Dongyue Li

Shaoan Wang, Mingzhu Zhu, Yaoqing Hu et al.

High-precision pose estimation based on visual markers has been a thriving research topic in the field of computer vision. However, the suitability of traditional flat markers on curved objects is limited due to the diverse shapes of curved surfaces, which hinders the development of high-precision pose estimation for curved objects. Therefore, this paper proposes a novel visual marker called CylinderTag, which is designed for developable curved surfaces such as cylindrical surfaces. CylinderTag is a cyclic marker that can be firmly attached to objects with a cylindrical shape. Leveraging the manifold assumption, the cross-ratio in projective invariance is utilized for encoding in the direction of zero curvature on the surface. Additionally, to facilitate the usage of CylinderTag, we propose a heuristic search-based marker generator and a high-performance recognizer as well. Moreover, an all-encompassing evaluation of CylinderTag properties is conducted by means of extensive experimentation, covering detection rate, detection speed, dictionary size, localization jitter, and pose estimation accuracy. CylinderTag showcases superior detection performance from varying view angles in comparison to traditional visual markers, accompanied by higher localization accuracy. Furthermore, CylinderTag boasts real-time detection capability and an extensive marker dictionary, offering enhanced versatility and practicality in a wide range of applications. Experimental results demonstrate that the CylinderTag is a highly promising visual marker for use on cylindrical-like surfaces, thus offering important guidance for future research on high-precision visual localization of cylinder-shaped objects. The code is available at: https://github.com/wsakobe/CylinderTag.

Haotian Ju, Dongyue Li, Aneesh Sharma et al.

Graph neural networks are widely used tools for graph prediction tasks. Motivated by their empirical performance, prior works have developed generalization bounds for graph neural networks, which scale with graph structures in terms of the maximum degree. In this paper, we present generalization bounds that instead scale with the largest singular value of the graph neural network's feature diffusion matrix. These bounds are numerically much smaller than prior bounds for real-world graphs. We also construct a lower bound of the generalization gap that matches our upper bound asymptotically. To achieve these results, we analyze a unified model that includes prior works' settings (i.e., convolutional and message-passing networks) and new settings (i.e., graph isomorphism networks). Our key idea is to measure the stability of graph neural networks against noise perturbations using Hessians. Empirically, we find that Hessian-based measurements correlate with the observed generalization gaps of graph neural networks accurately. Optimizing noise stability properties for fine-tuning pretrained graph neural networks also improves test performance on several graph-level classification tasks.

Haotian Ju, Dongyue Li, Hongyang R. Zhang

We consider fine-tuning a pretrained deep neural network on a target task. We study the generalization properties of fine-tuning to understand the problem of overfitting, which has often been observed (e.g., when the target dataset is small or when the training labels are noisy). Existing generalization measures for deep networks depend on notions such as distance from the initialization (i.e., the pretrained network) of the fine-tuned model and noise stability properties of deep networks. This paper identifies a Hessian-based distance measure through PAC-Bayesian analysis, which is shown to correlate well with observed generalization gaps of fine-tuned models. Theoretically, we prove Hessian distance-based generalization bounds for fine-tuned models. We also describe an extended study of fine-tuning against label noise, where overfitting remains a critical problem. We present an algorithm and a generalization error guarantee for this algorithm under a class conditional independent noise model. Empirically, we observe that the Hessian-based distance measure can match the scale of the observed generalization gap of fine-tuned models in practice. We also test our algorithm on several image classification tasks with noisy training labels, showing gains over prior methods and decreases in the Hessian distance measure of the fine-tuned model.

Dongyue Li, Huy L. Nguyen, Hongyang R. Zhang

Multitask learning is widely used in practice to train a low-resource target task by augmenting it with multiple related source tasks. Yet, naively combining all the source tasks with a target task does not always improve the prediction performance for the target task due to negative transfers. Thus, a critical problem in multitask learning is identifying subsets of source tasks that would benefit the target task. This problem is computationally challenging since the number of subsets grows exponentially with the number of source tasks; efficient heuristics for subset selection do not always capture the relationship between task subsets and multitask learning performances. In this paper, we introduce an efficient procedure to address this problem via surrogate modeling. In surrogate modeling, we sample (random) subsets of source tasks and precompute their multitask learning performances. Then, we approximate the precomputed performances with a linear regression model that can also predict the multitask performance of unseen task subsets. We show theoretically and empirically that fitting this model only requires sampling linearly many subsets in the number of source tasks. The fitted model provides a relevance score between each source and target task. We use the relevance scores to perform subset selection for multitask learning by thresholding. Through extensive experiments, we show that our approach predicts negative transfers from multiple source tasks to target tasks much more accurately than existing task affinity measures. Additionally, we demonstrate that for several weak supervision datasets, our approach consistently improves upon existing optimization methods for multitask learning.

Dongyue Li, Haotian Ju, Aneesh Sharma et al.

Predicting node labels on a given graph is a widely studied problem with many applications, including community detection and molecular graph prediction. This paper considers predicting multiple node labeling functions on graphs simultaneously and revisits this problem from a multitask learning perspective. For a concrete example, consider overlapping community detection: each community membership is a binary node classification task. Due to complex overlapping patterns, we find that negative transfer is prevalent when we apply naive multitask learning to multiple community detection, as task relationships are highly nonlinear across different node labeling. To address the challenge, we develop an algorithm to cluster tasks into groups based on a higher-order task affinity measure. We then fit a multitask model on each task group, resulting in a boosting procedure on top of the baseline model. We estimate the higher-order task affinity measure between two tasks as the prediction loss of one task in the presence of another task and a random subset of other tasks. Then, we use spectral clustering on the affinity score matrix to identify task grouping. We design several speedup techniques to compute the higher-order affinity scores efficiently and show that they can predict negative transfers more accurately than pairwise task affinities. We validate our procedure using various community detection and molecular graph prediction data sets, showing favorable results compared with existing methods. Lastly, we provide a theoretical analysis to show that under a planted block model of tasks on graphs, our affinity scores can provably separate tasks into groups.

Dongyue Li, Kailai Chen, Predrag Radivojac et al.

Data augmentation is widely used for training a neural network given little labeled data. A common practice of augmentation training is applying a composition of multiple transformations sequentially to the data. Existing augmentation methods such as RandAugment randomly sample from a list of pre-selected transformations, while methods such as AutoAugment apply advanced search to optimize over an augmentation set of size $k^d$, which is the number of transformation sequences of length $d$, given a list of $k$ transformations. In this paper, we design efficient algorithms whose running time complexity is much faster than the worst-case complexity of $O(k^d)$, provably. We propose a new algorithm to search for a binary tree-structured composition of $k$ transformations, where each tree node corresponds to one transformation. The binary tree generalizes sequential augmentations, such as the SimCLR augmentation scheme for contrastive learning. Using a top-down, recursive search procedure, our algorithm achieves a runtime complexity of $O(2^d k)$, which is much faster than $O(k^d)$ as $k$ increases above $2$. We apply our algorithm to tackle data distributions with heterogeneous subpopulations by searching for one tree in each subpopulation and then learning a weighted combination, resulting in a forest of trees. We validate our proposed algorithms on numerous graph and image datasets, including a multi-label graph classification dataset we collected. The dataset exhibits significant variations in the sizes of graphs and their average degrees, making it ideal for studying data augmentation. We show that our approach can reduce the computation cost by 43% over existing search methods while improving performance by 4.3%. The tree structures can be used to interpret the relative importance of each transformation, such as identifying the important transformations on small vs. large graphs.

Dongyue Li, Aneesh Sharma, Hongyang R. Zhang

Multitask learning is a widely used paradigm for training models on diverse tasks, with applications ranging from graph neural networks to language model fine-tuning. Since tasks may interfere with each other, a key notion for modeling their relationships is task affinity. This includes pairwise task affinity, computed among pairs of tasks, and higher-order affinity, computed among subsets of tasks. Naively computing either of them requires repeatedly training on data from various task combinations, which is computationally intensive. We present a new algorithm Grad-TAG that can estimate task affinities without this repeated training. The key idea of Grad-TAG is to train a "base" model for all tasks and then use a linearization technique to estimate the loss of the model for a specific task combination. The linearization works by computing a gradient-based approximation of the loss, using low-dimensional projections of gradients as features in a logistic regression to predict labels for the task combination. We show that the linearized model can provably approximate the loss when the gradient-based approximation is accurate, and also empirically verify that on several large models. Then, given the estimated task affinity, we design a semi-definite program for clustering similar tasks by maximizing the average density of clusters. We evaluate Grad-TAG's performance across seven datasets, including multi-label classification on graphs, and instruction fine-tuning of language models. Our task affinity estimates are within 2.7% distance to the true affinities while needing only 3% of FLOPs in full training. On our largest graph with 21M edges and 500 labeling tasks, our algorithm delivers estimates within 5% distance to the true affinities, using only 112 GPU hours. Our results show that Grad-TAG achieves excellent performance and runtime tradeoffs compared to existing approaches.

Abhinav Nippani, Dongyue Li, Haotian Ju et al.

We consider the problem of traffic accident analysis on a road network based on road network connections and traffic volume. Previous works have designed various deep-learning methods using historical records to predict traffic accident occurrences. However, there is a lack of consensus on how accurate existing methods are, and a fundamental issue is the lack of public accident datasets for comprehensive evaluations. This paper constructs a large-scale, unified dataset of traffic accident records from official reports of various states in the US, totaling 9 million records, accompanied by road networks and traffic volume reports. Using this new dataset, we evaluate existing deep-learning methods for predicting the occurrence of accidents on road networks. Our main finding is that graph neural networks such as GraphSAGE can accurately predict the number of accidents on roads with less than 22% mean absolute error (relative to the actual count) and whether an accident will occur or not with over 87% AUROC, averaged over states. We achieve these results by using multitask learning to account for cross-state variabilities (e.g., availability of accident labels) and transfer learning to combine traffic volume with accident prediction. Ablation studies highlight the importance of road graph-structural features, amongst other features. Lastly, we discuss the implications of the analysis and develop a package for easily using our new dataset.

Hongyang R. Zhang, Dongyue Li, Haotian Ju

The training of over-parameterized neural networks has received much study in recent literature. An important consideration is the regularization of over-parameterized networks due to their highly nonconvex and nonlinear geometry. In this paper, we study noise injection algorithms, which can regularize the Hessian of the loss, leading to regions with flat loss surfaces. Specifically, by injecting isotropic Gaussian noise into the weight matrices of a neural network, we can obtain an approximately unbiased estimate of the trace of the Hessian. However, naively implementing the noise injection via adding noise to the weight matrices before backpropagation presents limited empirical improvements. To address this limitation, we design a two-point estimate of the Hessian penalty, which injects noise into the weight matrices along both positive and negative directions of the random noise. In particular, this two-point estimate eliminates the variance of the first-order Taylor's expansion term on the Hessian. We show a PAC-Bayes generalization bound that depends on the trace of the Hessian (and the radius of the weight space), which can be measured from data. We conduct a detailed experimental study to validate our approach and show that it can effectively regularize the Hessian and improve generalization. First, our algorithm can outperform prior approaches on sharpness-reduced training, delivering up to a 2.4% test accuracy increase for fine-tuning ResNets on six image classification datasets. Moreover, the trace of the Hessian reduces by 15.8%, and the largest eigenvalue is reduced by 9.7% with our approach. We also find that the regularization of the Hessian can be combined with weight decay and data augmentation, leading to stronger regularization. Second, our approach remains effective for improving generalization in pretraining multimodal CLIP models and chain-of-thought fine-tuning.

Dongyue Li, Ziniu Zhang, Lu Wang et al.

We study the problem of fine-tuning a language model (LM) for a target task by optimally using the information from $n$ auxiliary tasks. This problem has broad applications in NLP, such as targeted instruction tuning and data selection in chain-of-thought fine-tuning. The key challenge of this problem is that not all auxiliary tasks are beneficial in improving the performance of the target task. Thus, selecting the right subset of auxiliary tasks is crucial. Conventional subset selection methods, such as forward and backward stepwise selection, are unsuitable for LM fine-tuning because they require repeated training on subsets of auxiliary tasks. This paper introduces a new algorithm for estimating model fine-tuning performance without requiring repeated training. Our algorithm first performs multitask training using data from all tasks to obtain a meta initialization. Then, we approximate the model fine-tuning loss of a subset using functional values and gradients from the meta initialization. Empirically, we find that this gradient-based approximation holds with remarkable accuracy for twelve transformer-based LMs. Thus, we can now estimate fine-tuning performances on CPUs within a few seconds. Finally, we fine-tune the pretrained base model once on the selected subset of tasks. We conduct extensive experiments to validate this approach, delivering a speedup of $30\times$ over conventional subset selection while incurring only $1\%$ error of the true fine-tuning performances. In downstream evaluations involving both instruction tuning and chain-of-thought fine-tuning, this loss-based selection approach improves over prior gradient or representation similarity-based methods for subset selection by up to $3.8\%$.

Shaoan Wang, Yuanfei Luo, Xingyu Chen et al.

VLA models have shown promising potential in embodied navigation by unifying perception and planning while inheriting the strong generalization abilities of large VLMs. However, most existing VLA models rely on reactive mappings directly from observations to actions, lacking the explicit reasoning capabilities and persistent memory required for complex, long-horizon navigation tasks. To address these challenges, we propose VLingNav, a VLA model for embodied navigation grounded in linguistic-driven cognition. First, inspired by the dual-process theory of human cognition, we introduce an adaptive chain-of-thought mechanism, which dynamically triggers explicit reasoning only when necessary, enabling the agent to fluidly switch between fast, intuitive execution and slow, deliberate planning. Second, to handle long-horizon spatial dependencies, we develop a visual-assisted linguistic memory module that constructs a persistent, cross-modal semantic memory, enabling the agent to recall past observations to prevent repetitive exploration and infer movement trends for dynamic environments. For the training recipe, we construct Nav-AdaCoT-2.9M, the largest embodied navigation dataset with reasoning annotations to date, enriched with adaptive CoT annotations that induce a reasoning paradigm capable of adjusting both when to think and what to think about. Moreover, we incorporate an online expert-guided reinforcement learning stage, enabling the model to surpass pure imitation learning and to acquire more robust, self-explored navigation behaviors. Extensive experiments demonstrate that VLingNav achieves state-of-the-art performance across a wide range of embodied navigation benchmarks. Notably, VLingNav transfers to real-world robotic platforms in a zero-shot manner, executing various navigation tasks and demonstrating strong cross-domain and cross-task generalization.

Dongyue Li, Zhenshuo Zhang, Minxuan Duan et al.

Algorithmic reasoning -- the ability to perform step-by-step logical inference -- has become a core benchmark for evaluating reasoning in graph neural networks (GNNs) and large language models (LLMs). Ideally, one would like to design a single model capable of performing well on multiple algorithmic reasoning tasks simultaneously. However, this is challenging when the execution steps of algorithms differ from one another, causing negative interference when they are trained together. We propose branching neural networks, a principled architecture for multitask algorithmic reasoning. Searching for the optimal $k$-ary tree with $L$ layers over $n$ algorithmic tasks is combinatorial, requiring exploration of up to $k^{nL}$ possible structures. We develop AutoBRANE, an efficient algorithm that reduces this search to $O(nL)$ time by solving a convex relaxation at each layer to approximate an optimal task partition. The method clusters tasks using gradient-based affinity scores and can be used on top of any base model, including GNNs and LLMs. We validate AutoBRANE on a broad suite of graph-algorithmic and text-based reasoning benchmarks. We show that gradient features estimate true task performance within 5% error across four GNNs and four LLMs (up to 34B parameters). On the CLRS benchmark, it outperforms the strongest single multitask GNN by 3.7% and the best baseline by 1.2%, while reducing runtime by 48% and memory usage by 26%. The learned branching structures reveal an intuitively reasonable hierarchical clustering of related algorithms. On three text-based graph reasoning benchmarks, AutoBRANE improves over the best non-branching multitask baseline by 3.2%. Finally, on a large graph dataset with 21M edges and 500 tasks, AutoBRANE achieves a 28% accuracy gain over existing multitask and branching architectures, along with a 4.5$\times$ reduction in runtime.

Dongyue Li, Zechun Liu, Kai Yi et al.

Quantization-aware training (QAT) is widely adopted to quantize language models by training full-precision weights using gradients from the quantized model. The main bottleneck is its slow convergence and early performance plateau, particularly below 4-bit-widths. While this problem has been observed in prior work, its precise cause remains unclear. In this paper, we analyze the convergence of QAT by estimating the spectrum of the loss-surface Hessians. We find that the weights converge to flat regions around saddle points, where a large fraction of the Hessian eigenvalues are both positive and negative. During training, an increasing fraction of Hessian eigenvalues concentrates around zero, whose magnitude decreases. At lower bit-widths, the magnitude of eigenvalues in the Hessian spectrum is significantly smaller. To mitigate these issues, we propose an algorithm called WinQ to accelerate QAT, which involves: (1) periodically resetting weights to the linear interpolation of full-precision and quantized weights, reducing the distance to the quantization grid and increasing eigenvalue magnitude, and (2) computing gradients of noise-injected weights to regularize the Hessian. Extensive experiments show that WinQ accelerates QAT by up to 4 times across various quantization methods and models. Under the same training cost, WinQ improves state-of-the-art sub-4-bit quantization by up to 8.8%. These results are consistent across 16 settings with different language models, quantization methods, and bit widths.

Dongyue Li, Ziniu Zhang, Lu Wang et al.

This paper develops an ensemble method for fine-tuning a language model to multiple datasets. Existing methods, such as quantized LoRA (QLoRA), are efficient when adapting to a single dataset. When training on multiple datasets of different tasks, a common setup in practice, it remains unclear how to design an efficient adaptation for fine-tuning language models. We propose to use an ensemble of multiple smaller adapters instead of a single adapter per task. We design an efficient algorithm that partitions $n$ datasets into $m$ groups, where $m$ is typically much smaller than $n$ in practice, and train one adapter for each group before taking a weighted combination to form the ensemble. The algorithm leverages a first-order approximation property of low-rank adaptation to quickly obtain the fine-tuning performances of dataset combinations since methods like LoRA stay close to the base model. Hence, we use the gradients of the base model to estimate its behavior during fine-tuning. Empirically, this approximation holds with less than $1\%$ error on models with up to $34$ billion parameters, leading to an estimation of true fine-tuning performances under $5\%$ error while speeding up computation compared to base fine-tuning by $105$ times. When applied to fine-tune Llama and GPT models on ten text classification tasks, our approach provides up to $10\%$ higher average test accuracy over QLoRA, with only $9\%$ more FLOPs. On a Llama model with $34$ billion parameters, an ensemble of QLoRA increases test accuracy by $3\%$ compared to QLoRA, with only $8\%$ more FLOPs.

Jialei Chen, Xu Zheng, Dongyue Li et al.

Zero-shot Semantic Segmentation (ZSS) aims to segment categories that are not annotated during training. While fine-tuning vision-language models has achieved promising results, these models often overfit to seen categories due to the lack of supervision for unseen classes. As an alternative to fully supervised approaches, query-based segmentation has shown great latent in ZSS, as it enables object localization without relying on explicit labels. However, conventional Hungarian matching, a core component in query-based frameworks, needs full supervision and often misclassifies unseen categories as background in the setting of ZSS. To address this issue, we propose Split Matching (SM), a novel assignment strategy that decouples Hungarian matching into two components: one for seen classes in annotated regions and another for latent classes in unannotated regions (referred to as unseen candidates). Specifically, we partition the queries into seen and candidate groups, enabling each to be optimized independently according to its available supervision. To discover unseen candidates, we cluster CLIP dense features to generate pseudo masks and extract region-level embeddings using CLS tokens. Matching is then conducted separately for the two groups based on both class-level similarity and mask-level consistency. Additionally, we introduce a Multi-scale Feature Enhancement (MFE) module that refines decoder features through residual multi-scale aggregation, improving the model's ability to capture spatial details across resolutions. SM is the first to introduce decoupled Hungarian matching under the inductive ZSS setting, and achieves state-of-the-art performance on two standard benchmarks.

Ziniu Zhang, Zhenshuo Zhang, Dongyue Li et al.

This paper introduces an algorithm to select demonstration examples for in-context learning of a query set. Given a set of $n$ examples, how can we quickly select $k$ out of $n$ to best serve as the conditioning for downstream inference? This problem has broad applications in prompt tuning and chain-of-thought reasoning. Since model weights remain fixed during in-context learning, previous work has sought to design methods based on the similarity of token embeddings. This work proposes a new approach based on gradients of the output taken in the input embedding space. Our approach estimates model outputs through a first-order approximation using the gradients. Then, we apply this estimation to multiple randomly sampled subsets. Finally, we aggregate the sampled subset outcomes to form an influence score for each demonstration, and select $k$ most relevant examples. This procedure only requires pre-computing model outputs and gradients once, resulting in a linear-time algorithm relative to model and training set sizes. Extensive experiments across various models and datasets validate the efficiency of our approach. We show that the gradient estimation procedure yields approximations of full inference with less than ${1}\%$ error across six datasets. This allows us to scale up subset selection that would otherwise run full inference by up to ${37.7}\times$ on models with up to $34$ billion parameters, and outperform existing selection methods based on input embeddings by ${11}\%$ on average.

Dongyue Li

Since the rise of Transformers, many semi-dense matching methods have adopted attention mechanisms to extract feature descriptors. However, the attention weights, which capture dependencies between pixels or keypoints, are often learned from scratch. This approach can introduce redundancy and noisy interactions from irrelevant regions, as it treats all pixels or keypoints equally. Drawing inspiration from keypoint selection processes, we propose to first classify all pixels into two categories: matchable and non-matchable. Matchable pixels are expected to receive higher attention weights, while non-matchable ones are down-weighted. In this work, we propose a novel attention reweighting mechanism that simultaneously incorporates a learnable bias term into the attention logits and applies a matchability-informed rescaling to the input value features. The bias term, injected prior to the softmax operation, selectively adjusts attention scores based on the confidence of query-key interactions. Concurrently, the feature rescaling acts post-attention by modulating the influence of each value vector in the final output. This dual design allows the attention mechanism to dynamically adjust both its internal weighting scheme and the magnitude of its output representations. Extensive experiments conducted on three benchmark datasets validate the effectiveness of our method, consistently outperforming existing state-of-the-art approaches.

Dongyue Li, Daisuke Deguchi, Hiroshi Murase

Visual Place Recognition (VPR) aims to estimate the location of the given query image within a database of geo-tagged images. To identify the exact location in an image, detecting landmarks is crucial. However, in some scenarios, such as urban environments, there are numerous landmarks, such as various modern buildings, and the landmarks in different cities often exhibit high visual similarity. Therefore, it is essential not only to leverage the landmarks but also to consider the contextual information surrounding them, such as whether there are trees, roads, or other features around the landmarks. We propose the Contextual Query VPR (CQVPR), which integrates contextual information with detailed pixel-level visual features. By leveraging a set of learnable contextual queries, our method automatically learns the high-level contexts with respect to landmarks and their surrounding areas. Heatmaps depicting regions that each query attends to serve as context-aware features, offering cues that could enhance the understanding of each scene. We further propose a query matching loss to supervise the extraction process of contextual queries. Extensive experiments on several datasets demonstrate that the proposed method outperforms other state-of-the-art methods, especially in challenging scenarios.

Dongyue Li, Hongyang R. Zhang

A widely used algorithm for transfer learning is fine-tuning, where a pre-trained model is fine-tuned on a target task with a small amount of labeled data. When the capacity of the pre-trained model is significantly larger than the size of the target dataset, fine-tuning is prone to overfitting and memorizing the training labels. Hence, a crucial question is to regularize fine-tuning and ensure its robustness against noise. To address this question, we begin by analyzing the generalization properties of fine-tuning. We present a PAC-Bayes generalization bound that depends on the distance traveled in each layer during fine-tuning and the noise stability of the fine-tuned model. We empirically measure these quantities. Based on the analysis, we propose regularized self-labeling -- the interpolation between regularization and self-labeling methods, including (i) layer-wise regularization to constrain the distance traveled in each layer; (ii) self-label-correction and label-reweighting to correct mislabeled data points (that the model is confident) and reweight less confident data points. We validate our approach on an extensive collection of image and text datasets using multiple pre-trained model architectures. Our approach improves baseline methods by 1.76% (on average) for seven image classification tasks and 0.75% for a few-shot classification task. When the target data set includes noisy labels, our approach outperforms baseline methods by an average of 3.56% in two noisy settings.