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Lijie Wang

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

3 papers
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3

AIJ Journal 2025 Journal Article

A simple yet effective self-debiasing framework for transformer models

  • Xiaoyue Wang
  • Xin Liu
  • Lijie Wang
  • Suhang Wu
  • Jinsong Su
  • Hua Wu

Current Transformer-based natural language understanding (NLU) models heavily rely on dataset biases, while failing to handle real-world out-of-distribution (OOD) instances. Many methods have been proposed to deal with this issue, but they ignore the fact that the features learned in different layers of Transformer-based NLU models are different. In this paper, we first conduct preliminary studies to obtain two conclusions: 1) both low- and high-layer sentence representations encode common biased features during training; 2) the low-layer sentence representations encode fewer unbiased features than the highlayer ones. Based on these conclusions, we propose a simple yet effective self-debiasing framework for Transformer-based NLU models. Concretely, we first stack a classifier on a selected low layer. Then, we introduce a residual connection that feeds the low-layer sentence representation to the top-layer classifier. In this way, the top-layer sentence representation will be trained to ignore the common biased features encoded by the low-layer sentence representation and focus on task-relevant unbiased features. During inference, we remove the residual connection and directly use the top-layer sentence representation to make predictions. Extensive experiments and indepth analyses on NLU tasks show that our framework performs better than several competitive baselines, achieving a new SOTA on all OOD test sets.

ICRA Conference 2025 Conference Paper

RISED: Accurate and Efficient RGB-Colorized Mapping Using Image Selection and Point Cloud Densification

  • Changjian Jiang
  • Lijie Wang
  • Zeyu Wan
  • Ruilan Gao
  • Yue Wang
  • Rong Xiong
  • Yu Zhang

Recent advances in robotics have underscored the critical role of colorized point clouds in enhancing environmental perception accuracy. However, conventional multisensor fusion Simultaneous Localization and Mapping (SLAM) systems typically employ all available images indiscriminately for point cloud colorization, resulting in suboptimal outcomes with blurred textures. Notably, achieving precise texture-togeometry alignment remains a challenge despite the availability of accurate pose estimation. This study introduces RISED, an advanced colorized mapping system that tackles this challenge from two perspectives: projection accuracy and distribution uniformity. For projection accuracy, we analyze the influence of camera poses on colorization and carefully select the optimal viewpoint to minimize errors. Regarding distribution uniformity, point cloud densification is applied to eliminate LiDAR scanning traces. Furthermore, a novel evaluation method is introduced to provide comprehensive assessment of colorized point clouds, filling a gap in this field. Experimental results show that our method outperforms traditional approaches in RGB-colorized mapping. Specifically, our method achieves notable improvements in projection accuracy (55. 2 %), geometric accuracy (63. 1 %), and surface coverage (30. 8 %).