Lin Li

Lin Li, Wendong Ding, Yongkun Wen et al. · baidu

Pairwise point cloud registration is a critical task for many applications, which heavily depends on finding correct correspondences from the two point clouds. However, the low overlap between input point clouds causes the registration to fail easily, leading to mistaken overlapping and mismatched correspondences, especially in scenes where non-overlapping regions contain similar structures. In this paper, we present a unified bird's-eye view (BEV) model for jointly learning of 3D local features and overlap estimation to fulfill pairwise registration and loop closure. Feature description is performed by a sparse UNet-like network based on BEV representation, and 3D keypoints are extracted by a detection head for 2D locations, and a regression head for heights. For overlap detection, a cross-attention module is applied for interacting contextual information of input point clouds, followed by a classification head to estimate the overlapping region. We evaluate our unified model extensively on the KITTI dataset and Apollo-SouthBay dataset. The experiments demonstrate that our method significantly outperforms existing methods on overlap estimation, especially in scenes with small overlaps. It also achieves top registration performance on both datasets in terms of translation and rotation errors.

Chencan Fu, Lin Li, Jianbiao Mei et al.

Place recognition is a challenging but crucial task in robotics. Current description-based methods may be limited by representation capabilities, while pairwise similarity-based methods require exhaustive searches, which is time-consuming. In this paper, we present a novel coarse-to-fine approach to address these problems, which combines BEV (Bird's Eye View) feature extraction, coarse-grained matching and fine-grained verification. In the coarse stage, our approach utilizes an attention-guided network to generate attention-guided descriptors. We then employ a fast affinity-based candidate selection process to identify the Top-K most similar candidates. In the fine stage, we estimate pairwise overlap among the narrowed-down place candidates to determine the final match. Experimental results on the KITTI and KITTI-360 datasets demonstrate that our approach outperforms state-of-the-art methods. The code will be released publicly soon.

Lijun Zhang, Lin Li, Yajie Qi et al.

When fine-tuning pre-trained Large Language Models (LLMs) to align with human values and intentions, maximizing the estimated reward can lead to superior performance, but it also introduces potential risks due to deviations from the reference model's intended behavior. Most existing methods typically introduce KL divergence to constrain deviations between the trained model and the reference model; however, this may not be sufficient in certain applications that require tight risk control. In this paper, we introduce Risk-aware Direct Preference Optimization (Ra-DPO), a novel approach that incorporates risk-awareness by employing a class of nested risk measures. This approach formulates a constrained risk-aware advantage function maximization problem and then converts the Bradley-Terry model into a token-level representation. The objective function maximizes the likelihood of the policy while suppressing the deviation between a trained model and the reference model using a sequential risk ratio, thereby enhancing the model's risk-awareness. Experimental results across three open-source datasets: IMDb Dataset, Anthropic HH Dataset, and AlpacaEval, demonstrate the proposed method's superior performance in balancing alignment performance and model drift. Our code is opensourced at https://github.com/zlj123-max/Ra-DPO.

Lin Li, Xin Kong, Xiangrui Zhao et al.

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds challenging. Existing works usually encode low-level features such as coordinate, normal, reflection intensity, etc., as local or global descriptors to represent scenes. Besides, they often ignore the translation between point clouds when matching descriptors. Different from most existing methods, we explore the use of high-level features, namely semantics, to improve the descriptor's representation ability. Also, when matching descriptors, we try to correct the translation between point clouds to improve accuracy. Concretely, we propose a novel global descriptor, Semantic Scan Context, which explores semantic information to represent scenes more effectively. We also present a two-step global semantic ICP to obtain the 3D pose (x, y, yaw) used to align the point cloud to improve matching performance. Our experiments on the KITTI dataset show that our approach outperforms the state-of-the-art methods with a large margin. Our code is available at: https://github.com/lilin-hitcrt/SSC.

Yiming Cui, Zhiwen Cao, Yixin Xie et al.

Multi-object tracking and segmentation (MOTS) is a critical task for autonomous driving applications. The existing MOTS studies face two critical challenges: 1) the published datasets inadequately capture the real-world complexity for network training to address various driving settings; 2) the working pipeline annotation tool is under-studied in the literature to improve the quality of MOTS learning examples. In this work, we introduce the DG-Labeler and DGL-MOTS dataset to facilitate the training data annotation for the MOTS task and accordingly improve network training accuracy and efficiency. DG-Labeler uses the novel Depth-Granularity Module to depict the instance spatial relations and produce fine-grained instance masks. Annotated by DG-Labeler, our DGL-MOTS dataset exceeds the prior effort (i.e., KITTI MOTS and BDD100K) in data diversity, annotation quality, and temporal representations. Results on extensive cross-dataset evaluations indicate significant performance improvements for several state-of-the-art methods trained on our DGL-MOTS dataset. We believe our DGL-MOTS Dataset and DG-Labeler hold the valuable potential to boost the visual perception of future transportation.

Binling Wang, Wenxuan Hu, Jing Li et al.

This paper introduces the sixth Oriental Language Recognition (OLR) 2021 Challenge, which intends to improve the performance of language recognition systems and speech recognition systems within multilingual scenarios. The data profile, four tasks, two baselines, and the evaluation principles are introduced in this paper. In addition to the Language Identification (LID) tasks, multilingual Automatic Speech Recognition (ASR) tasks are introduced to OLR 2021 Challenge for the first time. The challenge this year focuses on more practical and challenging problems, with four tasks: (1) constrained LID, (2) unconstrained LID, (3) constrained multilingual ASR, (4) unconstrained multilingual ASR. Baselines for LID tasks and multilingual ASR tasks are provided, respectively. The LID baseline system is an extended TDNN x-vector model constructed with Pytorch. A transformer-based end-to-end model is provided as the multilingual ASR baseline system. These recipes will be online published, and available for participants to construct their own LID or ASR systems. The baseline results demonstrate that those tasks are rather challenging and deserve more effort to achieve better performance.

Lin Li, Ananthram Swami, Anna Scaglione

We propose a probabilistic modeling framework for learning the dynamic patterns in the collective behaviors of social agents and developing profiles for different behavioral groups, using data collected from multiple information sources. The proposed model is based on a hierarchical Bayesian process, in which each observation is a finite mixture of an set of latent groups and the mixture proportions (i.e., group probabilities) are drawn randomly. Each group is associated with some distributions over a finite set of outcomes. Moreover, as time evolves, the structure of these groups also changes; we model the change in the group structure by a hidden Markov model (HMM) with a fixed transition probability. We present an efficient inference method based on tensor decompositions and the expectation-maximization (EM) algorithm for parameter estimation.