Jiaqi Cao

Wenjia Xu, Yaxuan Yao, Jiaqi Cao et al.

The application of unmanned aerial vehicles (UAV) has been widely extended recently. It is crucial to ensure accurate latitude and longitude coordinates for UAVs, especially when the global navigation satellite systems (GNSS) are disrupted and unreliable. Existing visual localization methods achieve autonomous visual localization without error accumulation by matching the ground-down view image of UAV with the ortho satellite maps. However, collecting UAV ground-down view images across diverse locations is costly, leading to a scarcity of large-scale datasets for real-world scenarios. Existing datasets for UAV visual localization are often limited to small geographic areas or are focused only on urban regions with distinct textures. To address this, we define the UAV visual localization task by determining the UAV's real position coordinates on a large-scale satellite map based on the captured ground-down view. In this paper, we present a large-scale dataset, UAV-VisLoc, to facilitate the UAV visual localization task. This dataset comprises images from diverse drones across 11 locations in China, capturing a range of topographical features. The dataset features images from fixed-wing drones and multi-terrain drones, captured at different altitudes and orientations. Our dataset includes 6,742 drone images and 11 satellite maps, with metadata such as latitude, longitude, altitude, and capture date. Our dataset is tailored to support both the training and testing of models by providing a diverse and extensive data.

Jiaqi Cao, Jiarui Wang, Rubin Wei et al.

Large Language Models (LLMs) have shown strong abilities in general language tasks, yet adapting them to specific domains remains a challenge. Current method like Domain Adaptive Pretraining (DAPT) requires costly full-parameter training and suffers from catastrophic forgetting. Meanwhile, Retrieval-Augmented Generation (RAG) introduces substantial inference latency due to expensive nearest-neighbor searches and longer context. This paper introduces Memory Decoder, a plug-and-play pretrained memory that enables efficient domain adaptation without changing the original model's parameters. Memory Decoder employs a small transformer decoder that learns to imitate the behavior of an external non-parametric retriever. Once trained, Memory Decoder can be seamlessly integrated with any pretrained language model that shares the same tokenizer, requiring no model-specific modifications. Experimental results demonstrate that Memory Decoder enables effective adaptation of various Qwen and Llama models to three distinct specialized domains: biomedicine, finance, and law, reducing perplexity by an average of 6.17 points. Overall, Memory Decoder introduces a novel paradigm centered on a specially pretrained memory component designed for domain-specific adaptation. This memory architecture can be integrated in a plug-and-play manner, consistently enhancing performance across multiple models within the target domain.

Rubin Wei, Jiaqi Cao, Jiarui Wang et al.

Modern approaches to enhancing Large Language Models' factual accuracy and knowledge utilization face a fundamental trade-off: non-parametric retrieval-augmented generation (RAG) provides flexible access to external knowledge but suffers from high inference latency and shallow integration, while parametric fine-tuning methods like LoRA risk catastrophic forgetting and degraded general capabilities. In this work, we propose MLP Memory, a lightweight parametric module that learns to internalize retrieval patterns without explicit document access. By pretraining an MLP to imitate a $k$NN retriever's behavior on the entire pretraining dataset, we create a differentiable memory component that captures the benefits of retrieval-based knowledge access in a fully parametric form. Our architecture integrates this pretrained MLP Memory with Transformer decoders through simple probability interpolation, yielding 17.5\% and 24.1\% scaling gains on WikiText-103 and Web datasets, respectively. It further achieves 12.3\% relative improvement on five question-answering benchmarks and 5.2 points absolute gain across nine general NLP tasks, while reducing hallucinations by up to 10 points on HaluEval. Moreover, MLP Memory delivers 2.5$\times$ faster inference than RAG with superior accuracy. Our findings show that learning retrieval patterns parametrically bridges the gap between efficient inference and effective knowledge access, offering a practical alternative to both RAG and fine-tuning approaches.