Bowen Huang

Yanwei Zheng, Shaopu Feng, Bowen Huang et al.

Inspired by human-like behaviors for navigation: first searching to explore unknown areas before discovering the target, and then the pathfinding of moving towards the discovered target, recent studies design parallel submodules to achieve different functions in the searching and pathfinding stages, while ignoring the differences in reward signals between the two stages. As a result, these models often cannot be fully trained or are overfitting on training scenes. Another bottleneck that restricts agents from learning two-stage strategies is spatial perception ability, since the studies used generic visual encoders without considering the depth information of navigation scenes. To release the potential of the model on strategy learning, we propose the Two-Stage Reward Mechanism (TSRM) for object navigation that decouples the searching and pathfinding behaviours in an episode, enabling the agent to explore larger area in searching stage and seek the optimal path in pathfinding stage. Also, we propose a pretraining method Depth Enhanced Masked Autoencoders (DE-MAE) that enables agent to determine explored and unexplored areas during the searching stage, locate target object and plan paths during the pathfinding stage more accurately. In addition, we propose a new metric of Searching Success weighted by Searching Path Length (SSSPL) that assesses agent's searching ability and exploring efficiency. Finally, we evaluated our method on AI2-Thor and RoboTHOR extensively and demonstrated it can outperform the state-of-the-art (SOTA) methods in both the success rate and the navigation efficiency.

Bowen Huang, Yanwei Zheng, Chuanlin Lan et al.

Vision-and-Language Navigation (VLN) is a challenging task where an agent is required to navigate to a natural language described location via vision observations. The navigation abilities of the agent can be enhanced by the relations between objects, which are usually learned using internal objects or external datasets. The relationships between internal objects are modeled employing graph convolutional network (GCN) in traditional studies. However, GCN tends to be shallow, limiting its modeling ability. To address this issue, we utilize a cross attention mechanism to learn the connections between objects over a trajectory, which takes temporal continuity into account, termed as Temporal Object Relations (TOR). The external datasets have a gap with the navigation environment, leading to inaccurate modeling of relations. To avoid this problem, we construct object connections based on observations from all viewpoints in the navigational environment, which ensures complete spatial coverage and eliminates the gap, called Spatial Object Relations (SOR). Additionally, we observe that agents may repeatedly visit the same location during navigation, significantly hindering their performance. For resolving this matter, we introduce the Turning Back Penalty (TBP) loss function, which penalizes the agent's repetitive visiting behavior, substantially reducing the navigational distance. Experimental results on the REVERIE, SOON, and R2R datasets demonstrate the effectiveness of the proposed method.

Xiao Yan, Zhixiong Di, Bowen Huang et al.

Although it has been surpassed by many subsequent coding standards, JPEG occupies a large share of the storage load of the current data hosting service. To reduce the storage costs, DropBox proposed a lossless secondary compression algorithm, Lepton, to further improve the compression rate of JPEG images. However, the bloated probability models defined by Lepton severely restrict its throughput and energy efficiency. To solve this problem, we construct an efficient access probability-based hash function for the probability models, and then propose a hardware-friendly memory optimization method by combining the proposed hash function and the N-way Set-Associative unit. After that, we design a highly parameterized hardware structure for the probability models and finally implement a power and area efficient Lepton hardware encoder. To the best of our knowledge, this is the first hardware implementation of Lepton. The synthesis result shows that the proposed hardware structure reduces the total area of the probability models by 70.97%. Compared with DropBox's software solution, the throughput and the energy efficiency of the proposed Lepton hardware encoder are increased by 55.25 and 4899 times respectively. In terms of manufacturing cost, the proposed Lepton hardware encoder is also significantly lower than the general-purpose CPU used by DropBox.