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Fengmao Lv

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3 papers

1 author row

AAAI Conference 2025 Conference Paper

Enhancing Multi-Robot Semantic Navigation Through Multimodal Chain-of-Thought Score Collaboration

Zhixuan Shen
Haonan Luo
Kexun Chen
Fengmao Lv
Tianrui Li

Understanding how humans cooperatively utilize semantic knowledge to explore unfamiliar environments and decide on navigation directions is critical for house service multi-robot systems. Previous methods primarily focused on single-robot centralized planning strategies, which severely limited exploration efficiency. Recent research has considered decentralized planning strategies for multiple robots, assigning separate planning models to each robot, but these approaches often overlook communication costs. In this work, we propose Multimodal Chain-of-Thought Co-Navigation (MCoCoNav), a modular approach that utilizes multimodal Chain-of-Thought to plan collaborative semantic navigation for multiple robots. MCoCoNav combines visual perception with Vision Language Models (VLMs) to evaluate exploration value through probabilistic scoring, thus reducing time costs and achieving stable outputs. Additionally, a global semantic map is used as a communication bridge, minimizing communication overhead while integrating observational results. Guided by scores that reflect exploration trends, robots utilize this map to assess whether to explore new frontier points or revisit history nodes. Experiments on HM3D_v0.2 and MP3D demonstrate the effectiveness of our approach.

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IJCAI Conference 2024 Conference Paper

Unified View Imputation and Feature Selection Learning for Incomplete Multi-view Data

Yanyong Huang
Zongxin Shen
Tianrui Li
Fengmao Lv

Although multi-view unsupervised feature selection (MUFS) is an effective technology for reducing dimensionality in machine learning, existing methods cannot directly deal with incomplete multi-view data where some samples are missing in certain views. These methods should first apply predetermined values to impute missing data, then perform feature selection on the complete dataset. Separating imputation and feature selection processes fails to capitalize on the potential synergy where local structural information gleaned from feature selection could guide the imputation, thereby improving the feature selection performance in turn. Additionally, previous methods only focus on leveraging samples' local structure information, while ignoring the intrinsic locality of the feature space. To tackle these problems, a novel MUFS method, called UNified view Imputation and Feature selectIon lEaRning (UNIFIER), is proposed. UNIFIER explores the local structure of multi-view data by adaptively learning similarity-induced graphs from both the sample and feature spaces. Then, UNIFIER dynamically recovers the missing views, guided by the sample and feature similarity graphs during the feature selection procedure. Furthermore, the half-quadratic minimization technique is used to automatically weight different instances, alleviating the impact of outliers and unreliable restored data. Comprehensive experimental results demonstrate that UNIFIER outperforms other state-of-the-art methods.

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IJCAI Conference 2020 Conference Paper

Can Cross Entropy Loss Be Robust to Label Noise?

Lei Feng
Senlin Shu
Zhuoyi Lin
Fengmao Lv
Li Li
Bo An

Trained with the standard cross entropy loss, deep neural networks can achieve great performance on correctly labeled data. However, if the training data is corrupted with label noise, deep models tend to overfit the noisy labels, thereby achieving poor generation performance. To remedy this issue, several loss functions have been proposed and demonstrated to be robust to label noise. Although most of the robust loss functions stem from Categorical Cross Entropy (CCE) loss, they fail to embody the intrinsic relationships between CCE and other loss functions. In this paper, we propose a general framework dubbed Taylor cross entropy loss to train deep models in the presence of label noise. Specifically, our framework enables to weight the extent of fitting the training labels by controlling the order of Taylor Series for CCE, hence it can be robust to label noise. In addition, our framework clearly reveals the intrinsic relationships between CCE and other loss functions, such as Mean Absolute Error (MAE) and Mean Squared Error (MSE). Moreover, we present a detailed theoretical analysis to certify the robustness of this framework. Extensive experimental results on benchmark datasets demonstrate that our proposed approach significantly outperforms the state-of-the-art counterparts.

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