arXiv subjects

Bo Cheng

Publications and source records attributed to Bo Cheng.

65 records · Page 4Linked to original sources

arXiv2021

Integrating Subgraph-aware Relation and DirectionReasoning for Question Answering

Question Answering (QA) models over Knowledge Bases (KBs) are capable of providing more precise answers by utilizing relation information among entities. Although effective, most of these models solely rely on fixed relation representations to obtain answers for different question-related KB subgraphs. Hence, the rich structured information of these subgraphs may be overlooked by the relation representation vectors. Meanwhile, the direction information of reasoning, which has been proven effective for the answer prediction on graphs, has not been fully explored in existing work. To address these challenges, we propose a novel neural model, Relation-updated Direction-guided Answer Selector (RDAS), which converts relations in each subgraph to additional nodes to learn structure information. Additionally, we utilize direction information to enhance the reasoning ability. Experimental results show that our model yields substantial improvements on two widely used datasets.

cs.CL↗

arXiv2021

Recurrent Model Predictive Control

This paper proposes an off-line algorithm, called Recurrent Model Predictive Control (RMPC), to solve general nonlinear finite-horizon optimal control problems. Unlike traditional Model Predictive Control (MPC) algorithms, it can make full use of the current computing resources and adaptively select the longest model prediction horizon. Our algorithm employs a recurrent function to approximate the optimal policy, which maps the system states and reference values directly to the control inputs. The number of prediction steps is equal to the number of recurrent cycles of the learned policy function. With an arbitrary initial policy function, the proposed RMPC algorithm can converge to the optimal policy by directly minimizing the designed loss function. We further prove the convergence and optimality of the RMPC algorithm thorough Bellman optimality principle, and demonstrate its generality and efficiency using two numerical examples.

eess.SY↗

arXiv2020

MobiGyges: A mobile hidden volume for preventing data loss, improving storage utilization, and avoiding device reboot

Sensitive data protection is essential for mobile users. Plausibly Deniable Encryption (PDE) systems provide an effective manner to protect sensitive data by hiding them on the device. However, existing PDE systems can lose data due to overriding the hidden volume, waste physical storage because of the reserved area used for avoiding data loss, and require device reboot when using the hidden volume. This paper presents MobiGyges, a hidden volume-based mobile PDE system, to fill the gap. MobiGyges addresses the problem of data loss by restricting each storage block used only by one volume, and it improves storage utilization by eliminating the reserved area. MobiGyges can also avoid device reboot by mounting the hidden volume dynamically on-demand with the Dynamic Mounting service. Moreover, we identify two novel PDE oriented attacks, the capacity comparison attack and the fill-to-full attack. MobiGyges can defend them by jointly leveraging the Shrunk U-disk method and multi-level deniability. We implement the MobiGyges proof-of-concept system on a real mobile phone Google Nexus 6P with LineageOS 13. Experimental results show that MobiGyges prevents data loss, avoids device reboot, improves storage utilization by over 30% with acceptable performance overhead compared with current works.

cs.CR↗

arXiv2020

Mixed Reinforcement Learning with Additive Stochastic Uncertainty

Reinforcement learning (RL) methods often rely on massive exploration data to search optimal policies, and suffer from poor sampling efficiency. This paper presents a mixed reinforcement learning (mixed RL) algorithm by simultaneously using dual representations of environmental dynamics to search the optimal policy with the purpose of improving both learning accuracy and training speed. The dual representations indicate the environmental model and the state-action data: the former can accelerate the learning process of RL, while its inherent model uncertainty generally leads to worse policy accuracy than the latter, which comes from direct measurements of states and actions. In the framework design of the mixed RL, the compensation of the additive stochastic model uncertainty is embedded inside the policy iteration RL framework by using explored state-action data via iterative Bayesian estimator (IBE). The optimal policy is then computed in an iterative way by alternating between policy evaluation (PEV) and policy improvement (PIM). The convergence of the mixed RL is proved using the Bellman's principle of optimality, and the recursive stability of the generated policy is proved via the Lyapunov's direct method. The effectiveness of the mixed RL is demonstrated by a typical optimal control problem of stochastic non-affine nonlinear systems (i.e., double lane change task with an automated vehicle).

eess.SY↗

arXiv2020

Hierarchical Reinforcement Learning for Self-Driving Decision-Making without Reliance on Labeled Driving Data

Decision making for self-driving cars is usually tackled by manually encoding rules from drivers' behaviors or imitating drivers' manipulation using supervised learning techniques. Both of them rely on mass driving data to cover all possible driving scenarios. This paper presents a hierarchical reinforcement learning method for decision making of self-driving cars, which does not depend on a large amount of labeled driving data. This method comprehensively considers both high-level maneuver selection and low-level motion control in both lateral and longitudinal directions. We firstly decompose the driving tasks into three maneuvers, including driving in lane, right lane change and left lane change, and learn the sub-policy for each maneuver. Then, a master policy is learned to choose the maneuver policy to be executed in the current state. All policies including master policy and maneuver policies are represented by fully-connected neural networks and trained by using asynchronous parallel reinforcement learners (APRL), which builds a mapping from the sensory outputs to driving decisions. Different state spaces and reward functions are designed for each maneuver. We apply this method to a highway driving scenario, which demonstrates that it can realize smooth and safe decision making for self-driving cars.

eess.SY↗

arXiv2019

Intention-aware Long Horizon Trajectory Prediction of Surrounding Vehicles using Dual LSTM Networks

As autonomous vehicles (AVs) need to interact with other road users, it is of importance to comprehensively understand the dynamic traffic environment, especially the future possible trajectories of surrounding vehicles. This paper presents an algorithm for long-horizon trajectory prediction of surrounding vehicles using a dual long short term memory (LSTM) network, which is capable of effectively improving prediction accuracy in strongly interactive driving environments. In contrast to traditional approaches which require trajectory matching and manual feature selection, this method can automatically learn high-level spatial-temporal features of driver behaviors from naturalistic driving data through sequence learning. By employing two blocks of LSTMs, the proposed method feeds the sequential trajectory to the first LSTM for driver intention recognition as an intermediate indicator, which is immediately followed by a second LSTM for future trajectory prediction. Test results from real-world highway driving data show that the proposed method can, in comparison to state-of-art methods, output more accurate and reasonable estimate of different future trajectories over 5s time horizon with root mean square error (RMSE) for longitudinal and lateral prediction less than 5.77m and 0.49m, respectively.

cs.LG↗

arXiv2019

FASS: A Fairness-Aware Approach for Concurrent Service Selection with Constraints

The increasing momentum of service-oriented architecture has led to the emergence of divergent delivered services, where service selection is meritedly required to obtain the target service fulfilling the requirements from both users and service providers. Despite many existing works have extensively handled the issue of service selection, it remains an open question in the case where requests from multiple users are performed simultaneously by a certain set of shared candidate services. Meanwhile, there exist some constraints enforced on the context of service selection, e.g. service placement location and contracts between users and service providers. In this paper, we focus on the QoS-aware service selection with constraints from a fairness aspect, with the objective of achieving max-min fairness across multiple service requests sharing candidate service sets. To be more specific, we study the problem of fairly selecting services from shared candidate sets while service providers are self-motivated to offer better services with higher QoS values. We formulate this problem as a lexicographical maximization problem, which is far from trivial to deal with practically due to its inherently multi-objective and discrete nature. A fairness-aware algorithm for concurrent service selection (FASS) is proposed, whose basic idea is to iteratively solve the single-objective subproblems by transforming them into linear programming problems. Experimental results based on real-world datasets also validate the effectiveness and practicality of our proposed approach.

cs.DC↗

arXiv2018

Vorticity dynamics of revolving wings: The role of planetary vortex tilting on the stability of the leading-edge vortex

This work investigated the vorticity dynamics and stability of leading-edge vortices (LEVs) in revolving wings. Previous studies suggested that Coriolis acceleration and spanwise flow both played key roles in stabilizing the LEV; however, the exact mechanism remains unclear. The current study examined a mechanism that relates the effects of Coriolis acceleration, spanwise flow, and the tilting of the planetary vortex on limiting the growth of the LEV. Specifically, this mechanism states that a vertical gradient in spanwise flow can create a vertical gradient in Coriolis acceleration, which will in turn produce oppositely-signed vorticity within the LEV. This gradient of Coriolis acceleration corresponds to the spanwise (radial) component of planetary vortex tilting (PVTr) that reorients the planetary vortex into the spanwise direction therefore creating oppositely-signed LEV vorticity. Using an in-house, immersed-boundary-method flow solver, this mechanism was investigated alongside the other vorticity dynamics for revolving wings of varying aspect ratio (AR=3, 5, and 7) and Reynolds number (Re=110, and 1400). Analyses of vorticity dynamics showed that the PVTr consistently produced oppositely-signed vorticity for all values of AR and Re investigated, although other three-dimensional phenomena play a similar but more dominant role when Re = 1400. In addition, the relative strength of the PVTr increased with increasing AR due to a decrease in the magnitude of advection. Finally, the effects of AR and Re on the vorticity dynamics and LEV stability were also investigated.

physics.flu-dyn↗

arXiv2017

Indirect Shared Control of Highly Automated Vehicles for Cooperative Driving between Driver and Automation

It is widely acknowledged that drivers should remain in the control loop of automated vehicles before they completely meet real-world operational conditions. This paper introduces an `indirect shared control' scheme for steer-by-wire vehicles, which allows the vehicle control authority to be continuously shared between the driver and automation through unphysical cooperation. This paper first balances the control objectives of the driver and automation in a weighted summation, and then models the driver's adaptive control behavior using a predictive control approach. The driver adaptation modeling enables off-line evaluations of indirect shared control systems and thus facilitates the design of the assistant controller. Unlike any conventional driver model for manual driving, this model assumes that the driver can learn and incorporate the controller strategy into his internal model for more accurate path following. To satisfy the driving demands in different scenarios, a sliding-window detector is designed to continuously monitor the driver intention and automatically switch the authority weights between the driver and automation. The simulation results illustrate the advantages of considering the driver adaptation in path-following and obstacle-avoidance tasks, and show the effectiveness of indirect shared control for cooperative driving.

cs.RO↗

arXiv2014

Distortion-Aware Concurrent Multipath Transfer for Mobile Video Streaming in Heterogeneous Wireless Networks

The massive proliferation of wireless infrastructures with complementary characteristics prompts the bandwidth aggregation for Concurrent Multipath Transfer (CMT) over heterogeneous access networks. Stream Control Transmission Protocol (SCTP) is the standard transport-layer solution to enable CMT in multihomed communication environments. However, delivering high-quality streaming video with the existing CMT solutions still remains problematic due to the stringent QoS (Quality of Service) requirements and path asymmetry in heterogeneous wireless networks. In this paper, we advance the state of the art by introducing video distortion into the decision process of multipath data transfer. The proposed Distortion-Aware Concurrent Multipath Transfer (CMT-DA) solution includes three phases: 1) per-path status estimation and congestion control; 2) quality-optimal video flow rate allocation; 3) delay and loss controlled data retransmission. The term `flow rate allocation' indicates dynamically picking appropriate access networks and assigning the transmission rates. We analytically formulate the data distribution over multiple communication paths to minimize the end-to-end video distortion and derive the solution based on the utility maximization theory. The performance of the proposed CMT-DA is evaluated through extensive semi-physical emulations in Exata involving H.264 video streaming. Experimental results show that CMT-DA outperforms the reference schemes in terms of video PSNR (Peak Signal-to-Noise Ratio), goodput, and inter-packet delay.

cs.NI↗

arXiv2014

Single machine slack due-window assignment and scheduling of linear time-dependent deteriorating jobs and a deteriorating maintenance activity

In this paper, we consider the slack due-window assignment model and study a single machine scheduling problem of linear time-dependent deteriorating jobs and a deteriorating maintenance activity. The cost for each job consists of four components: earliness, tardiness, window location and window size. The objective is to schedule the jobs and to assign the maintenance activity and due-windows such that the total cost among all the jobs is minimized. A polynomial-time algorithm with the running time not exceeding $O(n^2logn)$ to give a solution to this problem is introduced, where $n$ is the number of jobs.

cs.DS↗