Ke Wang

Yining Shi, Kun Jiang, Ke Wang et al. · tsinghua

Predicting the future occupancy states of the surrounding environment is a vital task for autonomous driving. However, current best-performing single-modality methods or multi-modality fusion perception methods are only able to predict uniform snapshots of future occupancy states and require strictly synchronized sensory data for sensor fusion. We propose a novel framework, StreamingFlow, to lift these strong limitations. StreamingFlow is a novel BEV occupancy predictor that ingests asynchronous multi-sensor data streams for fusion and performs streaming forecasting of the future occupancy map at any future timestamps. By integrating neural ordinary differential equations (N-ODE) into recurrent neural networks, StreamingFlow learns derivatives of BEV features over temporal horizons, updates the implicit sensor's BEV features as part of the fusion process, and propagates BEV states to the desired future time point. It shows good zero-shot generalization ability of prediction, reflected in the interpolation of the observed prediction time horizon and the reasonable inference of the unseen farther future period. Extensive experiments on two large-scale datasets, nuScenes and Lyft L5, demonstrate that StreamingFlow significantly outperforms previous vision-based, LiDAR-based methods, and shows superior performance compared to state-of-the-art fusion-based methods.

Xin Ge, Ke Wang, Jiayi Wang et al.

This paper describes the joint submission of Alibaba and Soochow University, TSMind, to the WMT 2022 Shared Task on Translation Suggestion (TS). We participate in the English-German and English-Chinese tasks. Basically, we utilize the model paradigm fine-tuning on the downstream tasks based on large-scale pre-trained models, which has recently achieved great success. We choose FAIR's WMT19 English-German news translation system and MBART50 for English-Chinese as our pre-trained models. Considering the task's condition of limited use of training data, we follow the data augmentation strategies proposed by WeTS to boost our TS model performance. The difference is that we further involve the dual conditional cross-entropy model and GPT-2 language model to filter augmented data. The leader board finally shows that our submissions are ranked first in three of four language directions in the Naive TS task of the WMT22 Translation Suggestion task.

Ke Wang, Xin Ge, Jiayi Wang et al.

Machine translation technology has made great progress in recent years, but it cannot guarantee error free results. Human translators perform post editing on machine translations to correct errors in the scene of computer aided translation. In favor of expediting the post editing process, many works have investigated machine translation in interactive modes, in which machines can automatically refine the rest of translations constrained by human's edits. Translation Suggestion (TS), as an interactive mode to assist human translators, requires machines to generate alternatives for specific incorrect words or phrases selected by human translators. In this paper, we utilize the parameterized objective function of neural machine translation (NMT) and propose a novel constrained decoding algorithm, namely Prefix Suffix Guided Decoding (PSGD), to deal with the TS problem without additional training. Compared to the state of the art lexically constrained decoding method, PSGD improves translation quality by an average of $10.87$ BLEU and $8.62$ BLEU on the WeTS and the WMT 2022 Translation Suggestion datasets, respectively, and reduces decoding time overhead by an average of 63.4% tested on the WMT translation datasets. Furthermore, on both of the TS benchmark datasets, it is superior to other supervised learning systems trained with TS annotated data.

Yining Shi, Kun Jiang, Qiang Meng et al. · tsinghua

World models are critical for autonomous driving to simulate environmental dynamics and generate synthetic data. Existing methods struggle to disentangle ego-vehicle motion (perspective shifts) from scene evolvement (agent interactions), leading to suboptimal predictions. Instead, we propose to separate environmental changes from ego-motion by leveraging the scene-centric coordinate systems. In this paper, we introduce COME: a framework that integrates scene-centric forecasting Control into the Occupancy world ModEl. Specifically, COME first generates ego-irrelevant, spatially consistent future features through a scene-centric prediction branch, which are then converted into scene condition using a tailored ControlNet. These condition features are subsequently injected into the occupancy world model, enabling more accurate and controllable future occupancy predictions. Experimental results on the nuScenes-Occ3D dataset show that COME achieves consistent and significant improvements over state-of-the-art (SOTA) methods across diverse configurations, including different input sources (ground-truth, camera-based, fusion-based occupancy) and prediction horizons (3s and 8s). For example, under the same settings, COME achieves 26.3% better mIoU metric than DOME and 23.7% better mIoU metric than UniScene. These results highlight the efficacy of disentangled representation learning in enhancing spatio-temporal prediction fidelity for world models. Code and videos will be available at https://github.com/synsin0/COME.

Ke Wang, Jun Xie, Yuqi Zhang et al.

Improving neural machine translation (NMT) systems with prompting has achieved significant progress in recent years. In this work, we focus on how to integrate multi-knowledge, multiple types of knowledge, into NMT models to enhance the performance with prompting. We propose a unified framework, which can integrate effectively multiple types of knowledge including sentences, terminologies/phrases and translation templates into NMT models. We utilize multiple types of knowledge as prefix-prompts of input for the encoder and decoder of NMT models to guide the translation process. The approach requires no changes to the model architecture and effectively adapts to domain-specific translation without retraining. The experiments on English-Chinese and English-German translation demonstrate that our approach significantly outperform strong baselines, achieving high translation quality and terminology match accuracy.

Estrid He, Tabinda Sarwar, Ibrahim Khalil et al.

The past a few years have witnessed the great success of large language models, demonstrating powerful capabilities in comprehending textual data and generating human-like languages. Large language models achieve success by being trained on vast amounts of textual data, including online sources with copyrighted content and user-generated knowledge. However, this comes at a cost: the potential risk of exposing users' privacy and violating copyright protections. Thus, to safeguard individuals' "right to be forgotten", there has been increasing interests in machine unlearning -- the process of removing information carried by particular training samples from a model while not deteriorating its predictive quality. This is a challenging task due to the black-box nature of language models. Most existing studies focus on mitigating the impact of those forgot samples upon a model's outputs, and do not explicitly consider the geometric distributions of samples in the latent space of a model. To address this issue, we propose a machine unlearning framework, named Deep Contrastive Unlearning for fine-Tuning (DeepCUT) language models. Our proposed model achieves machine unlearning by directly optimizing the latent space of a model. Comprehensive experiments on real-world datasets demonstrate the effectiveness and efficiency of DeepCUT with consistent and significant improvement over baseline methods.

Jinpeng Zhang, Nini Xiao, Ke Wang et al.

Lexically constrained neural machine translation (LCNMT), which controls the translation generation with pre-specified constraints, is important in many practical applications. Current approaches to LCNMT typically assume that the pre-specified lexical constraints are contextually appropriate. This assumption limits their application to real-world scenarios where a source lexicon may have multiple target constraints, and disambiguation is needed to select the most suitable one. In this paper, we propose disambiguated LCNMT (D-LCNMT) to solve the problem. D-LCNMT is a robust and effective two-stage framework that disambiguates the constraints based on contexts at first, then integrates the disambiguated constraints into LCNMT. Experimental results show that our approach outperforms strong baselines including existing data augmentation based approaches on benchmark datasets, and comprehensive experiments in scenarios where a source lexicon corresponds to multiple target constraints demonstrate the constraint disambiguation superiority of our approach.

Jiayi Wang, Ke Wang, Yuqi Zhang et al.

Non-parametric, k-nearest-neighbor algorithms have recently made inroads to assist generative models such as language models and machine translation decoders. We explore whether such non-parametric models can improve machine translation models at the fine-tuning stage by incorporating statistics from the kNN predictions to inform the gradient updates for a baseline translation model. There are multiple methods which could be used to incorporate kNN statistics and we investigate gradient scaling by a gating mechanism, the kNN's ground truth probability, and reinforcement learning. For four standard in-domain machine translation datasets, compared with classic fine-tuning, we report consistent improvements of all of the three methods by as much as 1.45 BLEU and 1.28 BLEU for German-English and English-German translations respectively. Through qualitative analysis, we found particular improvements when it comes to translating grammatical relations or function words, which results in increased fluency of our model.

Jiayi Wang, Ke Wang, Boxing Chen et al.

Quality Estimation, as a crucial step of quality control for machine translation, has been explored for years. The goal is to investigate automatic methods for estimating the quality of machine translation results without reference translations. In this year's WMT QE shared task, we utilize the large-scale XLM-Roberta pre-trained model and additionally propose several useful features to evaluate the uncertainty of the translations to build our QE system, named \textit{QEMind}. The system has been applied to the sentence-level scoring task of Direct Assessment and the binary score prediction task of Critical Error Detection. In this paper, we present our submissions to the WMT 2021 QE shared task and an extensive set of experimental results have shown us that our multilingual systems outperform the best system in the Direct Assessment QE task of WMT 2020.

Lovedeep Gondara, Ke Wang, Ricardo Silva Carvalho

Learning from continuous data streams via classification/regression is prevalent in many domains. Adapting to evolving data characteristics (concept drift) while protecting data owners' private information is an open challenge. We present a differentially private ensemble solution to this problem with two distinguishing features: it allows an \textit{unbounded} number of ensemble updates to deal with the potentially never-ending data streams under a fixed privacy budget, and it is \textit{model agnostic}, in that it treats any pre-trained differentially private classification/regression model as a black-box. Our method outperforms competitors on real-world and simulated datasets for varying settings of privacy, concept drift, and data distribution.

Ke Wang, Yangbin Shi, Jiayi Wang et al.

Quality Estimation (QE) plays an essential role in applications of Machine Translation (MT). Traditionally, a QE system accepts the original source text and translation from a black-box MT system as input. Recently, a few studies indicate that as a by-product of translation, QE benefits from the model and training data's information of the MT system where the translations come from, and it is called the "glass-box QE". In this paper, we extend the definition of "glass-box QE" generally to uncertainty quantification with both "black-box" and "glass-box" approaches and design several features deduced from them to blaze a new trial in improving QE's performance. We propose a framework to fuse the feature engineering of uncertainty quantification into a pre-trained cross-lingual language model to predict the translation quality. Experiment results show that our method achieves state-of-the-art performances on the datasets of WMT 2020 QE shared task.

Ke Wang, Guiyang Xin, Songyan Xin et al.

To achieve highly dynamic jumps of legged robots, it is essential to control the rotational dynamics of the robot. In this paper, we aim to improve the jumping performance by proposing a unified model for planning highly dynamic jumps that can approximately model the centroidal inertia. This model abstracts the robot as a single rigid body for the base and point masses for the legs. The model is called the Lump Leg Single Rigid Body Model (LL-SRBM) and can be used to plan motions for both bipedal and quadrupedal robots. By taking the effects of leg dynamics into account, LL-SRBM provides a computationally efficient way for the motion planner to change the centroidal inertia of the robot with various leg configurations. Concurrently, we propose a novel contact detection method by using the norm of the average spatial velocity. After the contact is detected, the controller is switched to force control to achieve a soft landing. Twisting jump and forward jump experiments on the bipedal robot SLIDER and quadrupedal robot ANYmal demonstrate the improved jump performance by actively changing the centroidal inertia. These experiments also show the generalization and the robustness of the integrated planning and control framework.

Ke Wang, Christos Thrampoulidis

Deep neural networks generalize well despite being exceedingly overparameterized and being trained without explicit regularization. This curious phenomenon has inspired extensive research activity in establishing its statistical principles: Under what conditions is it observed? How do these depend on the data and on the training algorithm? When does regularization benefit generalization? While such questions remain wide open for deep neural nets, recent works have attempted gaining insights by studying simpler, often linear, models. Our paper contributes to this growing line of work by examining binary linear classification under a generative Gaussian mixture model. Motivated by recent results on the implicit bias of gradient descent, we study both max-margin SVM classifiers (corresponding to logistic loss) and min-norm interpolating classifiers (corresponding to least-squares loss). First, we leverage an idea introduced in [V. Muthukumar et al., arXiv:2005.08054, (2020)] to relate the SVM solution to the min-norm interpolating solution. Second, we derive novel non-asymptotic bounds on the classification error of the latter. Combining the two, we present novel sufficient conditions on the covariance spectrum and on the signal-to-noise ratio (SNR) under which interpolating estimators achieve asymptotically optimal performance as overparameterization increases. Interestingly, our results extend to a noisy model with constant probability noise flips. Contrary to previously studied discriminative data models, our results emphasize the crucial role of the SNR and its interplay with the data covariance. Finally, via a combination of analytical arguments and numerical demonstrations we identify conditions under which the interpolating estimator performs better than corresponding regularized estimates.

Digby Chappell, Ke Wang, Petar Kormushev

Online footstep planning is essential for bipedal walking robots to be able to walk in the presence of disturbances. Until recently this has been achieved by only optimizing the placement of the footstep, keeping the duration of the step constant. In this paper we introduce a footstep planner capable of optimizing footstep placement and timing in real-time by asynchronously combining two optimizers, which we refer to as asynchronous real-time optimization (ARTO). The first optimizer which runs at approximately 25 Hz, utilizes a fourth-order Runge-Kutta (RK4) method to accurately approximate the dynamics of the linear inverted pendulum (LIP) model for bipedal walking, then uses non-linear optimization to find optimal footsteps and duration at a lower frequency. The second optimizer that runs at approximately 250 Hz, uses analytical gradients derived from the full dynamics of the LIP model and constraint penalty terms to perform gradient descent, which finds approximately optimal footstep placement and timing at a higher frequency. By combining the two optimizers asynchronously, ARTO has the benefits of fast reactions to disturbances from the gradient descent optimizer, accurate solutions that avoid local optima from the RK4 optimizer, and increases the probability that a feasible solution will be found from the two optimizers. Experimentally, we show that ARTO is able to recover from considerably larger pushes and produces feasible solutions to larger reference velocity changes than a standard footstep location optimizer, and outperforms using just the RK4 optimizer alone.