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Xinyu Zhang

Publications and source records attributed to Xinyu Zhang.

At least 343 records · Page 19Linked to original sources
arXiv2023

MonoGAE: Roadside Monocular 3D Object Detection with Ground-Aware Embeddings

Although the majority of recent autonomous driving systems concentrate on developing perception methods based on ego-vehicle sensors, there is an overlooked alternative approach that involves leveraging intelligent roadside cameras to help extend the ego-vehicle perception ability beyond the visual range. We discover that most existing monocular 3D object detectors rely on the ego-vehicle prior assumption that the optical axis of the camera is parallel to the ground. However, the roadside camera is installed on a pole with a pitched angle, which makes the existing methods not optimal for roadside scenes. In this paper, we introduce a novel framework for Roadside Monocular 3D object detection with ground-aware embeddings, named MonoGAE. Specifically, the ground plane is a stable and strong prior knowledge due to the fixed installation of cameras in roadside scenarios. In order to reduce the domain gap between the ground geometry information and high-dimensional image features, we employ a supervised training paradigm with a ground plane to predict high-dimensional ground-aware embeddings. These embeddings are subsequently integrated with image features through cross-attention mechanisms. Furthermore, to improve the detector's robustness to the divergences in cameras' installation poses, we replace the ground plane depth map with a novel pixel-level refined ground plane equation map. Our approach demonstrates a substantial performance advantage over all previous monocular 3D object detectors on widely recognized 3D detection benchmarks for roadside cameras. The code and pre-trained models will be released soon.

cs.CV↗
arXiv2023

PaEBack: Pareto-Efficient Backsubsampling for Time Series Data

Time series forecasting has been a quintessential topic in data science, but traditionally, forecasting models have relied on extensive historical data. In this paper, we address a practical question: How much recent historical data is required to attain a targeted percentage of statistical prediction efficiency compared to the full time series? We propose the Pareto-Efficient Backsubsampling (PaEBack) method to estimate the percentage of the most recent data needed to achieve the desired level of prediction accuracy. We provide a theoretical justification based on asymptotic prediction theory for the AutoRegressive (AR) models. In particular, through several numerical illustrations, we show the application of the PaEBack for some recently developed machine learning forecasting methods even when the models might be misspecified. The main conclusion is that only a fraction of the most recent historical data provides near-optimal or even better relative predictive accuracy for a broad class of forecasting methods.

stat.AP↗
arXiv2023

BEVHeight++: Toward Robust Visual Centric 3D Object Detection

While most recent autonomous driving system focuses on developing perception methods on ego-vehicle sensors, people tend to overlook an alternative approach to leverage intelligent roadside cameras to extend the perception ability beyond the visual range. We discover that the state-of-the-art vision-centric bird's eye view detection methods have inferior performances on roadside cameras. This is because these methods mainly focus on recovering the depth regarding the camera center, where the depth difference between the car and the ground quickly shrinks while the distance increases. In this paper, we propose a simple yet effective approach, dubbed BEVHeight++, to address this issue. In essence, we regress the height to the ground to achieve a distance-agnostic formulation to ease the optimization process of camera-only perception methods. By incorporating both height and depth encoding techniques, we achieve a more accurate and robust projection from 2D to BEV spaces. On popular 3D detection benchmarks of roadside cameras, our method surpasses all previous vision-centric methods by a significant margin. In terms of the ego-vehicle scenario, our BEVHeight++ possesses superior over depth-only methods. Specifically, it yields a notable improvement of +1.9% NDS and +1.1% mAP over BEVDepth when evaluated on the nuScenes validation set. Moreover, on the nuScenes test set, our method achieves substantial advancements, with an increase of +2.8% NDS and +1.7% mAP, respectively.

cs.CV↗
arXiv2023

6-DOF All-Terrain Cyclocopter

This paper presents the design of a 6-DOF all-terrain micro aerial vehicle and two control strategies for multimodal flight, which are experimentally validated. The micro aerial vehicle is propelled by four motors and controlled by a single servo for the control of the cycloidal rotors(cyclorotors) speed and lift direction. Despite the addition of the servo, the system remains underactuated. To address the traditional underactuation problem of cycloidal rotor aircraft, we increase the number of control variables. We propose a PID and a nonlinear model predictive control (NMPC) framework to tackle the model's nonlinearities and achieve control of attitude, position, and their derivatives.Experimental results demonstrate the effectiveness of the proposed multimodal control strategy for 6-DOF all-terrain micro aerial vehicles. The vehicle can operate in aerial, terrestrial, and aquatic modes and can adapt to different terrains and environmental conditions. Our approach enhances the vehicle's performance in each mode of operation, and the results show the advantages of the proposed strategy compared to other control strategies.

cs.RO↗
arXiv2023

CMRxRecon: An open cardiac MRI dataset for the competition of accelerated image reconstruction

Cardiac magnetic resonance imaging (CMR) has emerged as a valuable diagnostic tool for cardiac diseases. However, a limitation of CMR is its slow imaging speed, which causes patient discomfort and introduces artifacts in the images. There has been growing interest in deep learning-based CMR imaging algorithms that can reconstruct high-quality images from highly under-sampled k-space data. However, the development of deep learning methods requires large training datasets, which have not been publicly available for CMR. To address this gap, we released a dataset that includes multi-contrast, multi-view, multi-slice and multi-coil CMR imaging data from 300 subjects. Imaging studies include cardiac cine and mapping sequences. Manual segmentations of the myocardium and chambers of all the subjects are also provided within the dataset. Scripts of state-of-the-art reconstruction algorithms were also provided as a point of reference. Our aim is to facilitate the advancement of state-of-the-art CMR image reconstruction by introducing standardized evaluation criteria and making the dataset freely accessible to the research community. Researchers can access the dataset at https://www.synapse.org/#!Synapse:syn51471091/wiki/.

cs.CV↗
arXiv2023

Fast Sparse PCA via Positive Semidefinite Projection for Unsupervised Feature Selection

In the field of unsupervised feature selection, sparse principal component analysis (SPCA) methods have attracted more and more attention recently. Compared to spectral-based methods, SPCA methods don't rely on the construction of a similarity matrix and show better feature selection ability on real-world data. The original SPCA formulates a nonconvex optimization problem. Existing convex SPCA methods reformulate SPCA as a convex model by regarding the reconstruction matrix as an optimization variable. However, they are lack of constraints equivalent to the orthogonality restriction in SPCA, leading to larger solution space. In this paper, it's proved that the optimal solution to a convex SPCA model falls onto the Positive Semidefinite (PSD) cone. A standard convex SPCA-based model with PSD constraint for unsupervised feature selection is proposed. Further, a two-step fast optimization algorithm via PSD projection is presented to solve the proposed model. Two other existing convex SPCA-based models are also proven to have their solutions optimized on the PSD cone in this paper. Therefore, the PSD versions of these two models are proposed to accelerate their convergence as well. We also provide a regularization parameter setting strategy for our proposed method. Experiments on synthetic and real-world datasets demonstrate the effectiveness and efficiency of the proposed methods.

cs.CV↗
arXiv2023

Knowledge Solver: Teaching LLMs to Search for Domain Knowledge from Knowledge Graphs

Large language models (LLMs), such as ChatGPT and GPT-4, are versatile and can solve different tasks due to their emergent ability and generalizability. However, LLMs sometimes lack domain-specific knowledge to perform tasks, which would also cause hallucination during inference. In some previous works, additional modules like graph neural networks (GNNs) are trained on retrieved knowledge from external knowledge bases, aiming to mitigate the problem of lacking domain-specific knowledge. However, incorporating additional modules: 1) would need retraining additional modules when encountering novel domains; 2) would become a bottleneck since LLMs' strong abilities are not fully utilized for retrieval. In this paper, we propose a paradigm, termed Knowledge Solver (KSL), to teach LLMs to search for essential knowledge from external knowledge bases by harnessing their own strong generalizability. Specifically, we design a simple yet effective prompt to transform retrieval into a multi-hop decision sequence, which empowers LLMs with searching knowledge ability in zero-shot manner. Additionally, KSL is able to provide complete retrieval paths and therefore increase explainability of LLMs' reasoning processes. We conduct experiments on three datasets: CommonsenseQA, OpenbookQA, and MedQA-USMLE, and found that our approach improves LLM baseline performance by a relatively large margin.

cs.CL↗
arXiv2023

Unified Pre-training with Pseudo Texts for Text-To-Image Person Re-identification

The pre-training task is indispensable for the text-to-image person re-identification (T2I-ReID) task. However, there are two underlying inconsistencies between these two tasks that may impact the performance; i) Data inconsistency. A large domain gap exists between the generic images/texts used in public pre-trained models and the specific person data in the T2I-ReID task. This gap is especially severe for texts, as general textual data are usually unable to describe specific people in fine-grained detail. ii) Training inconsistency. The processes of pre-training of images and texts are independent, despite cross-modality learning being critical to T2I-ReID. To address the above issues, we present a new unified pre-training pipeline (UniPT) designed specifically for the T2I-ReID task. We first build a large-scale text-labeled person dataset "LUPerson-T", in which pseudo-textual descriptions of images are automatically generated by the CLIP paradigm using a divide-conquer-combine strategy. Benefiting from this dataset, we then utilize a simple vision-and-language pre-training framework to explicitly align the feature space of the image and text modalities during pre-training. In this way, the pre-training task and the T2I-ReID task are made consistent with each other on both data and training levels. Without the need for any bells and whistles, our UniPT achieves competitive Rank-1 accuracy of, ie, 68.50%, 60.09%, and 51.85% on CUHK-PEDES, ICFG-PEDES and RSTPReid, respectively. Both the LUPerson-T dataset and code are available at https;//github.com/ZhiyinShao-H/UniPT.

cs.CV↗
arXiv2023

Frequentist Model Averaging for Global Fréchet Regression

To consider model uncertainty in global Fréchet regression and improve density response prediction, we propose a frequentist model averaging method. The weights are chosen by minimizing a cross-validation criterion based on Wasserstein distance. In the cases where all candidate models are misspecified, we prove that the corresponding model averaging estimator has asymptotic optimality, achieving the lowest possible Wasserstein distance. When there are correctly specified candidate models, we prove that our method asymptotically assigns all weights to the correctly specified models. Numerical results of extensive simulations and a real data analysis on intracerebral hemorrhage data strongly favour our method.

stat.ME↗
arXiv2023

Optimizing Factual Accuracy in Text Generation through Dynamic Knowledge Selection

Language models (LMs) have revolutionized the way we interact with information, but they often generate nonfactual text, raising concerns about their reliability. Previous methods use external knowledge as references for text generation to enhance factuality but often struggle with the knowledge mix-up(e.g., entity mismatch) of irrelevant references. Besides,as the length of the output text grows, the randomness of sampling can escalate, detrimentally impacting the factual accuracy of the generated text. In this paper, we present DKGen, which divide the text generation process into an iterative process. In each iteration, DKGen takes the input query, the previously generated text and a subset of the reference passages as input to generate short text. During the process, the subset is dynamically selected from the full passage set based on their relevance to the previously generated text and the query, largely eliminating the irrelevant references from input. To further enhance DKGen's ability to correctly use these external knowledge, DKGen distills the relevance order of reference passages to the cross-attention distribution of decoder. We train and evaluate DKGen on a large-scale benchmark dataset. Experiment results show that DKGen outperforms all baseline models.

cs.CL↗
arXiv2023

HAGRID: A Human-LLM Collaborative Dataset for Generative Information-Seeking with Attribution

The rise of large language models (LLMs) had a transformative impact on search, ushering in a new era of search engines that are capable of generating search results in natural language text, imbued with citations for supporting sources. Building generative information-seeking models demands openly accessible datasets, which currently remain lacking. In this paper, we introduce a new dataset, HAGRID (Human-in-the-loop Attributable Generative Retrieval for Information-seeking Dataset) for building end-to-end generative information-seeking models that are capable of retrieving candidate quotes and generating attributed explanations. Unlike recent efforts that focus on human evaluation of black-box proprietary search engines, we built our dataset atop the English subset of MIRACL, a publicly available information retrieval dataset. HAGRID is constructed based on human and LLM collaboration. We first automatically collect attributed explanations that follow an in-context citation style using an LLM, i.e. GPT-3.5. Next, we ask human annotators to evaluate the LLM explanations based on two criteria: informativeness and attributability. HAGRID serves as a catalyst for the development of information-seeking models with better attribution capabilities.

cs.CL↗
arXiv2023

Reinforced Potential Field for Multi-Robot Motion Planning in Cluttered Environments

Motion planning is challenging for multiple robots in cluttered environments without communication, especially in view of real-time efficiency, motion safety, distributed computation, and trajectory optimality, etc. In this paper, a reinforced potential field method is developed for distributed multi-robot motion planning, which is a synthesized design of reinforcement learning and artificial potential fields. An observation embedding with a self-attention mechanism is presented to model the robot-robot and robot-environment interactions. A soft wall-following rule is developed to improve the trajectory smoothness. Our method belongs to reactive planning, but environment properties are implicitly encoded. The total amount of robots in our method can be scaled up to any number. The performance improvement over a vanilla APF and RL method has been demonstrated via numerical simulations. Experiments are also performed using quadrotors to further illustrate the competence of our method.

cs.RO↗
arXiv2023

Optical Flow boosts Unsupervised Localization and Segmentation

Unsupervised localization and segmentation are long-standing robot vision challenges that describe the critical ability for an autonomous robot to learn to decompose images into individual objects without labeled data. These tasks are important because of the limited availability of dense image manual annotation and the promising vision of adapting to an evolving set of object categories in lifelong learning. Most recent methods focus on using visual appearance continuity as object cues by spatially clustering features obtained from self-supervised vision transformers (ViT). In this work, we leverage motion cues, inspired by the common fate principle that pixels that share similar movements tend to belong to the same object. We propose a new loss term formulation that uses optical flow in unlabeled videos to encourage self-supervised ViT features to become closer to each other if their corresponding spatial locations share similar movements, and vice versa. We use the proposed loss function to finetune vision transformers that were originally trained on static images. Our fine-tuning procedure outperforms state-of-the-art techniques for unsupervised semantic segmentation through linear probing, without the use of any labeled data. This procedure also demonstrates increased performance over original ViT networks across unsupervised object localization and semantic segmentation benchmarks.

cs.CV↗
arXiv2023

ROFusion: Efficient Object Detection using Hybrid Point-wise Radar-Optical Fusion

Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing data, which lack of semantic and structural information of scenes. To tackle this problem, camera and Radar sensor fusion has been investigated as a trending strategy with low cost, high reliability and strong maintenance. While most recent works explore how to explore Radar point clouds and images, rich contextual information within Radar observation are discarded. In this paper, we propose a hybrid point-wise Radar-Optical fusion approach for object detection in autonomous driving scenarios. The framework benefits from dense contextual information from both the range-doppler spectrum and images which are integrated to learn a multi-modal feature representation. Furthermore, we propose a novel local coordinate formulation, tackling the object detection task in an object-centric coordinate. Extensive results show that with the information gained from optical images, we could achieve leading performance in object detection (97.69\% recall) compared to recent state-of-the-art methods FFT-RadNet (82.86\% recall). Ablation studies verify the key design choices and practicability of our approach given machine generated imperfect detections. The code will be available at https://github.com/LiuLiu-55/ROFusion.

cs.CV↗
arXiv2023

Evaluating Embedding APIs for Information Retrieval

The ever-increasing size of language models curtails their widespread availability to the community, thereby galvanizing many companies into offering access to large language models through APIs. One particular type, suitable for dense retrieval, is a semantic embedding service that builds vector representations of input text. With a growing number of publicly available APIs, our goal in this paper is to analyze existing offerings in realistic retrieval scenarios, to assist practitioners and researchers in finding suitable services according to their needs. Specifically, we investigate the capabilities of existing semantic embedding APIs on domain generalization and multilingual retrieval. For this purpose, we evaluate these services on two standard benchmarks, BEIR and MIRACL. We find that re-ranking BM25 results using the APIs is a budget-friendly approach and is most effective in English, in contrast to the standard practice of employing them as first-stage retrievers. For non-English retrieval, re-ranking still improves the results, but a hybrid model with BM25 works best, albeit at a higher cost. We hope our work lays the groundwork for evaluating semantic embedding APIs that are critical in search and more broadly, for information access.

cs.IR↗
arXiv2023

GAIA Search: Hugging Face and Pyserini Interoperability for NLP Training Data Exploration

Noticing the urgent need to provide tools for fast and user-friendly qualitative analysis of large-scale textual corpora of the modern NLP, we propose to turn to the mature and well-tested methods from the domain of Information Retrieval (IR) - a research field with a long history of tackling TB-scale document collections. We discuss how Pyserini - a widely used toolkit for reproducible IR research can be integrated with the Hugging Face ecosystem of open-source AI libraries and artifacts. We leverage the existing functionalities of both platforms while proposing novel features further facilitating their integration. Our goal is to give NLP researchers tools that will allow them to develop retrieval-based instrumentation for their data analytics needs with ease and agility. We include a Jupyter Notebook-based walk through the core interoperability features, available on GitHub at https://github.com/huggingface/gaia. We then demonstrate how the ideas we present can be operationalized to create a powerful tool for qualitative data analysis in NLP. We present GAIA Search - a search engine built following previously laid out principles, giving access to four popular large-scale text collections. GAIA serves a dual purpose of illustrating the potential of methodologies we discuss but also as a standalone qualitative analysis tool that can be leveraged by NLP researchers aiming to understand datasets prior to using them in training. GAIA is hosted live on Hugging Face Spaces - https://huggingface.co/spaces/spacerini/gaia.

cs.CL↗
arXiv2023

Multi-source adversarial transfer learning for ultrasound image segmentation with limited similarity

Lesion segmentation of ultrasound medical images based on deep learning techniques is a widely used method for diagnosing diseases. Although there is a large amount of ultrasound image data in medical centers and other places, labeled ultrasound datasets are a scarce resource, and it is likely that no datasets are available for new tissues/organs. Transfer learning provides the possibility to solve this problem, but there are too many features in natural images that are not related to the target domain. As a source domain, redundant features that are not conducive to the task will be extracted. Migration between ultrasound images can avoid this problem, but there are few types of public datasets, and it is difficult to find sufficiently similar source domains. Compared with natural images, ultrasound images have less information, and there are fewer transferable features between different ultrasound images, which may cause negative transfer. To this end, a multi-source adversarial transfer learning network for ultrasound image segmentation is proposed. Specifically, to address the lack of annotations, the idea of adversarial transfer learning is used to adaptively extract common features between a certain pair of source and target domains, which provides the possibility to utilize unlabeled ultrasound data. To alleviate the lack of knowledge in a single source domain, multi-source transfer learning is adopted to fuse knowledge from multiple source domains. In order to ensure the effectiveness of the fusion and maximize the use of precious data, a multi-source domain independent strategy is also proposed to improve the estimation of the target domain data distribution, which further increases the learning ability of the multi-source adversarial migration learning network in multiple domains.

eess.IV↗
arXiv2023

Neural Image Re-Exposure

The shutter strategy applied to the photo-shooting process has a significant influence on the quality of the captured photograph. An improper shutter may lead to a blurry image, video discontinuity, or rolling shutter artifact. Existing works try to provide an independent solution for each issue. In this work, we aim to re-expose the captured photo in post-processing to provide a more flexible way of addressing those issues within a unified framework. Specifically, we propose a neural network-based image re-exposure framework. It consists of an encoder for visual latent space construction, a re-exposure module for aggregating information to neural film with a desired shutter strategy, and a decoder for 'developing' neural film into a desired image. To compensate for information confusion and missing frames, event streams, which can capture almost continuous brightness changes, are leveraged in computing visual latent content. Both self-attention layers and cross-attention layers are employed in the re-exposure module to promote interaction between neural film and visual latent content and information aggregation to neural film. The proposed unified image re-exposure framework is evaluated on several shutter-related image recovery tasks and performs favorably against independent state-of-the-art methods.

cs.CV↗