arXiv subjects

Bingyu Wu

Publications and source records attributed to Bingyu Wu.

4 recordsLinked to original sources

arXiv2026

How Users Understand Robot Foundation Model Performance through Task Success Rates and Beyond

Robot Foundation Models (RFMs) represent a promising approach to developing general-purpose home robots. Given the broad capabilities of RFMs, users will inevitably ask an RFM-based robot to perform tasks that the RFM was not trained or evaluated on. In these cases, it is crucial that users understand the risks associated with attempting novel tasks due to the relatively high cost of failure. Furthermore, an informed user who understands an RFM's capabilities will know what situations and tasks the robot can handle. In this paper, we study how non-roboticists interpret performance information from RFM evaluations. These evaluations typically report task success rate (TSR) as the primary performance metric. While TSR is intuitive to experts, it is necessary to validate whether novices also use this information as intended. Toward this end, we conducted a study in which users saw real evaluation data, including TSR, failure case descriptions, and videos from multiple published RFM research projects. The results highlight that non-experts not only use TSR in a manner consistent with expert expectations but also highly value other information types, such as failure cases that are not often reported in RFM evaluations. Furthermore, we find that users want access to both real data from previous evaluations of the RFM and estimates from the robot about how well it will do on a novel task.

cs.RO↗

arXiv2023

Accelerating physics-informed neural network based 1D arc simulation by meta learning

Physics-Informed Neural Networks (PINNs) have a wide range of applications as an alternative to traditional numerical methods in plasma simulation. However, in some specific cases of PINN-based modeling, a well-trained PINN may require tens of thousands of optimizing iterations during training stage for complex modeling and huge neural networks, which is sometimes very time-consuming. In this work, we propose a meta-learning method, namely Meta-PINN, to reduce the training time of PINN-based 1-D arc simulation. In Meta-PINN, the meta network is first trained by a two-loop optimization on various training tasks of plasma modeling, and then used to initialize the PINN-based network for new tasks. We demonstrate the power of Meta-PINN by four cases corresponding to 1-D arc models at different boundary temperatures, arc radii, arc pressures, and gas mixtures. We found that a well-trained meta network can produce good initial weights for PINN-based arc models even at conditions slightly outside of training range. The speed-up in terms of relative L2 error by Meta-PINN ranges from 1.1x to 6.9x in the cases we studied. The results indicate that Meta-PINN is an effective method for accelerating the PINN-based 1-D arc simulation.

physics.plasm-ph↗

arXiv2022

Low-temperature plasma simulation based on physics-informed neural networks: frameworks and preliminary applications

Plasma simulation is an important and sometimes only approach to investigating plasma behavior. In this work, we propose two general AI-driven frameworks for low-temperature plasma simulation: Coefficient-Subnet Physics-Informed Neural Network (CS-PINN) and Runge-Kutta Physics-Informed Neural Network (RK-PINN). The CS-PINN uses either a neural network or an interpolation function (e.g. spline function) as the subnet to approximate solution-dependent coefficients (e.g. electron-impact cross sections, thermodynamic properties, transport coefficients, et al.) in plasma equations. On the basis of this, the RK-PINN incorporates the implicit Runge-Kutta formalism in neural networks to achieve a large-time-step prediction of transient plasmas. Both CS-PINN and RK-PINN learn the complex non-linear relationship mapping from spatio-temporal space to equation's solution. Based on these two frameworks, we demonstrate preliminary applications by four cases covering plasma kinetic and fluid modeling. The results verify that both CS-PINN and RK-PINN have good performance in solving plasma equations. Moreover, the RK-PINN has ability of yielding a good solution for transient plasma simulation with not only large time step but also limited noisy sensing data.

physics.plasm-ph↗

arXiv2020

Deep learning for thermal plasma simulation: solving 1-D arc model as an example

Numerical modelling is an essential approach to understanding the behavior of thermal plasmas in various industrial applications. We propose a deep learning method for solving the partial differential equations in thermal plasma models. In this method a deep feed-forward neural network is constructed to surrogate the solution of the model. A loss function is designed to measure the discrepancy between the neural network and the equations describing thermal plasmas. A good neural network is obtained by minimizing this loss function. We demonstrate the power of this deep learning method by solving a 1-D arc decaying model which is consist of three cases: stationary arc, transient arc without considering radial velocity, and transient arc with radial velocity respectively. The results show that the deep neural networks have excellent ability to express the differential equations describing thermal plasmas. This could bring us a new and prospective numerical tool for thermal plasma modelling.

physics.comp-ph↗