Ao Zhang

Ao Zhang, Yuan Yao, Qianyu Chen et al.

Scene graph generation (SGG) is designed to extract (subject, predicate, object) triplets in images. Recent works have made a steady progress on SGG, and provide useful tools for high-level vision and language understanding. However, due to the data distribution problems including long-tail distribution and semantic ambiguity, the predictions of current SGG models tend to collapse to several frequent but uninformative predicates (e.g., on, at), which limits practical application of these models in downstream tasks. To deal with the problems above, we propose a novel Internal and External Data Transfer (IETrans) method, which can be applied in a plug-and-play fashion and expanded to large SGG with 1,807 predicate classes. Our IETrans tries to relieve the data distribution problem by automatically creating an enhanced dataset that provides more sufficient and coherent annotations for all predicates. By training on the enhanced dataset, a Neural Motif model doubles the macro performance while maintaining competitive micro performance. The code and data are publicly available at https://github.com/waxnkw/IETrans-SGG.pytorch.

Yuan Yao, Qianyu Chen, Ao Zhang et al.

Vision-language pre-training (VLP) has shown impressive performance on a wide range of cross-modal tasks, where VLP models without reliance on object detectors are becoming the mainstream due to their superior computation efficiency and competitive performance. However, the removal of object detectors also deprives the capability of VLP models in explicit object modeling, which is essential to various position-sensitive vision-language (VL) tasks, such as referring expression comprehension and visual commonsense reasoning. To address the challenge, we introduce PEVL that enhances the pre-training and prompt tuning of VLP models with explicit object position modeling. Specifically, PEVL reformulates discretized object positions and language in a unified language modeling framework, which facilitates explicit VL alignment during pre-training, and also enables flexible prompt tuning for various downstream tasks. We show that PEVL enables state-of-the-art performance of detector-free VLP models on position-sensitive tasks such as referring expression comprehension and phrase grounding, and also improves the performance on position-insensitive tasks with grounded inputs. We make the data and code for this paper publicly available at https://github.com/thunlp/PEVL.

Yuan Yao, Bowen Dong, Ao Zhang et al.

Recent works have shown promising results of prompt tuning in stimulating pre-trained language models (PLMs) for natural language processing (NLP) tasks. However, to the best of our knowledge, existing works focus on prompt-tuning generative PLMs that are pre-trained to generate target tokens, such as BERT. It is still unknown whether and how discriminative PLMs, e.g., ELECTRA, can be effectively prompt-tuned. In this work, we present DPT, the first prompt tuning framework for discriminative PLMs, which reformulates NLP tasks into a discriminative language modeling problem. Comprehensive experiments on text classification and question answering show that, compared with vanilla fine-tuning, DPT achieves significantly higher performance, and also prevents the unstable problem in tuning large PLMs in both full-set and low-resource settings. The source code and experiment details of this paper can be obtained from https://github.com/thunlp/DPT.

Johan Bjorck, Fernando Castañeda, Nikita Cherniadev et al. · nvidia

General-purpose robots need a versatile body and an intelligent mind. Recent advancements in humanoid robots have shown great promise as a hardware platform for building generalist autonomy in the human world. A robot foundation model, trained on massive and diverse data sources, is essential for enabling the robots to reason about novel situations, robustly handle real-world variability, and rapidly learn new tasks. To this end, we introduce GR00T N1, an open foundation model for humanoid robots. GR00T N1 is a Vision-Language-Action (VLA) model with a dual-system architecture. The vision-language module (System 2) interprets the environment through vision and language instructions. The subsequent diffusion transformer module (System 1) generates fluid motor actions in real time. Both modules are tightly coupled and jointly trained end-to-end. We train GR00T N1 with a heterogeneous mixture of real-robot trajectories, human videos, and synthetically generated datasets. We show that our generalist robot model GR00T N1 outperforms the state-of-the-art imitation learning baselines on standard simulation benchmarks across multiple robot embodiments. Furthermore, we deploy our model on the Fourier GR-1 humanoid robot for language-conditioned bimanual manipulation tasks, achieving strong performance with high data efficiency.

Yuan Yao, Tianyu Yu, Ao Zhang et al. · tsinghua

The recent surge of Multimodal Large Language Models (MLLMs) has fundamentally reshaped the landscape of AI research and industry, shedding light on a promising path toward the next AI milestone. However, significant challenges remain preventing MLLMs from being practical in real-world applications. The most notable challenge comes from the huge cost of running an MLLM with a massive number of parameters and extensive computation. As a result, most MLLMs need to be deployed on high-performing cloud servers, which greatly limits their application scopes such as mobile, offline, energy-sensitive, and privacy-protective scenarios. In this work, we present MiniCPM-V, a series of efficient MLLMs deployable on end-side devices. By integrating the latest MLLM techniques in architecture, pretraining and alignment, the latest MiniCPM-Llama3-V 2.5 has several notable features: (1) Strong performance, outperforming GPT-4V-1106, Gemini Pro and Claude 3 on OpenCompass, a comprehensive evaluation over 11 popular benchmarks, (2) strong OCR capability and 1.8M pixel high-resolution image perception at any aspect ratio, (3) trustworthy behavior with low hallucination rates, (4) multilingual support for 30+ languages, and (5) efficient deployment on mobile phones. More importantly, MiniCPM-V can be viewed as a representative example of a promising trend: The model sizes for achieving usable (e.g., GPT-4V) level performance are rapidly decreasing, along with the fast growth of end-side computation capacity. This jointly shows that GPT-4V level MLLMs deployed on end devices are becoming increasingly possible, unlocking a wider spectrum of real-world AI applications in the near future.

Yuan Yao, Tianyu Yu, Ao Zhang et al.

Large-scale commonsense knowledge bases empower a broad range of AI applications, where the automatic extraction of commonsense knowledge (CKE) is a fundamental and challenging problem. CKE from text is known for suffering from the inherent sparsity and reporting bias of commonsense in text. Visual perception, on the other hand, contains rich commonsense knowledge about real-world entities, e.g., (person, can_hold, bottle), which can serve as promising sources for acquiring grounded commonsense knowledge. In this work, we present CLEVER, which formulates CKE as a distantly supervised multi-instance learning problem, where models learn to summarize commonsense relations from a bag of images about an entity pair without any human annotation on image instances. To address the problem, CLEVER leverages vision-language pre-training models for deep understanding of each image in the bag, and selects informative instances from the bag to summarize commonsense entity relations via a novel contrastive attention mechanism. Comprehensive experimental results in held-out and human evaluation show that CLEVER can extract commonsense knowledge in promising quality, outperforming pre-trained language model-based methods by 3.9 AUC and 6.4 mAUC points. The predicted commonsense scores show strong correlation with human judgment with a 0.78 Spearman coefficient. Moreover, the extracted commonsense can also be grounded into images with reasonable interpretability. The data and codes can be obtained at https://github.com/thunlp/CLEVER.

Ao Zhang, Yuan Yao, Wei Ji et al.

The development of large language models (LLMs) has greatly advanced the field of multimodal understanding, leading to the emergence of large multimodal models (LMMs). In order to enhance the level of visual comprehension, recent studies have equipped LMMs with region-level understanding capabilities by representing object bounding box coordinates as a series of text sequences (pix2seq). In this paper, we introduce a novel paradigm for object location modeling called pix2emb method, where we ask the LMM to output the location embeddings and then decode them with different decoders. This paradigm allows us to use different location formats (such as bounding boxes and masks) in multimodal conversations. Leveraging the proposed pix2emb method, we train an LMM named NExT-Chat and demonstrate its capability of handling multiple tasks like visual grounding, region captioning, and grounded reasoning. Comprehensive experiments show the effectiveness of our NExT-Chat on various tasks, e.g., NExT-Chat (87.7) vs. Shikra (86.9) on POPE-Random, NExT-Chat (68.9) vs. LISA (67.9) on referring expression segmentation task, and NExT-Chat (79.6) vs. Kosmos-2 (62.3) on region caption task. The code and model are released at https://github.com/NExT-ChatV/NExT-Chat.

Chaojun Xiao, Zhengyan Zhang, Chenyang Song et al. · tencent-ai, tsinghua

Advancements in LLMs have recently unveiled challenges tied to computational efficiency and continual scalability due to their requirements of huge parameters, making the applications and evolution of these models on devices with limited computation resources and scenarios requiring various abilities increasingly cumbersome. Inspired by modularity within the human brain, there is a growing tendency to decompose LLMs into numerous functional modules, allowing for inference with part of modules and dynamic assembly of modules to tackle complex tasks, such as mixture-of-experts. To highlight the inherent efficiency and composability of the modular approach, we coin the term brick to represent each functional module, designating the modularized structure as configurable foundation models. In this paper, we offer a comprehensive overview and investigation of the construction, utilization, and limitation of configurable foundation models. We first formalize modules into emergent bricks - functional neuron partitions that emerge during the pre-training phase, and customized bricks - bricks constructed via additional post-training to improve the capabilities and knowledge of LLMs. Based on diverse functional bricks, we further present four brick-oriented operations: retrieval and routing, merging, updating, and growing. These operations allow for dynamic configuration of LLMs based on instructions to handle complex tasks. To verify our perspective, we conduct an empirical analysis on widely-used LLMs. We find that the FFN layers follow modular patterns with functional specialization of neurons and functional neuron partitions. Finally, we highlight several open issues and directions for future research. Overall, this paper aims to offer a fresh modular perspective on existing LLM research and inspire the future creation of more efficient and scalable foundational models.

Tianyi Xu, Zhanheng Yang, Kaixun Huang et al.

By incorporating additional contextual information, deep biasing methods have emerged as a promising solution for speech recognition of personalized words. However, for real-world voice assistants, always biasing on such personalized words with high prediction scores can significantly degrade the performance of recognizing common words. To address this issue, we propose an adaptive contextual biasing method based on Context-Aware Transformer Transducer (CATT) that utilizes the biased encoder and predictor embeddings to perform streaming prediction of contextual phrase occurrences. Such prediction is then used to dynamically switch the bias list on and off, enabling the model to adapt to both personalized and common scenarios. Experiments on Librispeech and internal voice assistant datasets show that our approach can achieve up to 6.7% and 20.7% relative reduction in WER and CER compared to the baseline respectively, mitigating up to 96.7% and 84.9% of the relative WER and CER increase for common cases. Furthermore, our approach has a minimal performance impact in personalized scenarios while maintaining a streaming inference pipeline with negligible RTF increase.

Ao Zhang, Yunwen Liu, Ren Zhang et al.

This study investigates the rapid centralization of the Ethereum builder market under the Proposer-Builder Separation (PBS) architecture. We argue that existing research, by focusing predominantly on influential order flows, lacks a comprehensive evaluation of order flow behavioral patterns and economic purposes. To address this gap, we analyze Ethereum transactions from September 2023 to August 2025 to characterize Exclusive Order Flows (EOFs) and non-atomic Maximal Extractable Value (MEV) -- the missing components corresponding to these behavioral and economic dimensions, respectively. We introduce a novel exclusivity metric based on Kullback-Leibler divergence and employ supervised learning to identify 75 EOFs and 322 non-atomic MEV flows, which account for 71\% and 23\% of trading-related builder revenue. A longitudinal analysis of builder strategies across these dimensions delineates the market's evolution into four distinct eras, revealing that while EOFs were instrumental in establishing early dominance, incumbents have since decoupled market share from immediate EOF dependency by leveraging entrenched network effects. Ultimately, we conclude that builder centralization is an emergent property of the PBS framework itself, as the architecture systematically violates the fundamental prerequisites of a competitive market.

Linglong Qian, Joseph Arul Raj, Hugh Logan Ellis et al.

We introduce the Conditional Self-Attention Imputation (CSAI) model, a novel recurrent neural network architecture designed to address the challenges of complex missing data patterns in multivariate time series derived from hospital electronic health records (EHRs). CSAI extends state-of-the-art neural network-based imputation by introducing key modifications specific to EHR data: a) attention-based hidden state initialisation to capture both long- and short-range temporal dependencies prevalent in EHRs, b) domain-informed temporal decay to mimic clinical data recording patterns, and c) a non-uniform masking strategy that models non-random missingness by calibrating weights according to both temporal and cross-sectional data characteristics. Comprehensive evaluation across four EHR benchmark datasets demonstrates CSAI's effectiveness compared to state-of-the-art architectures in data restoration and downstream tasks. CSAI is integrated into PyPOTS, an open-source Python toolbox designed for machine learning tasks on partially observed time series. This work significantly advances the state of neural network imputation applied to EHRs by more closely aligning algorithmic imputation with clinical realities.

Yuan Yao, Ao Zhang, Zhengyan Zhang et al.

Pre-Trained Vision-Language Models (VL-PTMs) have shown promising capabilities in grounding natural language in image data, facilitating a broad variety of cross-modal tasks. However, we note that there exists a significant gap between the objective forms of model pre-training and fine-tuning, resulting in a need for large amounts of labeled data to stimulate the visual grounding capability of VL-PTMs for downstream tasks. To address the challenge, we present Cross-modal Prompt Tuning (CPT, alternatively, Colorful Prompt Tuning), a novel paradigm for tuning VL-PTMs, which reformulates visual grounding into a fill-in-the-blank problem with color-based co-referential markers in image and text, maximally mitigating the gap. In this way, CPT enables strong few-shot and even zero-shot visual grounding capabilities of VL-PTMs. Comprehensive experimental results show that the prompt-tuned VL-PTMs outperform their fine-tuned counterparts by a large margin (e.g., 17.3% absolute accuracy improvement, and 73.8% relative standard deviation reduction on average with one shot in RefCOCO evaluation). We make the data and code for this paper publicly available at https://github.com/thunlp/CPT.

Ao Zhang, Farzan Erlik Nowruzi, Robert Laganiere

Object detection using automotive radars has not been explored with deep learning models in comparison to the camera based approaches. This can be attributed to the lack of public radar datasets. In this paper, we collect a novel radar dataset that contains radar data in the form of Range-Azimuth-Doppler tensors along with the bounding boxes on the tensor for dynamic road users, category labels, and 2D bounding boxes on the Cartesian Bird-Eye-View range map. To build the dataset, we propose an instance-wise auto-annotation method. Furthermore, a novel Range-Azimuth-Doppler based multi-class object detection deep learning model is proposed. The algorithm is a one-stage anchor-based detector that generates both 3D bounding boxes and 2D bounding boxes on Range-Azimuth-Doppler and Cartesian domains, respectively. Our proposed algorithm achieves 56.3% AP with IOU of 0.3 on 3D bounding box predictions, and 51.6% with IOU of 0.5 on 2D bounding box prediction. Our dataset and the code can be found at https://github.com/ZhangAoCanada/RADDet.git.

Yuan Yao, Ao Zhang, Xu Han et al.

Scene graph generation aims to identify objects and their relations in images, providing structured image representations that can facilitate numerous applications in computer vision. However, scene graph models usually require supervised learning on large quantities of labeled data with intensive human annotation. In this work, we propose visual distant supervision, a novel paradigm of visual relation learning, which can train scene graph models without any human-labeled data. The intuition is that by aligning commonsense knowledge bases and images, we can automatically create large-scale labeled data to provide distant supervision for visual relation learning. To alleviate the noise in distantly labeled data, we further propose a framework that iteratively estimates the probabilistic relation labels and eliminates the noisy ones. Comprehensive experimental results show that our distantly supervised model outperforms strong weakly supervised and semi-supervised baselines. By further incorporating human-labeled data in a semi-supervised fashion, our model outperforms state-of-the-art fully supervised models by a large margin (e.g., 8.3 micro- and 7.8 macro-recall@50 improvements for predicate classification in Visual Genome evaluation). We make the data and code for this paper publicly available at https://github.com/thunlp/VisualDS.

Ao Zhang, Jinwen Ma

Graph neural networks (GNNs) achieve remarkable performance for tasks on graph data. However, recent works show they are extremely vulnerable to adversarial structural perturbations, making their outcomes unreliable. In this paper, we propose DefenseVGAE, a novel framework leveraging variational graph autoencoders(VGAEs) to defend GNNs against such attacks. DefenseVGAE is trained to reconstruct graph structure. The reconstructed adjacency matrix can reduce the effects of adversarial perturbations and boost the performance of GCNs when facing adversarial attacks. Our experiments on a number of datasets show the effectiveness of the proposed method under various threat models. Under some settings it outperforms existing defense strategies. Our code has been made publicly available at https://github.com/zhangao520/defense-vgae.

He Wang, Pengcheng Guo, Yue Li et al.

To promote speech processing and recognition research in driving scenarios, we build on the success of the Intelligent Cockpit Speech Recognition Challenge (ICSRC) held at ISCSLP 2022 and launch the ICASSP 2024 In-Car Multi-Channel Automatic Speech Recognition (ICMC-ASR) Challenge. This challenge collects over 100 hours of multi-channel speech data recorded inside a new energy vehicle and 40 hours of noise for data augmentation. Two tracks, including automatic speech recognition (ASR) and automatic speech diarization and recognition (ASDR) are set up, using character error rate (CER) and concatenated minimum permutation character error rate (cpCER) as evaluation metrics, respectively. Overall, the ICMC-ASR Challenge attracts 98 participating teams and receives 53 valid results in both tracks. In the end, first-place team USTCiflytek achieves a CER of 13.16% in the ASR track and a cpCER of 21.48% in the ASDR track, showing an absolute improvement of 13.08% and 51.4% compared to our challenge baseline, respectively.

Ruifeng Li, Dongzhan Zhou, Ancheng Shen et al.

Artificial intelligence (AI) technology has demonstrated remarkable potential in drug dis-covery, where pharmacokinetics plays a crucial role in determining the dosage, safety, and efficacy of new drugs. A major challenge for AI-driven drug discovery (AIDD) is the scarcity of high-quality data, which often requires extensive wet-lab work. A typical example of this is pharmacokinetic experiments. In this work, we develop a physical formula enhanced mul-ti-task learning (PEMAL) method that predicts four key parameters of pharmacokinetics simultaneously. By incorporating physical formulas into the multi-task framework, PEMAL facilitates effective knowledge sharing and target alignment among the pharmacokinetic parameters, thereby enhancing the accuracy of prediction. Our experiments reveal that PEMAL significantly lowers the data demand, compared to typical Graph Neural Networks. Moreover, we demonstrate that PEMAL enhances the robustness to noise, an advantage that conventional Neural Networks do not possess. Another advantage of PEMAL is its high flexibility, which can be potentially applied to other multi-task machine learning scenarios. Overall, our work illustrates the benefits and potential of using PEMAL in AIDD and other scenarios with data scarcity and noise.

Kaixun Huang, Ao Zhang, Zhanheng Yang et al.

Contextual information plays a crucial role in speech recognition technologies and incorporating it into the end-to-end speech recognition models has drawn immense interest recently. However, previous deep bias methods lacked explicit supervision for bias tasks. In this study, we introduce a contextual phrase prediction network for an attention-based deep bias method. This network predicts context phrases in utterances using contextual embeddings and calculates bias loss to assist in the training of the contextualized model. Our method achieved a significant word error rate (WER) reduction across various end-to-end speech recognition models. Experiments on the LibriSpeech corpus show that our proposed model obtains a 12.1% relative WER improvement over the baseline model, and the WER of the context phrases decreases relatively by 40.5%. Moreover, by applying a context phrase filtering strategy, we also effectively eliminate the WER degradation when using a larger biasing list.

Ao Zhang, Hao Fei, Yuan Yao et al.

While developing a new multimodal LLM (MLLM) by pre-training on tremendous image-text pairs from scratch can be exceedingly resource-consuming, connecting an existing LLM with a comparatively lightweight visual prompt generator (VPG) becomes a feasible paradigm. However, further tuning the VPG part of the MLLM still suffers from indispensable computational costs, i.e., requiring thousands of GPU hours and millions of training data. One alternative solution is to transfer an existing VPG from any existing MLLMs for the target MLLM. In this work, we for the first time investigate the VPG transferability across LLMs, and explore a solution to reduce the cost of VPG transfer. We first study the VPG transfer across different LLM sizes (e.g., small-to-large), and across different LLM types, through which we diagnose the key factors to maximize the transfer efficiency. Based on our observation, we design a two-stage transfer framework named VPGTrans, which is simple yet highly effective. Through extensive experiments, we demonstrate that VPGTrans helps significantly speed up the transfer learning process without compromising performance. Remarkably, it helps achieve the VPG transfer from BLIP-2 OPT$_\text{2.7B}$ to BLIP-2 OPT$_\text{6.7B}$ with over 10 times speed-up and 10.7% training data compared with connecting a VPG to OPT$_\text{6.7B}$ from scratch. Further, a series of intriguing findings and potential rationales behind them are provided and discussed. Finally, we showcase the practical value of our VPGTrans approach, by customizing two novel MLLMs, including VL-LLaMA and VL-Vicuna, with recently released LLaMA and Vicuna LLMs.

Xu Han, Zhengyan Zhang, Ning Ding et al.

Large-scale pre-trained models (PTMs) such as BERT and GPT have recently achieved great success and become a milestone in the field of artificial intelligence (AI). Owing to sophisticated pre-training objectives and huge model parameters, large-scale PTMs can effectively capture knowledge from massive labeled and unlabeled data. By storing knowledge into huge parameters and fine-tuning on specific tasks, the rich knowledge implicitly encoded in huge parameters can benefit a variety of downstream tasks, which has been extensively demonstrated via experimental verification and empirical analysis. It is now the consensus of the AI community to adopt PTMs as backbone for downstream tasks rather than learning models from scratch. In this paper, we take a deep look into the history of pre-training, especially its special relation with transfer learning and self-supervised learning, to reveal the crucial position of PTMs in the AI development spectrum. Further, we comprehensively review the latest breakthroughs of PTMs. These breakthroughs are driven by the surge of computational power and the increasing availability of data, towards four important directions: designing effective architectures, utilizing rich contexts, improving computational efficiency, and conducting interpretation and theoretical analysis. Finally, we discuss a series of open problems and research directions of PTMs, and hope our view can inspire and advance the future study of PTMs.

Kun Wu, Lijie Wang, Zhenghua Li et al.

Data augmentation has attracted a lot of research attention in the deep learning era for its ability in alleviating data sparseness. The lack of labeled data for unseen evaluation databases is exactly the major challenge for cross-domain text-to-SQL parsing. Previous works either require human intervention to guarantee the quality of generated data, or fail to handle complex SQL queries. This paper presents a simple yet effective data augmentation framework. First, given a database, we automatically produce a large number of SQL queries based on an abstract syntax tree grammar. For better distribution matching, we require that at least 80% of SQL patterns in the training data are covered by generated queries. Second, we propose a hierarchical SQL-to-question generation model to obtain high-quality natural language questions, which is the major contribution of this work. Finally, we design a simple sampling strategy that can greatly improve training efficiency given large amounts of generated data. Experiments on three cross-domain datasets, i.e., WikiSQL and Spider in English, and DuSQL in Chinese, show that our proposed data augmentation framework can consistently improve performance over strong baselines, and the hierarchical generation component is the key for the improvement.

Ao Zhang, Nan Li, Jian Pu et al.

Learning a classifier with control on the false-positive rate plays a critical role in many machine learning applications. Existing approaches either introduce prior knowledge dependent label cost or tune parameters based on traditional classifiers, which lack consistency in methodology because they do not strictly adhere to the false-positive rate constraint. In this paper, we propose a novel scoring-thresholding approach, tau-False Positive Learning (tau-FPL) to address this problem. We show the scoring problem which takes the false-positive rate tolerance into accounts can be efficiently solved in linear time, also an out-of-bootstrap thresholding method can transform the learned ranking function into a low false-positive classifier. Both theoretical analysis and experimental results show superior performance of the proposed tau-FPL over existing approaches.