Lizhi Cheng

Tao Sun, Hao Jiang, Lizhi Cheng et al.

In this paper, we consider the convergence of an abstract inexact nonconvex and nonsmooth algorithm. We promise a pseudo sufficient descent condition and a pseudo relative error condition, which are both related to an auxiliary sequence, for the algorithm; and a continuity condition is assumed to hold. In fact, a lot of classical inexact nonconvex and nonsmooth algorithms allow these three conditions. Under a special kind of summable assumption on the auxiliary sequence, we prove the sequence generated by the general algorithm converges to a critical point of the objective function if being assumed Kurdyka- Lojasiewicz property. The core of the proofs lies in building a new Lyapunov function, whose successive difference provides a bound for the successive difference of the points generated by the algorithm. And then, we apply our findings to several classical nonconvex iterative algorithms and derive the corresponding convergence results

Peibing Du, Roberto Barrio, Hao Jiang et al.

The compensated quotient-difference (Compqd) algorithm is proposed along with some applications. The main motivation is based on the fact that the standard quotient-difference (qd) algorithm can be numerically unstable. The Compqd algorithm is obtained by applying error-free transformations to improve the traditional qd algorithm. We study in detail the error analysis of the qd and Compqd algorithms and we introduce new condition numbers so that the relative forward rounding error bounds can be derived directly. Our numerical experiments illustrate that the Compqd algorithm is much more accurate than the qd algorithm, relegating the influence of the condition numbers up to second order in the rounding unit of the computer. Three applications of the new algorithm in the obtention of continued fractions and in pole and zero detection are shown.

Lizhi Cheng, Wenmian Yang, Weijia Jia

Multi-Intent Spoken Language Understanding (SLU), a novel and more complex scenario of SLU, is attracting increasing attention. Unlike traditional SLU, each intent in this scenario has its specific scope. Semantic information outside the scope even hinders the prediction, which tremendously increases the difficulty of intent detection. More seriously, guiding slot filling with these inaccurate intent labels suffers error propagation problems, resulting in unsatisfied overall performance. To solve these challenges, in this paper, we propose a novel Scope-Sensitive Result Attention Network (SSRAN) based on Transformer, which contains a Scope Recognizer (SR) and a Result Attention Network (RAN). Scope Recognizer assignments scope information to each token, reducing the distraction of out-of-scope tokens. Result Attention Network effectively utilizes the bidirectional interaction between results of slot filling and intent detection, mitigating the error propagation problem. Experiments on two public datasets indicate that our model significantly improves SLU performance (5.4\% and 2.1\% on Overall accuracy) over the state-of-the-art baseline.

Lizhi Cheng, Weijia jia, Wenmian Yang

Spoken Language Understanding (SLU), a core component of the task-oriented dialogue system, expects a shorter inference facing the impatience of human users. Existing work increases inference speed by designing non-autoregressive models for single-turn SLU tasks but fails to apply to multi-turn SLU in confronting the dialogue history. The intuitive idea is to concatenate all historical utterances and utilize the non-autoregressive models directly. However, this approach seriously misses the salient historical information and suffers from the uncoordinated-slot problems. To overcome those shortcomings, we propose a novel model for multi-turn SLU named Salient History Attention with Layer-Refined Transformer (SHA-LRT), which composes of an SHA module, a Layer-Refined Mechanism (LRM), and a Slot Label Generation (SLG) task. SHA captures salient historical information for the current dialogue from both historical utterances and results via a well-designed history-attention mechanism. LRM predicts preliminary SLU results from Transformer's middle states and utilizes them to guide the final prediction, and SLG obtains the sequential dependency information for the non-autoregressive encoder. Experiments on public datasets indicate that our model significantly improves multi-turn SLU performance (17.5% on Overall) with accelerating (nearly 15 times) the inference process over the state-of-the-art baseline as well as effective on the single-turn SLU tasks.

Kang Zhao, Lizhi Cheng, Shengguo Li et al.

This paper concerns the model updating problems with no spillover of the quadratic palindromic system $P(λ)=λ^2 A^{\star}+λQ+A$

Jeremy A. Collins, Loránd Cheng, Kunal Aneja et al.

Action-labeled data for robotics is scarce and expensive, limiting the generalization of learned policies. In contrast, vast amounts of action-free video data are readily available, but translating these observations into effective policies remains a challenge. We introduce AMPLIFY, a novel framework that leverages large-scale video data by encoding visual dynamics into compact, discrete motion tokens derived from keypoint trajectories. Our modular approach separates visual motion prediction from action inference, decoupling the challenges of learning what motion defines a task from how robots can perform it. We train a forward dynamics model on abundant action-free videos and an inverse dynamics model on a limited set of action-labeled examples, allowing for independent scaling. Extensive evaluations demonstrate that the learned dynamics are both accurate, achieving up to 3.7x better MSE and over 2.5x better pixel prediction accuracy compared to prior approaches, and broadly useful. In downstream policy learning, our dynamics predictions enable a 1.2-2.2x improvement in low-data regimes, a 1.4x average improvement by learning from action-free human videos, and the first generalization to LIBERO tasks from zero in-distribution action data. Beyond robotic control, we find the dynamics learned by AMPLIFY to be a versatile latent world model, enhancing video prediction quality. Our results present a novel paradigm leveraging heterogeneous data sources to build efficient, generalizable world models. More information can be found at https://amplify-robotics.github.io/.

Tao Sun, Hao Jiang, Lizhi Cheng et al.

In this paper, we consider the convergence of an abstract inexact nonconvex and nonsmooth algorithm. We promise a pseudo sufficient descent condition and a pseudo relative error condition, which are both related to an auxiliary sequence, for the algorithm; and a continuity condition is assumed to hold. In fact, a lot of classical inexact nonconvex and nonsmooth algorithms allow these three conditions. Under a special kind of summable assumption on the auxiliary sequence, we prove the sequence generated by the general algorithm converges to a critical point of the objective function if being assumed Kurdyka- Lojasiewicz property. The core of the proofs lies in building a new Lyapunov function, whose successive difference provides a bound for the successive difference of the points generated by the algorithm. And then, we apply our findings to several classical nonconvex iterative algorithms and derive the corresponding convergence results