Numerical Fitting-based Likelihood Calculation to Speed up the Particle Filter

The likelihood calculation of a vast number of particles is the computational bottleneck for the particle filter in applications where the observation information is rich. For fast computing the likelihood of particles, a numerical fitting approach is proposed to construct the Likelihood Probability Density Function (Li-PDF) by using a comparably small number of so-called fulcrums. The likelihood of particles is thereby analytically inferred, explicitly or implicitly, based on the Li-PDF instead of directly computed by utilizing the observation, which can significantly reduce the computation and enables real time filtering. The proposed approach guarantees the estimation quality when an appropriate fitting function and properly distributed fulcrums are used. The details for construction of the fitting function and fulcrums are addressed respectively in detail. In particular, to deal with multivariate fitting, the nonparametric kernel density estimator is presented which is flexible and convenient for implicit Li-PDF implementation. Simulation comparison with a variety of existing approaches on a benchmark 1-dimensional model and multi-dimensional robot localization and visual tracking demonstrate the validity of our approach.Comment: 42 pages, 17 figures, 4 tables and 1 appendix. This paper is a draft/preprint of one paper submitted to the IEEE Transaction

What Goes beyond Multi-modal Fusion in One-stage Referring Expression Comprehension: An Empirical Study

Most of the existing work in one-stage referring expression comprehension (REC) mainly focuses on multi-modal fusion and reasoning, while the influence of other factors in this task lacks in-depth exploration. To fill this gap, we conduct an empirical study in this paper. Concretely, we first build a very simple REC network called SimREC, and ablate 42 candidate designs/settings, which covers the entire process of one-stage REC from network design to model training. Afterwards, we conduct over 100 experimental trials on three benchmark datasets of REC. The extensive experimental results not only show the key factors that affect REC performance in addition to multi-modal fusion, e.g., multi-scale features and data augmentation, but also yield some findings that run counter to conventional understanding. For example, as a vision and language (V&L) task, REC does is less impacted by language prior. In addition, with a proper combination of these findings, we can improve the performance of SimREC by a large margin, e.g., +27.12% on RefCOCO+, which outperforms all existing REC methods. But the most encouraging finding is that with much less training overhead and parameters, SimREC can still achieve better performance than a set of large-scale pre-trained models, e.g., UNITER and VILLA, portraying the special role of REC in existing V&L research

Parameter and Computation Efficient Transfer Learning for Vision-Language Pre-trained Models

With ever increasing parameters and computation, vision-language pre-trained (VLP) models exhibit prohibitive expenditure in downstream task adaption. Recent endeavors mainly focus on parameter efficient transfer learning (PETL) for VLP models by only updating a small number of parameters. However, excessive computational overhead still plagues the application of VLPs. In this paper, we aim at parameter and computation efficient transfer learning (PCETL) for VLP models. In particular, PCETL not only needs to limit the number of trainable parameters in VLP models, but also to reduce the computational redundancy during inference, thus enabling a more efficient transfer. To approach this target, we propose a novel dynamic architecture skipping (DAS) approach towards effective PCETL. Instead of directly optimizing the intrinsic architectures of VLP models, DAS first observes the significances of their modules to downstream tasks via a reinforcement learning (RL) based process, and then skips the redundant ones with lightweight networks, i.e., adapters, according to the obtained rewards. In this case, the VLP model can well maintain the scale of trainable parameters while speeding up its inference on downstream tasks. To validate DAS, we apply it to two representative VLP models, namely ViLT and METER, and conduct extensive experiments on a bunch of VL tasks. The experimental results not only show the great advantages of DAS in reducing computational complexity, e.g. -11.97% FLOPs of METER on VQA2.0, but also confirm its competitiveness against existing PETL methods in terms of parameter scale and performance. Our source code is given in our appendix

Adapting Pre-trained Language Models to Vision-Language Tasks via Dynamic Visual Prompting

Pre-trained language models (PLMs) have played an increasing role in multimedia research. In terms of vision-language (VL) tasks, they often serve as a language encoder and still require an additional fusion network for VL reasoning, resulting in excessive memory overhead. In this paper, we focus on exploring PLMs as a stand-alone model for VL reasoning tasks. Inspired by the recently popular prompt tuning, we first prove that the processed visual features can be also projected onto the semantic space of PLMs and act as prompt tokens to bridge the gap between single- and multi-modal learning. However, this solution exhibits obvious redundancy in visual information and model inference, and the placement of prompt tokens also greatly affects the final performance. Based on these observations, we further propose a novel transfer learning approach for PLMs, termed Dynamic Visual Prompting (DVP). Concretely, DVP first deploys a cross-attention module to obtain text-related and compact visual prompt tokens, thereby greatly reducing the input length of PLMs. To obtain the optimal placement, we also equip DVP with a reinforcement-learning based search algorithm, which can automatically merge DVP with PLMs for different VL tasks via a very short search process. In addition, we also experiment DVP with the recently popular adapter approach to keep the most parameters of PLMs intact when adapting to VL tasks, helping PLMs achieve a quick shift between single- and multi-modal tasks. We apply DVP to two representative PLMs, namely BERT and T5, and conduct extensive experiments on a set of VL reasoning benchmarks including VQA2.0, GQA and SNLIVE. The experimental results not only show the advantage of DVP on efficiency and performance, but also confirm its superiority in adapting pre-trained language models to VL tasks

Tumor promoter TPA activates Wnt/β-catenin signaling in a casein kinase 1-dependent manner.

The tumor promoter 12-O-tetra-decanoylphorbol-13-acetate (TPA) has been defined by its ability to promote tumorigenesis on carcinogen-initiated mouse skin. Activation of Wnt/β-catenin signaling has a decisive role in mouse skin carcinogenesis, but it remains unclear how TPA activates Wnt/β-catenin signaling in mouse skin carcinogenesis. Here, we found that TPA could enhance Wnt/β-catenin signaling in a casein kinase 1 (CK1) ε/δ-dependent manner. TPA stabilized CK1ε and enhanced its kinase activity. TPA further induced the phosphorylation of LRP6 at Thr1479 and Ser1490 and the formation of a CK1ε-LRP6-axin1 complex, leading to an increase in cytosolic β-catenin. Moreover, TPA increased the association of β-catenin with TCF4E in a CK1ε/δ-dependent way, resulting in the activation of Wnt target genes. Consistently, treatment with a selective CK1ε/δ inhibitor SR3029 suppressed TPA-induced skin tumor formation in vivo, probably through blocking Wnt/β-catenin signaling. Taken together, our study has identified a pathway by which TPA activates Wnt/β-catenin signaling

Modeling of Failure Prediction Bayesian Network with Divide-and-Conquer Principle

For system failure prediction, automatically modeling from historical failure dataset is one of the challenges in practical engineering fields. In this paper, an effective algorithm is proposed to build the failure prediction Bayesian network (FPBN) model with data mining technology. First, the conception of FPBN is introduced to describe the state of components and system and the cause-effect relationships among them. The types of network nodes, the directions of network edges, and the conditional probability distributions (CPDs) of nodes in FPBN are discussed in detail. According to the characteristics of nodes and edges in FPBN, a divide-and-conquer principle based algorithm (FPBN-DC) is introduced to build the best FPBN network structures of different types of nodes separately. Then, the CPDs of nodes in FPBN are calculated by the maximum likelihood estimation method based on the built network. Finally, a simulation study of a helicopter convertor model is carried out to demonstrate the application of FPBN-DC. According to the simulations results, the FPBN-DC algorithm can get better fitness value with the lower number of iterations, which verified its effectiveness and efficiency compared with traditional algorithm

Numerical fitting-based likelihood calculation to speed up the particle filter

The likelihood calculation of a vast number of particles forms the computational bottleneck for the particle filter in applications where the observation model is complicated, especially when map or image processing is involved. In this paper, a numerical fitting approach is proposed to speed up the particle filter in which the likelihood of particles is analytically inferred/fitted, explicitly or implicitly, based on that of a small number of so-called fulcrums. It is demonstrated to be of fairly good estimation accuracy when an appropriate fitting function and properly distributed fulcrums are used. The construction of the fitting function and fulcrums are addressed respectively in detail. To avoid intractable multivariate fitting in multi-dimensional models, a nonparametric kernel density estimator such as the nearest neighbor smoother or the uniform kernel average smoother can be employed for implicit likelihood fitting. Simulations based on a benchmark one-dimensional model and multi-dimensional mobile robot localization are provided