MiLMo:Minority Multilingual Pre-trained Language Model

Pre-trained language models are trained on large-scale unsupervised data, and they can be fine-tuned on small-scale labeled datasets and achieve good results. Multilingual pre-trained language models can be trained on multiple languages and understand multiple languages at the same time. At present, the research on pre-trained models mainly focuses on rich-resource language, while there is relatively little research on low-resource languages such as minority languages, and the public multilingual pre-trained language model can not work well for minority languages. Therefore, this paper constructs a multilingual pre-trained language model named MiLMo that performs better on minority language tasks, including Mongolian, Tibetan, Uyghur, Kazakh and Korean. To solve the problem of scarcity of datasets on minority languages and verify the effectiveness of the MiLMo model, this paper constructs a minority multilingual text classification dataset named MiTC, and trains a word2vec model for each language. By comparing the word2vec model and the pre-trained model in the text classification task, this paper provides an optimal scheme for the downstream task research of minority languages. The final experimental results show that the performance of the pre-trained model is better than that of the word2vec model, and it has achieved the best results in minority multilingual text classification. The multilingual pre-trained language model MiLMo, multilingual word2vec model and multilingual text classification dataset MiTC are published on https://milmo.cmli-nlp.com.

TiBERT: Tibetan Pre-trained Language Model

The pre-trained language model is trained on large-scale unlabeled text and can achieve state-of-the-art results in many different downstream tasks. However, the current pre-trained language model is mainly concentrated in the Chinese and English fields. For low resource language such as Tibetan, there is lack of a monolingual pre-trained model. To promote the development of Tibetan natural language processing tasks, this paper collects the large-scale training data from Tibetan websites and constructs a vocabulary that can cover 99.95$\%$ of the words in the corpus by using Sentencepiece. Then, we train the Tibetan monolingual pre-trained language model named TiBERT on the data and vocabulary. Finally, we apply TiBERT to the downstream tasks of text classification and question generation, and compare it with classic models and multilingual pre-trained models, the experimental results show that TiBERT can achieve the best performance. Our model is published in http://tibert.cmli-nlp.com/

Vision-based Unscented FastSLAM for Mobile Robot

This paper presents a vision-based Unscented FastSLAM (UFastSLAM) algorithm combing the Rao-Blackwellized particle filter and Unscented Kalman filte(UKF). The landmarks are detected by a binocular vision to integrate localization and mapping. Since such binocular vision system generally inherits larger measurement errors, it is suitable to adopt Unscented FastSLAM to improve the performance of localization and mapping. Unscented FastSLAM takes advantage of UKF instead of the linear approximations of the nonlinear function where the effective number of particles is used as the criteria to reduce the particle degeneration. Simulations and experiments are carried out to demonstrate that the Unscented FastSLAM algorithm can achieve much better performance in the vision-based system than FastSLAM2.0 algorithm on the accuracy and robustness.