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Cong Fan

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3 papers
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3

ICLR Conference 2024 Conference Paper

Customizable Combination of Parameter-Efficient Modules for Multi-Task Learning

  • Haowen Wang
  • Tao Sun
  • Congyun Jin
  • Yingbo Wang
  • Yibo Fan
  • Yunqi Xu
  • Yuliang Du
  • Cong Fan

Modular and composable transfer learning is an emerging direction in the field of Parameter Efficient Fine-Tuning, as it enables neural networks to better organize various aspects of knowledge, leading to improved cross-task generalization. In this paper, we introduce a novel approach Customized Polytropon ($\texttt{C-Poly}$) that combines task-common skills and task-specific skills, while the skill parameters being highly parameterized using low-rank techniques. Each task is associated with a customizable number of exclusive specialized skills and also benefits from skills shared with peer tasks. A skill assignment matrix is jointly learned. To evaluate our approach, we conducted extensive experiments on the Super-NaturalInstructions and the SuperGLUE benchmarks. Our findings demonstrate that $\texttt{C-Poly}$ outperforms fully-shared, task-specific, and skill-indistinguishable baselines, significantly enhancing the sample efficiency in multi-task learning scenarios.

ICRA Conference 2024 Conference Paper

Enhancing mmWave Radar Point Cloud via Visual-inertial Supervision

  • Cong Fan
  • Shengkai Zhang
  • Kezhong Liu
  • Shuai Wang
  • Zheng Yang 0002
  • Wei Wang 0050

Complementary to prevalent LiDAR and camera systems, millimeter-wave (mmWave) radar is robust to adverse weather conditions like fog, rainstorms, and blizzards but offers sparse point clouds. Current techniques enhance the point cloud by the supervision of LiDAR’s data. However, high-performance LiDAR is notably expensive and is not commonly available on vehicles. This paper presents mmEMP, a supervised learning approach that enhances radar point clouds using a low-cost camera and an inertial measurement unit (IMU), enabling crowd-sourcing training data from commercial vehicles. Bringing the visual-inertial (VI) supervision is challenging due to the spatial agnostic of dynamic objects. Moreover, spurious radar points from the curse of RF multipath make robots misunderstand the scene. mmEMP first devises a dynamic 3D reconstruction algorithm that restores the 3D positions of dynamic features. Then, we design a neural network that densifies radar data and eliminates spurious radar points. We build a new dataset in the real world. Extensive experiments show that mmEMP achieves competitive performance compared with the SOTA approach training by LiDAR’s data. In addition, we use the enhanced point cloud to perform object detection, localization, and mapping to demonstrate mmEMP’s effectiveness.

YNIMG Journal 2015 Journal Article

N170 changes reflect competition between faces and identifiable characters during early visual processing

  • Cong Fan
  • Shunsen Chen
  • Lingcong Zhang
  • Zhengyang Qi
  • Yule Jin
  • Qing Wang
  • Yuejia Luo
  • Hong Li

According to the neuronal recycling hypothesis, brain circuits can gain new functions through cultural learning, which are distinct from their evolutionarily established functions, creating competition between processes such as facial and identifiable character processing. In the present study, event-related potential (ERP) recording was used to examine electrophysiological correlates of identification levels of Chinese characters as well as the competition between facial and Chinese character processing after the characters were learnt. Twenty volunteers performed a lateralized face detection task, and N170 responses were recorded when the participants viewed only Chinese characters (identifiable or unidentifiable in Xiaozhuan font), or Chinese characters and faces concurrently. Viewing identifiable Chinese characters bilaterally elicited larger N170 amplitudes than viewing unidentifiable ones. N170 amplitudes in response to faces bilaterally declined when identifiable Chinese characters and faces were viewed concurrently as compared to viewing unidentifiable Chinese characters and faces concurrently. These results indicate that the N170 component is modulated by the observer's identification level of Chinese characters, and that identifiable Chinese characters compete with faces during early visual processing.

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