arXiv subjects

Yufei Wang

Publications and source records attributed to Yufei Wang.

At least 145 records · Page 8Linked to original sources

arXiv2023

One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments

Robot-assisted dressing could benefit the lives of many people such as older adults and individuals with disabilities. Despite such potential, robot-assisted dressing remains a challenging task for robotics as it involves complex manipulation of deformable cloth in 3D space. Many prior works aim to solve the robot-assisted dressing task, but they make certain assumptions such as a fixed garment and a fixed arm pose that limit their ability to generalize. In this work, we develop a robot-assisted dressing system that is able to dress different garments on people with diverse poses from partial point cloud observations, based on a learned policy. We show that with proper design of the policy architecture and Q function, reinforcement learning (RL) can be used to learn effective policies with partial point cloud observations that work well for dressing diverse garments. We further leverage policy distillation to combine multiple policies trained on different ranges of human arm poses into a single policy that works over a wide range of different arm poses. We conduct comprehensive real-world evaluations of our system with 510 dressing trials in a human study with 17 participants with different arm poses and dressed garments. Our system is able to dress 86% of the length of the participants' arms on average. Videos can be found on our project webpage: https://sites.google.com/view/one-policy-dress.

cs.RO↗

arXiv2023

Variational Disentanglement for Domain Generalization

Domain generalization aims to learn an invariant model that can generalize well to the unseen target domain. In this paper, we propose to tackle the problem of domain generalization by delivering an effective framework named Variational Disentanglement Network (VDN), which is capable of disentangling the domain-specific features and task-specific features, where the task-specific features are expected to be better generalized to unseen but related test data. We further show the rationale of our proposed method by proving that our proposed framework is equivalent to minimize the evidence upper bound of the divergence between the distribution of task-specific features and its invariant ground truth derived from variational inference. We conduct extensive experiments to verify our method on three benchmarks, and both quantitative and qualitative results illustrate the effectiveness of our method.

cs.CV↗

arXiv2023

The Second Monocular Depth Estimation Challenge

This paper discusses the results for the second edition of the Monocular Depth Estimation Challenge (MDEC). This edition was open to methods using any form of supervision, including fully-supervised, self-supervised, multi-task or proxy depth. The challenge was based around the SYNS-Patches dataset, which features a wide diversity of environments with high-quality dense ground-truth. This includes complex natural environments, e.g. forests or fields, which are greatly underrepresented in current benchmarks. The challenge received eight unique submissions that outperformed the provided SotA baseline on any of the pointcloud- or image-based metrics. The top supervised submission improved relative F-Score by 27.62%, while the top self-supervised improved it by 16.61%. Supervised submissions generally leveraged large collections of datasets to improve data diversity. Self-supervised submissions instead updated the network architecture and pretrained backbones. These results represent a significant progress in the field, while highlighting avenues for future research, such as reducing interpolation artifacts at depth boundaries, improving self-supervised indoor performance and overall natural image accuracy.

cs.CV↗

arXiv2023

SocialDial: A Benchmark for Socially-Aware Dialogue Systems

Dialogue systems have been widely applied in many scenarios and are now more powerful and ubiquitous than ever before. With large neural models and massive available data, current dialogue systems have access to more knowledge than any people in their life. However, current dialogue systems still do not perform at a human level. One major gap between conversational agents and humans lies in their abilities to be aware of social norms. The development of socially-aware dialogue systems is impeded due to the lack of resources. In this paper, we present the first socially-aware dialogue corpus - SocialDial, based on Chinese social culture. SocialDial consists of two parts: 1,563 multi-turn dialogues between two human speakers with fine-grained labels, and 4,870 synthetic conversations generated by ChatGPT. The human corpus covers five categories of social norms, which have 14 sub-categories in total. Specifically, it contains social factor annotations including social relation, context, social distance, and social norms. However, collecting sufficient socially-aware dialogues is costly. Thus, we harness the power of ChatGPT and devise an ontology-based synthetic data generation framework. This framework is able to generate synthetic data at scale. To ensure the quality of synthetic dialogues, we design several mechanisms for quality control during data collection. Finally, we evaluate our dataset using several pre-trained models, such as BERT and RoBERTa. Comprehensive empirical results based on state-of-the-art neural models demonstrate that modeling of social norms for dialogue systems is a promising research direction. To the best of our knowledge, SocialDial is the first socially-aware dialogue dataset that covers multiple social factors and has fine-grained labels.

cs.CL↗

arXiv2023

Text with Knowledge Graph Augmented Transformer for Video Captioning

Video captioning aims to describe the content of videos using natural language. Although significant progress has been made, there is still much room to improve the performance for real-world applications, mainly due to the long-tail words challenge. In this paper, we propose a text with knowledge graph augmented transformer (TextKG) for video captioning. Notably, TextKG is a two-stream transformer, formed by the external stream and internal stream. The external stream is designed to absorb additional knowledge, which models the interactions between the additional knowledge, e.g., pre-built knowledge graph, and the built-in information of videos, e.g., the salient object regions, speech transcripts, and video captions, to mitigate the long-tail words challenge. Meanwhile, the internal stream is designed to exploit the multi-modality information in videos (e.g., the appearance of video frames, speech transcripts, and video captions) to ensure the quality of caption results. In addition, the cross attention mechanism is also used in between the two streams for sharing information. In this way, the two streams can help each other for more accurate results. Extensive experiments conducted on four challenging video captioning datasets, i.e., YouCookII, ActivityNet Captions, MSRVTT, and MSVD, demonstrate that the proposed method performs favorably against the state-of-the-art methods. Specifically, the proposed TextKG method outperforms the best published results by improving 18.7% absolute CIDEr scores on the YouCookII dataset.

cs.CV↗

arXiv2023

Dual-Stream Transformer for Generic Event Boundary Captioning

This paper describes our champion solution for the CVPR2022 Generic Event Boundary Captioning (GEBC) competition. GEBC requires the captioning model to have a comprehension of instantaneous status changes around the given video boundary, which makes it much more challenging than conventional video captioning task. In this paper, a Dual-Stream Transformer with improvements on both video content encoding and captions generation is proposed: (1) We utilize three pre-trained models to extract the video features from different granularities. Moreover, we exploit the types of boundary as hints to help the model generate captions. (2) We particularly design an model, termed as Dual-Stream Transformer, to learn discriminative representations for boundary captioning. (3) Towards generating content-relevant and human-like captions, we improve the description quality by designing a word-level ensemble strategy. The promising results on the GEBC test split demonstrate the efficacy of our proposed model.

cs.CV↗

arXiv2023

Raw Image Reconstruction with Learned Compact Metadata

While raw images exhibit advantages over sRGB images (e.g., linearity and fine-grained quantization level), they are not widely used by common users due to the large storage requirements. Very recent works propose to compress raw images by designing the sampling masks in the raw image pixel space, leading to suboptimal image representations and redundant metadata. In this paper, we propose a novel framework to learn a compact representation in the latent space serving as the metadata in an end-to-end manner. Furthermore, we propose a novel sRGB-guided context model with improved entropy estimation strategies, which leads to better reconstruction quality, smaller size of metadata, and faster speed. We illustrate how the proposed raw image compression scheme can adaptively allocate more bits to image regions that are important from a global perspective. The experimental results show that the proposed method can achieve superior raw image reconstruction results using a smaller size of the metadata on both uncompressed sRGB images and JPEG images.

cs.CV↗

arXiv2023

Temporal Coherent Test-Time Optimization for Robust Video Classification

Deep neural networks are likely to fail when the test data is corrupted in real-world deployment (e.g., blur, weather, etc.). Test-time optimization is an effective way that adapts models to generalize to corrupted data during testing, which has been shown in the image domain. However, the techniques for improving video classification corruption robustness remain few. In this work, we propose a Temporal Coherent Test-time Optimization framework (TeCo) to utilize spatio-temporal information in test-time optimization for robust video classification. To exploit information in video with self-supervised learning, TeCo uses global content from video clips and optimizes models for entropy minimization. TeCo minimizes the entropy of the prediction based on the global content from video clips. Meanwhile, it also feeds local content to regularize the temporal coherence at the feature level. TeCo retains the generalization ability of various video classification models and achieves significant improvements in corruption robustness across Mini Kinetics-C and Mini SSV2-C. Furthermore, TeCo sets a new baseline in video classification corruption robustness via test-time optimization.

cs.CV↗

arXiv2023

Backdoor Attacks Against Deep Image Compression via Adaptive Frequency Trigger

Recent deep-learning-based compression methods have achieved superior performance compared with traditional approaches. However, deep learning models have proven to be vulnerable to backdoor attacks, where some specific trigger patterns added to the input can lead to malicious behavior of the models. In this paper, we present a novel backdoor attack with multiple triggers against learned image compression models. Motivated by the widely used discrete cosine transform (DCT) in existing compression systems and standards, we propose a frequency-based trigger injection model that adds triggers in the DCT domain. In particular, we design several attack objectives for various attacking scenarios, including: 1) attacking compression quality in terms of bit-rate and reconstruction quality; 2) attacking task-driven measures, such as down-stream face recognition and semantic segmentation. Moreover, a novel simple dynamic loss is designed to balance the influence of different loss terms adaptively, which helps achieve more efficient training. Extensive experiments show that with our trained trigger injection models and simple modification of encoder parameters (of the compression model), the proposed attack can successfully inject several backdoors with corresponding triggers in a single image compression model.

cs.CV↗

arXiv2023

Evaluating the Efficacy of Skincare Product: A Realistic Short-Term Facial Pore Simulation

Simulating the effects of skincare products on face is a potential new way to communicate the efficacy of skincare products in skin diagnostics and product recommendations. Furthermore, such simulations enable one to anticipate his/her skin conditions and better manage skin health. However, there is a lack of effective simulations today. In this paper, we propose the first simulation model to reveal facial pore changes after using skincare products. Our simulation pipeline consists of 2 steps: training data establishment and facial pore simulation. To establish training data, we collect face images with various pore quality indexes from short-term (8-weeks) clinical studies. People often experience significant skin fluctuations (due to natural rhythms, external stressors, etc.,), which introduces large perturbations in clinical data. To address this problem, we propose a sliding window mechanism to clean data and select representative index(es) to represent facial pore changes. Facial pore simulation stage consists of 3 modules: UNet-based segmentation module to localize facial pores; regression module to predict time-dependent warping hyperparameters; and deformation module, taking warping hyperparameters and pore segmentation labels as inputs, to precisely deform pores accordingly. The proposed simulation is able to render realistic facial pore changes. And this work will pave the way for future research in facial skin simulation and skincare product developments.

cs.CV↗

arXiv2023

Removing Image Artifacts From Scratched Lens Protectors

A protector is placed in front of the camera lens for mobile devices to avoid damage, while the protector itself can be easily scratched accidentally, especially for plastic ones. The artifacts appear in a wide variety of patterns, making it difficult to see through them clearly. Removing image artifacts from the scratched lens protector is inherently challenging due to the occasional flare artifacts and the co-occurring interference within mixed artifacts. Though different methods have been proposed for some specific distortions, they seldom consider such inherent challenges. In our work, we consider the inherent challenges in a unified framework with two cooperative modules, which facilitate the performance boost of each other. We also collect a new dataset from the real world to facilitate training and evaluation purposes. The experimental results demonstrate that our method outperforms the baselines qualitatively and quantitatively. The code and datasets will be released after acceptance.

cs.CV↗

arXiv2023

KnowDA: All-in-One Knowledge Mixture Model for Data Augmentation in Low-Resource NLP

This paper focuses on the data augmentation for low-resource NLP tasks where the training set is limited. The existing solutions either leverage task-independent heuristic rules (e.g., Synonym Replacement) or fine-tune general-purpose pre-trained language models (e.g., GPT2) using the limited training instances to produce new synthetic data. Consequently, they have trivial task-specific knowledge and are limited to yielding low-quality synthetic data. To combat this issue, we propose Knowledge Mixture Data Augmentation Model (KnowDA) which is an Seq2Seq language model pre-trained on a mixture of diverse NLP tasks under a novel framework of Knowledge Mixture Training (KoMT). The goal of KoMT is to condense diverse NLP task-specific knowledge into the single KnowDA model (i.e., all-in-one) such that KnowDA could utilize these knowledge to quickly grasp the inherent synthesis law of the target task through limited training instances. Specifically, KoMT reformulates input examples from various heterogeneous NLP tasks into a unified text-to-text format, and employs denoising training objectives in different granularity to learn to reconstruct partial or complete samples. To the best of our knowledge, we are the first attempt to apply 100+ NLP multi-task training for data augmentation. Extensive experiments show that i) the synthetic data produced by KnowDA successfully improves performance of the strong pre-trained language models (i.e., Bert, ALBert and Deberta) by a large margin on the low-resource NLP benchmark FewGLUE, CoNLL'03 and WikiAnn; ii) KnowDA successfully transfers the task knowledge to NLP tasks whose types are seen and unseen in KoMT.

cs.CL↗

arXiv2022

Regular complete permutation polynomials over quadratic extension fields

Let $r\geq 3$ be any positive integer which is relatively prime to $p$ and $q^2\equiv 1 \pmod r$. Let $τ_1, τ_2$ be any permutation polynomials over $\mathbb{F}_{q^2},$ $σ_M$ is an invertible linear map over $\mathbb{F}_{q^2}$ and $σ=τ_1\circσ_M\circτ_2$. In this paper, we prove that, for suitable $τ_1, τ_2$ and $σ_M$, the map $σ$ could be $r$-regular complete permutation polynomials over quadratic extension fields.

cs.IT↗

arXiv2022

A general construction of regular complete permutation polynomials

Let $r\geq 3$ be a positive integer and $\mathbb{F}_q$ the finite field with $q$ elements. In this paper, we consider the $r$-regular complete permutation property of maps with the form $f=τ\circσ_M\circτ^{-1}$ where $τ$ is a PP over an extension field $\mathbb{F}_{q^d}$ and $σ_M$ is an invertible linear map over $\mathbb{F}_{q^d}$. We give a general construction of $r$-regular PPs for any positive integer $r$. When $τ$ is additive, we give a general construction of $r$-regular CPPs for any positive integer $r$. When $τ$ is not additive, we give many examples of regular CPPs over the extension fields for $r=3,4,5,6,7$ and for arbitrary odd positive integer $r$. These examples are the generalization of the first class of $r$-regular CPPs constructed by Xu, Zeng and Zhang (Des. Codes Cryptogr. 90, 545-575 (2022)).

cs.IT↗

arXiv2022

Let's Negotiate! A Survey of Negotiation Dialogue Systems

Negotiation is one of the crucial abilities in human communication, and there has been a resurgent research interest in negotiation dialogue systems recently, which goal is to empower intelligent agents with such ability that can efficiently help humans resolve conflicts or reach beneficial agreements. Although there have been many explorations in negotiation dialogue systems, a systematic review of this task has to date remained notably absent. To this end, we aim to fill this gap by reviewing contemporary studies in the emerging field of negotiation dialogue systems, covering benchmarks, evaluations, and methodologies. Furthermore, we also discuss potential future directions, including multi-modal, multi-party, and cross-cultural negotiation scenarios. Our goal is to provide the community with a systematic overview of negotiation dialogue systems and to inspire future research.

cs.CL↗

arXiv2022

ShadowDiffusion: When Degradation Prior Meets Diffusion Model for Shadow Removal

Recent deep learning methods have achieved promising results in image shadow removal. However, their restored images still suffer from unsatisfactory boundary artifacts, due to the lack of degradation prior embedding and the deficiency in modeling capacity. Our work addresses these issues by proposing a unified diffusion framework that integrates both the image and degradation priors for highly effective shadow removal. In detail, we first propose a shadow degradation model, which inspires us to build a novel unrolling diffusion model, dubbed ShandowDiffusion. It remarkably improves the model's capacity in shadow removal via progressively refining the desired output with both degradation prior and diffusive generative prior, which by nature can serve as a new strong baseline for image restoration. Furthermore, ShadowDiffusion progressively refines the estimated shadow mask as an auxiliary task of the diffusion generator, which leads to more accurate and robust shadow-free image generation. We conduct extensive experiments on three popular public datasets, including ISTD, ISTD+, and SRD, to validate our method's effectiveness. Compared to the state-of-the-art methods, our model achieves a significant improvement in terms of PSNR, increasing from 31.69dB to 34.73dB over SRD dataset.

cs.CV↗

arXiv2022

ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Clouds

Point clouds are a widely available and canonical data modality which convey the 3D geometry of a scene. Despite significant progress in classification and segmentation from point clouds, policy learning from such a modality remains challenging, and most prior works in imitation learning focus on learning policies from images or state information. In this paper, we propose a novel framework for learning policies from point clouds for robotic manipulation with tools. We use a novel neural network, ToolFlowNet, which predicts dense per-point flow on the tool that the robot controls, and then uses the flow to derive the transformation that the robot should execute. We apply this framework to imitation learning of challenging deformable object manipulation tasks with continuous movement of tools, including scooping and pouring, and demonstrate significantly improved performance over baselines which do not use flow. We perform 50 physical scooping experiments with ToolFlowNet and attain 82% scooping success. See https://tinyurl.com/toolflownet for supplementary material.

cs.RO↗

arXiv2022

CU-Net: LiDAR Depth-Only Completion With Coupled U-Net

LiDAR depth-only completion is a challenging task to estimate dense depth maps only from sparse measurement points obtained by LiDAR. Even though the depth-only methods have been widely developed, there is still a significant performance gap with the RGB-guided methods that utilize extra color images. We find that existing depth-only methods can obtain satisfactory results in the areas where the measurement points are almost accurate and evenly distributed (denoted as normal areas), while the performance is limited in the areas where the foreground and background points are overlapped due to occlusion (denoted as overlap areas) and the areas where there are no measurement points around (denoted as blank areas) since the methods have no reliable input information in these areas. Building upon these observations, we propose an effective Coupled U-Net (CU-Net) architecture for depth-only completion. Instead of directly using a large network for regression, we employ the local U-Net to estimate accurate values in the normal areas and provide the global U-Net with reliable initial values in the overlap and blank areas. The depth maps predicted by the two coupled U-Nets are fused by learned confidence maps to obtain final results. In addition, we propose a confidence-based outlier removal module, which removes outliers using simple judgment conditions. Our proposed method boosts the final results with fewer parameters and achieves state-of-the-art results on the KITTI benchmark. Moreover, it owns a powerful generalization ability under various depth densities, varying lighting, and weather conditions.

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