3D Model-free Visual Localization System from Essential Matrix under Local Planar Motion

Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches for achieving accurate visual localization are 3D scene-specific, requiring additional computational and storage resources to construct a 3D scene model when facing a new environment. An alternative approach of directly using a database of 2D images for visual localization offers more flexibility. However, such methods currently suffer from limited localization accuracy. In this paper, we propose an accurate and robust multiple checking-based 3D model-free visual localization system to address the aforementioned issues. To ensure high accuracy, our focus is on estimating the pose of a query image relative to the retrieved database images using 2D-2D feature matches. Theoretically, by incorporating the local planar motion constraint into both the estimation of the essential matrix and the triangulation stages, we reduce the minimum required feature matches for absolute pose estimation, thereby enhancing the robustness of outlier rejection. Additionally, we introduce a multiple-checking mechanism to ensure the correctness of the solution throughout the solving process. For validation, qualitative and quantitative experiments are performed on both simulation and two real-world datasets and the experimental results demonstrate a significant enhancement in both accuracy and robustness afforded by the proposed 3D model-free visual localization system.

3D Model-free Visual localization System from Essential Matrix under Local Planar Motion

Visual localization plays a critical role in the functionality of low-cost autonomous mobile robots. Current state-of-the-art approaches to accurate visual localization are 3D scene-specific, requiring additional computational and storage resources to construct a 3D scene model when facing a new environment. An alternative approach of directly using a database of 2D images for visual localization offers more flexibility. However, such methods currently suffer from limited localization accuracy. In this paper, we propose a robust and accurate multiple checking-based 3D model-free visual localization system that addresses the aforementioned issues. The core idea is to model the local planar motion characteristic of general ground-moving robots into both essential matrix estimation and triangulation stages to obtain two minimal solutions. By embedding the proposed minimal solutions into the multiple checking scheme, the proposed 3D model-free visual localization framework demonstrates high accuracy and robustness in both simulation and real-world experiments.

A Large Language Model Enhanced Conversational Recommender System

Conversational recommender systems (CRSs) aim to recommend high-quality items to users through a dialogue interface. It usually contains multiple sub-tasks, such as user preference elicitation, recommendation, explanation, and item information search. To develop effective CRSs, there are some challenges: 1) how to properly manage sub-tasks; 2) how to effectively solve different sub-tasks; and 3) how to correctly generate responses that interact with users. Recently, Large Language Models (LLMs) have exhibited an unprecedented ability to reason and generate, presenting a new opportunity to develop more powerful CRSs. In this work, we propose a new LLM-based CRS, referred to as LLMCRS, to address the above challenges. For sub-task management, we leverage the reasoning ability of LLM to effectively manage sub-task. For sub-task solving, we collaborate LLM with expert models of different sub-tasks to achieve the enhanced performance. For response generation, we utilize the generation ability of LLM as a language interface to better interact with users. Specifically, LLMCRS divides the workflow into four stages: sub-task detection, model matching, sub-task execution, and response generation. LLMCRS also designs schema-based instruction, demonstration-based instruction, dynamic sub-task and model matching, and summary-based generation to instruct LLM to generate desired results in the workflow. Finally, to adapt LLM to conversational recommendations, we also propose to fine-tune LLM with reinforcement learning from CRSs performance feedback, referred to as RLPF. Experimental results on benchmark datasets show that LLMCRS with RLPF outperforms the existing methods.

Measuring Item Global Residual Value for Fair Recommendation

In the era of information explosion, numerous items emerge every day, especially in feed scenarios. Due to the limited system display slots and user browsing attention, various recommendation systems are designed not only to satisfy users' personalized information needs but also to allocate items' exposure. However, recent recommendation studies mainly focus on modeling user preferences to present satisfying results and maximize user interactions, while paying little attention to developing item-side fair exposure mechanisms for rational information delivery. This may lead to serious resource allocation problems on the item side, such as the Snowball Effect. Furthermore, unfair exposure mechanisms may hurt recommendation performance. In this paper, we call for a shift of attention from modeling user preferences to developing fair exposure mechanisms for items. We first conduct empirical analyses of feed scenarios to explore exposure problems between items with distinct uploaded times. This points out that unfair exposure caused by the time factor may be the major cause of the Snowball Effect. Then, we propose to explicitly model item-level customized timeliness distribution, Global Residual Value (GRV), for fair resource allocation. This GRV module is introduced into recommendations with the designed Timeliness-aware Fair Recommendation Framework (TaFR). Extensive experiments on two datasets demonstrate that TaFR achieves consistent improvements with various backbone recommendation models. By modeling item-side customized Global Residual Value, we achieve a fairer distribution of resources and, at the same time, improve recommendation performance.

Alleviating Matthew Effect of Offline Reinforcement Learning in Interactive Recommendation

Offline reinforcement learning (RL), a technology that offline learns a policy from logged data without the need to interact with online environments, has become a favorable choice in decision-making processes like interactive recommendation. Offline RL faces the value overestimation problem. To address it, existing methods employ conservatism, e.g., by constraining the learned policy to be close to behavior policies or punishing the rarely visited state-action pairs. However, when applying such offline RL to recommendation, it will cause a severe Matthew effect, i.e., the rich get richer and the poor get poorer, by promoting popular items or categories while suppressing the less popular ones. It is a notorious issue that needs to be addressed in practical recommender systems. In this paper, we aim to alleviate the Matthew effect in offline RL-based recommendation. Through theoretical analyses, we find that the conservatism of existing methods fails in pursuing users' long-term satisfaction. It inspires us to add a penalty term to relax the pessimism on states with high entropy of the logging policy and indirectly penalizes actions leading to less diverse states. This leads to the main technical contribution of the work: Debiased model-based Offline RL (DORL) method. Experiments show that DORL not only captures user interests well but also alleviates the Matthew effect. The implementation is available via https://github.com/chongminggao/DORL-codes.

Generative Flow Network for Listwise Recommendation

Personalized recommender systems fulfill the daily demands of customers and boost online businesses. The goal is to learn a policy that can generate a list of items that matches the user's demand or interest. While most existing methods learn a pointwise scoring model that predicts the ranking score of each individual item, recent research shows that the listwise approach can further improve the recommendation quality by modeling the intra-list correlations of items that are exposed together. This has motivated the recent list reranking and generative recommendation approaches that optimize the overall utility of the entire list. However, it is challenging to explore the combinatorial space of list actions and existing methods that use cross-entropy loss may suffer from low diversity issues. In this work, we aim to learn a policy that can generate sufficiently diverse item lists for users while maintaining high recommendation quality. The proposed solution, GFN4Rec, is a generative method that takes the insight of the flow network to ensure the alignment between list generation probability and its reward. The key advantages of our solution are the log scale reward matching loss that intrinsically improves the generation diversity and the autoregressive item selection model that captures the item mutual influences while capturing future reward of the list. As validation of our method's effectiveness and its superior diversity during active exploration, we conduct experiments on simulated online environments as well as an offline evaluation framework for two real-world datasets.

State Regularized Policy Optimization on Data with Dynamics Shift

In many real-world scenarios, Reinforcement Learning (RL) algorithms are trained on data with dynamics shift, i.e., with different underlying environment dynamics. A majority of current methods address such issue by training context encoders to identify environment parameters. Data with dynamics shift are separated according to their environment parameters to train the corresponding policy. However, these methods can be sample inefficient as data are used \textit{ad hoc}, and policies trained for one dynamics cannot benefit from data collected in all other environments with different dynamics. In this paper, we find that in many environments with similar structures and different dynamics, optimal policies have similar stationary state distributions. We exploit such property and learn the stationary state distribution from data with dynamics shift for efficient data reuse. Such distribution is used to regularize the policy trained in a new environment, leading to the SRPO (\textbf{S}tate \textbf{R}egularized \textbf{P}olicy \textbf{O}ptimization) algorithm. To conduct theoretical analyses, the intuition of similar environment structures is characterized by the notion of homomorphous MDPs. We then demonstrate a lower-bound performance guarantee on policies regularized by the stationary state distribution. In practice, SRPO can be an add-on module to context-based algorithms in both online and offline RL settings. Experimental results show that SRPO can make several context-based algorithms far more data efficient and significantly improve their overall performance.

Tree based Progressive Regression Model for Watch-Time Prediction in Short-video Recommendation

An accurate prediction of watch time has been of vital importance to enhance user engagement in video recommender systems. To achieve this, there are four properties that a watch time prediction framework should satisfy: first, despite its continuous value, watch time is also an ordinal variable and the relative ordering between its values reflects the differences in user preferences. Therefore the ordinal relations should be reflected in watch time predictions. Second, the conditional dependence between the video-watching behaviors should be captured in the model. For instance, one has to watch half of the video before he/she finishes watching the whole video. Third, modeling watch time with a point estimation ignores the fact that models might give results with high uncertainty and this could cause bad cases in recommender systems. Therefore the framework should be aware of prediction uncertainty. Forth, the real-life recommender systems suffer from severe bias amplifications thus an estimation without bias amplification is expected. Therefore we propose TPM for watch time prediction. Specifically, the ordinal ranks of watch time are introduced into TPM and the problem is decomposed into a series of conditional dependent classification tasks which are organized into a tree structure. The expectation of watch time can be generated by traversing the tree and the variance of watch time predictions is explicitly introduced into the objective function as a measurement for uncertainty. Moreover, we illustrate that backdoor adjustment can be seamlessly incorporated into TPM, which alleviates bias amplifications. Extensive offline evaluations have been conducted in public datasets and TPM have been deployed in a real-world video app Kuaishou with over 300 million DAUs. The results indicate that TPM outperforms state-of-the-art approaches and indeed improves video consumption significantly.

Grouping Method for mmWave Massive MIMO System: Exploitation of Angular Multiplexing Gain

A future millimeter-wave (mmWave) massive multiple-input and multiple-output (MIMO) system may serve hundreds or thousands of users at the same time; thus, research on multiple access technology is particularly important.Moreover, due to the short-wavelength nature of a mmWave, large-scale arrays are easier to implement than microwaves, while their directivity and sparseness make the physical beamforming effect of precoding more prominent.In consideration of the mmWave angle division multiple access (ADMA) system based on precoding, this paper investigates the influence of the angle distribution on system performance, which is denoted as the angular multiplexing gain.Furthermore, inspired by the above research, we transform the ADMA user grouping problem to maximize the system sum-rate into the inter-user angular spacing equalization problem.Then, the form of the optimal solution for the approximate problem is derived, and the corresponding grouping algorithm is proposed.The simulation results demonstrate that the proposed algorithm performs better than the comparison methods.Finally, a complexity analysis also shows that the proposed algorithm has extremely low complexity.

Improving Extrinsics between RADAR and LIDAR using Learning

LIDAR and RADAR are two commonly used sensors in autonomous driving systems. The extrinsic calibration between the two is crucial for effective sensor fusion. The challenge arises due to the low accuracy and sparse information in RADAR measurements. This paper presents a novel solution for 3D RADAR-LIDAR calibration in autonomous systems. The method employs simple targets to generate data, including correspondence registration and a one-step optimization algorithm. The optimization aims to minimize the reprojection error while utilizing a small multi-layer perception (MLP) to perform regression on the return energy of the sensor around the targets. The proposed approach uses a deep learning framework such as PyTorch and can be optimized through gradient descent. The experiment uses a 360-degree Ouster-128 LIDAR and a 360-degree Navtech RADAR, providing raw measurements. The results validate the effectiveness of the proposed method in achieving improved estimates of extrinsic calibration parameters.