIP achieves a speedup of about 5 times faster during inference. We release the code at https://github.com/ZiqinZhou66/ZegCLIP.git.

cs.CV↗
arXiv2023

Adaptive Model Prediction Control-Based Multi-Terrain Trajectory Tracking Framework for Mobile Spherical Robots

Owing to uncertainties in both kinematics and dynamics, the current trajectory tracking framework for mobile robots like spherical robots cannot function effectively on multiple terrains, especially uneven and unknown ones. Since this is a prerequisite for robots to execute tasks in the wild, we enhance our previous hierarchical trajectory tracking framework to handle this issue. First, a modified adaptive RBF neural network (RBFNN) is proposed to represent all uncertainties in kinodynamics. Then the Lyapunov function is utilized to design its adaptive law, and a variable step-size algorithm is employed in the weights update procedure to accelerate convergence and improve stability. Hence, a new adaptive model prediction control-based instruction planner (VAN-MPC) is proposed. Without modifying the bottom controllers, we finally develop the multi-terrain trajectory tracking framework by employing the new instruction planner VAN-MPC. The practical experiments demonstrate its effectiveness and robustness.

cs.RO↗
arXiv2023

A Dynamic Feature Interaction Framework for Multi-task Visual Perception

Multi-task visual perception has a wide range of applications in scene understanding such as autonomous driving. In this work, we devise an efficient unified framework to solve multiple common perception tasks, including instance segmentation, semantic segmentation, monocular 3D detection, and depth estimation. Simply sharing the same visual feature representations for these tasks impairs the performance of tasks, while independent task-specific feature extractors lead to parameter redundancy and latency. Thus, we design two feature-merge branches to learn feature basis, which can be useful to, and thus shared by, multiple perception tasks. Then, each task takes the corresponding feature basis as the input of the prediction task head to fulfill a specific task. In particular, one feature merge branch is designed for instance-level recognition the other for dense predictions. To enhance inter-branch communication, the instance branch passes pixel-wise spatial information of each instance to the dense branch using efficient dynamic convolution weighting. Moreover, a simple but effective dynamic routing mechanism is proposed to isolate task-specific features and leverage common properties among tasks. Our proposed framework, termed D2BNet, demonstrates a unique approach to parameter-efficient predictions for multi-task perception. In addition, as tasks benefit from co-training with each other, our solution achieves on par results on partially labeled settings on nuScenes and outperforms previous works for 3D detection and depth estimation on the Cityscapes dataset with full supervision.

cs.CV↗
arXiv2023

Multi-Stage Coarse-to-Fine Contrastive Learning for Conversation Intent Induction

Intent recognition is critical for task-oriented dialogue systems. However, for emerging domains and new services, it is difficult to accurately identify the key intent of a conversation due to time-consuming data annotation and comparatively poor model transferability. Therefore, the automatic induction of dialogue intention is very important for intelligent dialogue systems. This paper presents our solution to Track 2 of Intent Induction from Conversations for Task-Oriented Dialogue at the Eleventh Dialogue System Technology Challenge (DSTC11). The essence of intention clustering lies in distinguishing the representation of different dialogue utterances. The key to automatic intention induction is that, for any given set of new data, the sentence representation obtained by the model can be well distinguished from different labels. Therefore, we propose a multi-stage coarse-to-fine contrastive learning model training scheme including unsupervised contrastive learning pre-training, supervised contrastive learning pre-training, and fine-tuning with joint contrastive learning and clustering to obtain a better dialogue utterance representation model for the clustering task. In the released DSTC11 Track 2 evaluation results, our proposed system ranked first on both of the two subtasks of this Track.

cs.CL↗
arXiv2023

Polarity-dependent electro-wetting or -dewetting on a conductive silicon substrate

We demonstrate droplet manipulation using electric signals to induce the liquid to wet or dewet on a hydrophilic conductive substrate in the air without adding layers. In this phenomenon, the contact angle changes more than 15° or -20° by using the ionic surfactant mediated droplets, with only \pm3 volts of the actuation voltage.

physics.flu-dyn↗
arXiv2023

The state-of-the-art 3D anisotropic intracranial hemorrhage segmentation on non-contrast head CT: The INSTANCE challenge

Automatic intracranial hemorrhage segmentation in 3D non-contrast head CT (NCCT) scans is significant in clinical practice. Existing hemorrhage segmentation methods usually ignores the anisotropic nature of the NCCT, and are evaluated on different in-house datasets with distinct metrics, making it highly challenging to improve segmentation performance and perform objective comparisons among different methods. The INSTANCE 2022 was a grand challenge held in conjunction with the 2022 International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI). It is intended to resolve the above-mentioned problems and promote the development of both intracranial hemorrhage segmentation and anisotropic data processing. The INSTANCE released a training set of 100 cases with ground-truth and a validation set with 30 cases without ground-truth labels that were available to the participants. A held-out testing set with 70 cases is utilized for the final evaluation and ranking. The methods from different participants are ranked based on four metrics, including Dice Similarity Coefficient (DSC), Hausdorff Distance (HD), Relative Volume Difference (RVD) and Normalized Surface Dice (NSD). A total of 13 teams submitted distinct solutions to resolve the challenges, making several baseline models, pre-processing strategies and anisotropic data processing techniques available to future researchers. The winner method achieved an average DSC of 0.6925, demonstrating a significant growth over our proposed baseline method. To the best of our knowledge, the proposed INSTANCE challenge releases the first intracranial hemorrhage segmentation benchmark, and is also the first challenge that intended to resolve the anisotropic problem in 3D medical image segmentation, which provides new alternatives in these research fields.

eess.IV↗
arXiv2022

SegViT: Semantic Segmentation with Plain Vision Transformers

We explore the capability of plain Vision Transformers (ViTs) for semantic segmentation and propose the SegVit. Previous ViT-based segmentation networks usually learn a pixel-level representation from the output of the ViT. Differently, we make use of the fundamental component -- attention mechanism, to generate masks for semantic segmentation. Specifically, we propose the Attention-to-Mask (ATM) module, in which the similarity maps between a set of learnable class tokens and the spatial feature maps are transferred to the segmentation masks. Experiments show that our proposed SegVit using the ATM module outperforms its counterparts using the plain ViT backbone on the ADE20K dataset and achieves new state-of-the-art performance on COCO-Stuff-10K and PASCAL-Context datasets. Furthermore, to reduce the computational cost of the ViT backbone, we propose query-based down-sampling (QD) and query-based up-sampling (QU) to build a Shrunk structure. With the proposed Shrunk structure, the model can save up to $40\%$ computations while maintaining competitive performance.

cs.CV↗
arXiv2022

Prior-enhanced Temporal Action Localization using Subject-aware Spatial Attention

Temporal action localization (TAL) aims to detect the boundary and identify the class of each action instance in a long untrimmed video. Current approaches treat video frames homogeneously, and tend to give background and key objects excessive attention. This limits their sensitivity to localize action boundaries. To this end, we propose a prior-enhanced temporal action localization method (PETAL), which only takes in RGB input and incorporates action subjects as priors. This proposal leverages action subjects' information with a plug-and-play subject-aware spatial attention module (SA-SAM) to generate an aggregated and subject-prioritized representation. Experimental results on THUMOS-14 and ActivityNet-1.3 datasets demonstrate that the proposed PETAL achieves competitive performance using only RGB features, e.g., boosting mAP by 2.41% or 0.25% over the state-of-the-art approach that uses RGB features or with additional optical flow features on the THUMOS-14 dataset.

cs.CV↗
arXiv2022

Towards Accurate Reconstruction of 3D Scene Shape from A Single Monocular Image

Despite significant progress made in the past few years, challenges remain for depth estimation using a single monocular image. First, it is nontrivial to train a metric-depth prediction model that can generalize well to diverse scenes mainly due to limited training data. Thus, researchers have built large-scale relative depth datasets that are much easier to collect. However, existing relative depth estimation models often fail to recover accurate 3D scene shapes due to the unknown depth shift caused by training with the relative depth data. We tackle this problem here and attempt to estimate accurate scene shapes by training on large-scale relative depth data, and estimating the depth shift. To do so, we propose a two-stage framework that first predicts depth up to an unknown scale and shift from a single monocular image, and then exploits 3D point cloud data to predict the depth shift and the camera's focal length that allow us to recover 3D scene shapes. As the two modules are trained separately, we do not need strictly paired training data. In addition, we propose an image-level normalized regression loss and a normal-based geometry loss to improve training with relative depth annotation. We test our depth model on nine unseen datasets and achieve state-of-the-art performance on zero-shot evaluation. Code is available at: https://git.io/Depth

cs.CV↗
arXiv2022

FAKD: Feature Augmented Knowledge Distillation for Semantic Segmentation

In this work, we explore data augmentations for knowledge distillation on semantic segmentation. To avoid over-fitting to the noise in the teacher network, a large number of training examples is essential for knowledge distillation. Imagelevel argumentation techniques like flipping, translation or rotation are widely used in previous knowledge distillation framework. Inspired by the recent progress on semantic directions on feature-space, we propose to include augmentations in feature space for efficient distillation. Specifically, given a semantic direction, an infinite number of augmentations can be obtained for the student in the feature space. Furthermore, the analysis shows that those augmentations can be optimized simultaneously by minimizing an upper bound for the losses defined by augmentations. Based on the observation, a new algorithm is developed for knowledge distillation in semantic segmentation. Extensive experiments on four semantic segmentation benchmarks demonstrate that the proposed method can boost the performance of current knowledge distillation methods without any significant overhead. Code is available at: https://github.com/jianlong-yuan/FAKD.

cs.CV↗
arXiv2022

Improving Personality Consistency in Conversation by Persona Extending

Endowing chatbots with a consistent personality plays a vital role for agents to deliver human-like interactions. However, existing personalized approaches commonly generate responses in light of static predefined personas depicted with textual description, which may severely restrict the interactivity of human and the chatbot, especially when the agent needs to answer the query excluded in the predefined personas, which is so-called out-of-predefined persona problem (named OOP for simplicity). To alleviate the problem, in this paper we propose a novel retrieval-to-prediction paradigm consisting of two subcomponents, namely, (1) Persona Retrieval Model (PRM), it retrieves a persona from a global collection based on a Natural Language Inference (NLI) model, the inferred persona is consistent with the predefined personas; and (2) Posterior-scored Transformer (PS-Transformer), it adopts a persona posterior distribution that further considers the actual personas used in the ground response, maximally mitigating the gap between training and inferring. Furthermore, we present a dataset called IT-ConvAI2 that first highlights the OOP problem in personalized dialogue. Extensive experiments on both IT-ConvAI2 and ConvAI2 demonstrate that our proposed model yields considerable improvements in both automatic metrics and human evaluations.

cs.CL↗
arXiv2022

Semantic-guided Multi-Mask Image Harmonization

Previous harmonization methods focus on adjusting one inharmonious region in an image based on an input mask. They may face problems when dealing with different perturbations on different semantic regions without available input masks. To deal with the problem that one image has been pasted with several foregrounds coming from different images and needs to harmonize them towards different domain directions without any mask as input, we propose a new semantic-guided multi-mask image harmonization task. Different from the previous single-mask image harmonization task, each inharmonious image is perturbed with different methods according to the semantic segmentation masks. Two challenging benchmarks, HScene and HLIP, are constructed based on $150$ and $19$ semantic classes, respectively. Furthermore, previous baselines focus on regressing the exact value for each pixel of the harmonized images. The generated results are in the `black box' and cannot be edited. In this work, we propose a novel way to edit the inharmonious images by predicting a series of operator masks. The masks indicate the level and the position to apply a certain image editing operation, which could be the brightness, the saturation, and the color in a specific dimension. The operator masks provide more flexibility for users to edit the image further. Extensive experiments verify that the operator mask-based network can further improve those state-of-the-art methods which directly regress RGB images when the perturbations are structural. Experiments have been conducted on our constructed benchmarks to verify that our proposed operator mask-based framework can locate and modify the inharmonious regions in more complex scenes. Our code and models are available at https://github.com/XuqianRen/Semantic-guided-Multi-mask-Image-Harmonization.git.

cs.CV↗