Zhiqiang Cao

Qiuyu Ding, Zhiqiang Cao, Hailong Cao et al.

Large language models have demonstrated exceptional performance across multiple crosslingual NLP tasks, including machine translation (MT). However, persistent challenges remain in addressing context-sensitive units (CSUs), such as polysemous words. These CSUs not only affect the local translation accuracy of LLMs, but also affect LLMs' understanding capability for sentences and tasks, and even lead to translation failure. To address this problem, we propose a simple but effective method to enhance LLMs' MT capabilities by acquiring CSUs and applying semantic focus. Specifically, we dynamically analyze and identify translation challenges, then incorporate them into LLMs in a structured manner to mitigate mistranslations or misunderstandings of CSUs caused by information flattening. Efficiently activate LLMs to identify and apply relevant knowledge from its vast data pool in this way, ensuring more accurate translations for translating difficult terms. On a benchmark dataset of MT, our proposed method achieved competitive performance compared to multiple existing open-sourced MT baseline models. It demonstrates effectiveness and robustness across multiple language pairs, including both similar language pairs and distant language pairs. Notably, the proposed method requires no additional model training and enhances LLMs' performance across multiple NLP tasks with minimal resource consumption.

Qiuyu Ding, Zhiqiang Cao, Hailong Cao et al.

Bilingual Lexicon Induction (BLI) is generally based on common domain data to obtain monolingual word embedding, and by aligning the monolingual word embeddings to obtain the cross-lingual embeddings which are used to get the word translation pairs. In this paper, we propose a new task of BLI, which is to use the monolingual corpus of the general domain and target domain to extract domain-specific bilingual dictionaries. Motivated by the ability of Pre-trained models, we propose a method to get better word embeddings that build on the recent work on BLI. This way, we introduce the Code Switch(Qin et al., 2020) firstly in the cross-domain BLI task, which can match differit is yet to be seen whether these methods are suitable for bilingual lexicon extraction in professional fields. As we can see in table 1, the classic and efficient BLI approach, Muse and Vecmap, perform much worse on the Medical dataset than on the Wiki dataset. On one hand, the specialized domain data set is relatively smaller compared to the generic domain data set generally, and specialized words have a lower frequency, which will directly affect the translation quality of bilingual dictionaries. On the other hand, static word embeddings are widely used for BLI, however, in some specific fields, the meaning of words is greatly influenced by context, in this case, using only static word embeddings may lead to greater bias. ent strategies in different contexts, making the model more suitable for this task. Experimental results show that our method can improve performances over robust BLI baselines on three specific domains by averagely improving 0.78 points.

Rashid Ali, Dil Nawaz Hakro, Yongping He et al.

This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots. Its localization is more flexible to control than wired guidance systems. However, the navigation through the laser range finder occurs with a large positioning error while it moves or turns fast. For solving this problem, the paper proposes a method to improve the positioning accuracy of a robot in an indoor environment by using a particle filter with robust characteristics in a nonlinear or non-Gaussian system. In this experiment, a robot is equipped with a laser range finder, two encoders, and a gyro for navigation to verify the positioning accuracy and performance. The positioning accuracy and performance could improve by approximately 85.5% in this proposed method.

Zhiqiang Cao, Ran Liu, Chau Yuen et al.

Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the environment is not possible. The traditional Ultra-WideBand (UWB)-based approach provides a good estimation of the distance between the robots, but obtaining the relative pose (including the displacement and orientation) remains challenging. We propose an approach to estimate the relative pose between a group of robots by equipping each robot with multiple UWB ranging nodes. We determine the pose between two robots by minimizing the residual error of the ranging measurements from all UWB nodes. To improve the localization accuracy, we propose to utilize the odometry constraints through a sliding window-based optimization. The optimized pose is then fused with the odometry in a particle filtering for pose tracking among a group of mobile robots. We have conducted extensive experiments to validate the effectiveness of the proposed approach.

Ran Liu, Yongping He, Chau Yuen et al.

Environment mapping is an essential prerequisite for mobile robots to perform different tasks such as navigation and mission planning. With the availability of low-cost 2D LiDARs, there are increasing applications of such 2D LiDARs in industrial environments. However, environment mapping in an unknown and feature-less environment with such low-cost 2D LiDARs remains a challenge. The challenge mainly originates from the short-range of LiDARs and complexities in performing scan matching in these environments. In order to resolve these shortcomings, we propose to fuse the ultra-wideband (UWB) with 2D LiDARs to improve the mapping quality of a mobile robot. The optimization-based approach is utilized for the fusion of UWB ranging information and odometry to first optimize the trajectory. Then the LiDAR-based loop closures are incorporated to improve the accuracy of the trajectory estimation. Finally, the optimized trajectory is combined with the LiDAR scans to produce the occupancy map of the environment. The performance of the proposed approach is evaluated in an indoor feature-less environment with a size of 20m*20m. Obtained results show that the mapping error of the proposed scheme is 85.5% less than that of the conventional GMapping algorithm with short-range LiDAR (for example Hokuyo URG-04LX in our experiment with a maximum range of 5.6m).

Ming Ouyang, Xuesong Shi, Yujie Wang et al.

We present a collaborative visual simultaneous localization and mapping (SLAM) framework for service robots. With an edge server maintaining a map database and performing global optimization, each robot can register to an existing map, update the map, or build new maps, all with a unified interface and low computation and memory cost. We design an elegant communication pipeline to enable real-time information sharing between robots. With a novel landmark organization and retrieval method on the server, each robot can acquire landmarks predicted to be in its view, to augment its local map. The framework is general enough to support both RGB-D and monocular cameras, as well as robots with multiple cameras, taking the rigid constraints between cameras into consideration. The proposed framework has been fully implemented and verified with public datasets and live experiments.