arXiv subjects

Chao Gao

Publications and source records attributed to Chao Gao.

At least 73 records · Page 4Linked to original sources

arXiv2025

Joint Optimization-based Targetless Extrinsic Calibration for Multiple LiDARs and GNSS-Aided INS of Ground Vehicles

Accurate extrinsic calibration between multiple LiDAR sensors and a GNSS-aided inertial navigation system (GINS) is essential for achieving reliable sensor fusion in intelligent mining environments. Such calibration enables vehicle-road collaboration by aligning perception data from vehicle-mounted sensors to a unified global reference frame. However, existing methods often depend on artificial targets, overlapping fields of view, or precise trajectory estimation, which are assumptions that may not hold in practice. Moreover, the planar motion of mining vehicles leads to observability issues that degrade calibration performance. This paper presents a targetless extrinsic calibration method that aligns multiple onboard LiDAR sensors to the GINS coordinate system without requiring overlapping sensor views or external targets. The proposed approach introduces an observation model based on the known installation height of the GINS unit to constrain unobservable calibration parameters under planar motion. A joint optimization framework is developed to refine both the extrinsic parameters and GINS trajectory by integrating multiple constraints derived from geometric correspondences and motion consistency. The proposed method is applicable to heterogeneous LiDAR configurations, including both mechanical and solid-state sensors. Extensive experiments on simulated and real-world datasets demonstrate the accuracy, robustness, and practical applicability of the approach under diverse sensor setups.

cs.RO↗

arXiv2025

HyperDet: Source Detection in Hypergraphs via Interactive Relationship Construction and Feature-rich Attention Fusion

Hypergraphs offer superior modeling capabilities for social networks, particularly in capturing group phenomena that extend beyond pairwise interactions in rumor propagation. Existing approaches in rumor source detection predominantly focus on dyadic interactions, which inadequately address the complexity of more intricate relational structures. In this study, we present a novel approach for Source Detection in Hypergraphs (HyperDet) via Interactive Relationship Construction and Feature-rich Attention Fusion. Specifically, our methodology employs an Interactive Relationship Construction module to accurately model both the static topology and dynamic interactions among users, followed by the Feature-rich Attention Fusion module, which autonomously learns node features and discriminates between nodes using a self-attention mechanism, thereby effectively learning node representations under the framework of accurately modeled higher-order relationships. Extensive experimental validation confirms the efficacy of our HyperDet approach, showcasing its superiority relative to current state-of-the-art methods.

cs.SI↗

arXiv2025

SourceDetMamba: A Graph-aware State Space Model for Source Detection in Sequential Hypergraphs

Source detection on graphs has demonstrated high efficacy in identifying rumor origins. Despite advances in machine learning-based methods, many fail to capture intrinsic dynamics of rumor propagation. In this work, we present SourceDetMamba: A Graph-aware State Space Model for Source Detection in Sequential Hypergraphs, which harnesses the recent success of the state space model Mamba, known for its superior global modeling capabilities and computational efficiency, to address this challenge. Specifically, we first employ hypergraphs to model high-order interactions within social networks. Subsequently, temporal network snapshots generated during the propagation process are sequentially fed in reverse order into Mamba to infer underlying propagation dynamics. Finally, to empower the sequential model to effectively capture propagation patterns while integrating structural information, we propose a novel graph-aware state update mechanism, wherein the state of each node is propagated and refined by both temporal dependencies and topological context. Extensive evaluations on eight datasets demonstrate that SourceDetMamba consistently outperforms state-of-the-art approaches.

cs.SI↗

arXiv2025

Adaptive Robust Confidence Intervals

This paper studies the construction of adaptive confidence intervals under Huber's contamination model when the contamination proportion is unknown. For the robust confidence interval of a Gaussian mean, we show that the optimal length of an adaptive interval must be exponentially wider than that of a non-adaptive one. An optimal construction is achieved through simultaneous uncertainty quantification of quantiles at all levels. The results are further extended beyond the Gaussian location model by addressing a general family of robust hypothesis testing. In contrast to adaptive robust estimation, our findings reveal that the optimal length of an adaptive robust confidence interval critically depends on the distribution's shape.

math.ST↗

arXiv2025

The Quasar-associated 2175 Å Dust Absorbers in the SDSS DR16 Quasar Catalog

We present, for the first time, a systematic study of quasar-associated 2175 Å dust absorbers using spectroscopic data from the Sloan Digital Sky Survey (SDSS) Data Release 16 (DR16). By analyzing the optical spectra and multi-band magnitudes of 557,674 quasars in the redshift range of $0.7 \le z \le 2.4$, we identify 843 absorbers that share the same redshifts as quasars and are believed to originate from dust in the quasar nuclei, the host galaxies, or their surrounding environments. These absorbers exhibit weak bump strengths ($A\rm_{bump}=0.49\pm0.15~μm^{-1}$) and narrow widths ($γ\rm=0.81\pm0.14~μm^{-1}$), while their peak positions span a broad range from $x_0 = 4.2$ to $4.84~ μm^{-1}$. Their average extinction curves resemble those of the Large Magellanic Cloud (LMC) but exhibit a shallower slope. In broad absorption line (BAL) quasars, the absorption bumps show systematic shifts in peak positions. Although further confirmation is needed, this may suggest environmental differences in dust grain properties. We find a statistically significant negative correlation between bump strength and redshift, suggesting possible evolution in dust properties. These findings highlight the changing composition and physical conditions of dust in quasar environments, likely influenced by factors such as metallicity, radiation fields, and dust processing mechanisms. Future studies incorporating ultraviolet and infrared data will be essential for refining the dust evolution models. Machine learning techniques and high-resolution spectroscopic follow-ups could enhance sample completeness and provide deeper insights into the chemical properties of the dust absorbers.

astro-ph.GA↗

arXiv2025

MAS-Attention: Memory-Aware Stream Processing for Attention Acceleration on Resource-Constrained Edge Devices

The advent of foundation models have revolutionized various fields, enabling unprecedented task accuracy and flexibility in computational linguistics, computer vision and other domains. Attention mechanism has become an essential component of foundation models, due to their superb capability of capturing correlations in a sequence. However, attention results in quadratic complexity in memory and compute as the context length grows. Although many fusion-based exact attention acceleration algorithms have been developed for datacenter-grade GPUs and accelerators leveraging multi-core parallelism and data locality, yet it remains a significant challenge to accelerate attention on resource-constrained edge neural accelerators with limited compute units and stringent on-chip caches. In this paper, we propose a scheme for exact attention inference acceleration on memory-constrained edge accelerators, by parallelizing the utilization of heterogeneous compute units, i.e., vector processing units and matrix processing units. Our method involves scheduling workloads onto these different compute units in a multi-tiered tiling scheme to process tiled vector workloads and matrix workloads in attention as two streams, respecting the workload dependencies. We search for tiling factors to maximize the parallelization of both compute units while considering I/O overhead, and propose a proactive cache overwrite strategy to avoid undesirable cache spills in reality. Extensive results based on open-sourced simulation frameworks show up to 2.75x speedup and 54% reduction in energy consumption as compared to the state-of-the-art attention fusion method (FLAT) in the edge computing scenario. Further experiments on a real-world edge neural processing unit demonstrate speedup of up to 1.76x for attention as compared to FLAT, without affecting model output accuracy.

cs.DC↗

arXiv2025

Computing High-dimensional Confidence Sets for Arbitrary Distributions

We study the problem of learning a high-density region of an arbitrary distribution over $\mathbb{R}^d$. Given a target coverage parameter $δ$, and sample access to an arbitrary distribution $D$, we want to output a confidence set $S \subset \mathbb{R}^d$ such that $S$ achieves $δ$ coverage of $D$, i.e., $\mathbb{P}_{y \sim D} \left[ y \in S \right] \ge δ$, and the volume of $S$ is as small as possible. This is a central problem in high-dimensional statistics with applications in finding confidence sets, uncertainty quantification, and support estimation. In the most general setting, this problem is statistically intractable, so we restrict our attention to competing with sets from a concept class $C$ with bounded VC-dimension. An algorithm is competitive with class $C$ if, given samples from an arbitrary distribution $D$, it outputs in polynomial time a set that achieves $δ$ coverage of $D$, and whose volume is competitive with the smallest set in $C$ with the required coverage $δ$. This problem is computationally challenging even in the basic setting when $C$ is the set of all Euclidean balls. Existing algorithms based on coresets find in polynomial time a ball whose volume is $\exp(\tilde{O}( d/ \log d))$-factor competitive with the volume of the best ball. Our main result is an algorithm that finds a confidence set whose volume is $\exp(\tilde{O}(d^{1/2}))$ factor competitive with the optimal ball having the desired coverage. The algorithm is improper (it outputs an ellipsoid). Combined with our computational intractability result for proper learning balls within an $\exp(\tilde{O}(d^{1-o(1)}))$ approximation factor in volume, our results provide an interesting separation between proper and (improper) learning of confidence sets.

cs.DS↗

arXiv2025

Quasi-periodic moiré patterns and dimensional localization in three-dimensional quasi-moiré crystals

Recent advances in spin-dependent optical lattices [Meng et al., Nature \textbf{615}, 231 (2023)] have enabled the experimental implementation of two superimposed three-dimensional lattices, presenting new opportunities to investigate \textit{three-dimensional moiré physics} in ultracold atomic gases. This work studies the moiré physics of atoms within a spin-dependent cubic lattice with relative twists along different directions. It is discovered that dimensionality significantly influences the low-energy moiré physics. From a geometric perspective, this manifests in the observation that moiré patterns, generated by rotating lattices along different axes, can exhibit either periodic or quasi-periodic behavior--a feature not present in two-dimensional systems. We develop a low-energy effective theory applicable to systems with arbitrary rotation axes and small rotation angles. This theory elucidates the emergence of quasi-periodicity in three dimensions and demonstrates its correlation with the arithmetic properties of the rotation axes. Numerical analyses reveal that these quasi-periodic moiré potentials can lead to distinctive dimensional localization behaviors of atoms, manifesting as localized wave functions in planar or linear configurations.

cond-mat.quant-gas↗

arXiv2025

Sharp phase transitions in high-dimensional changepoint detection

We study a hypothesis testing problem in the context of high-dimensional changepoint detection. Given a matrix $X \in \R^{p \times n}$ with independent Gaussian entries, the goal is to determine whether or not a sparse, non-null fraction of rows in $X$ exhibits a shift in mean at a common index between $1$ and $n$. We focus on three aspects of this problem: the sparsity of non-null rows, the presence of a single, common changepoint in the non-null rows, and the signal strength associated with the changepoint. Within an asymptotic regime relating the data dimensions $n$ and $p$ to the signal sparsity and strength, the information-theoretic limits of this testing problem are characterized by a formula that determines whether or not there exists a testing procedure whose sum of Type I and II errors tends to zero as $n,p \to \infty$. The formula, called the \emph{detection boundary}, partitions the parameter space into a two regions: one where it is possible to detect the presence of a single aligned changepoint (detectable region), and another where no test is able to consistently distinguish the mean matrix from one with constant rows (undetectable region).

math.ST↗

arXiv2025

Volume Optimality in Conformal Prediction with Structured Prediction Sets

Conformal Prediction is a widely studied technique to construct prediction sets of future observations. Most conformal prediction methods focus on achieving the necessary coverage guarantees, but do not provide formal guarantees on the size (volume) of the prediction sets. We first prove an impossibility of volume optimality where any distribution-free method can only find a trivial solution. We then introduce a new notion of volume optimality by restricting the prediction sets to belong to a set family (of finite VC-dimension), specifically a union of $k$-intervals. Our main contribution is an efficient distribution-free algorithm based on dynamic programming (DP) to find a union of $k$-intervals that is guaranteed for any distribution to have near-optimal volume among all unions of $k$-intervals satisfying the desired coverage property. By adopting the framework of distributional conformal prediction (Chernozhukov et al., 2021), the new DP based conformity score can also be applied to achieve approximate conditional coverage and conditional restricted volume optimality, as long as a reasonable estimator of the conditional CDF is available. While the theoretical results already establish volume-optimality guarantees, they are complemented by experiments that demonstrate that our method can significantly outperform existing methods in many settings.

cs.LG↗

arXiv2025

Analysis of Stable Vertex Values: Fast Query Evaluation Over An Evolving Graph

Evaluating a query over a large, irregular graph is inherently challenging. This challenge intensifies when solving a query over a sequence of snapshots of an evolving graph, where changes occur through the addition and deletion of edges. We carried out a study that shows that due to the gradually changing nature of evolving graphs, when a vertex-specific query (e.g., SSSP) is evaluated over a sequence of 25 to 100 snapshots, for 53.2% to 99.8% of vertices, the query results remain unchanged across all snapshots. Therefore, the Unchanged Vertex Values (UVVs) can be computed once and then minimal analysis can be performed for each snapshot to obtain the results for the remaining vertices in that snapshot. We develop a novel intersection-union analysis that very accurately computes lower and upper bounds of vertex values across all snapshots. When the lower and upper bounds for a vertex are found to be equal, we can safely conclude that the value found for the vertex remains the same across all snapshots. Therefore, the rest of our query evaluation is limited to computing values across snapshots for vertices whose bounds do not match. We optimize this latter step evaluation by concurrently performing incremental computations on all snapshots over a significantly smaller subgraph. Our experiments with several benchmarks and graphs show that we need to carry out per snapshot incremental analysis for under 42% vertices on a graph with under 32% of edges. Our approach delivers speedups of 2.01-12.23x when compared to the state-of-the-art RisGraph implementation of the KickStarter-based incremental algorithm for 64 snapshots.

cs.PF↗

arXiv2025

OpenBench: A New Benchmark and Baseline for Semantic Navigation in Smart Logistics

The increasing demand for efficient last-mile delivery in smart logistics underscores the role of autonomous robots in enhancing operational efficiency and reducing costs. Traditional navigation methods, which depend on high-precision maps, are resource-intensive, while learning-based approaches often struggle with generalization in real-world scenarios. To address these challenges, this work proposes the Openstreetmap-enhanced oPen-air sEmantic Navigation (OPEN) system that combines foundation models with classic algorithms for scalable outdoor navigation. The system uses off-the-shelf OpenStreetMap (OSM) for flexible map representation, thereby eliminating the need for extensive pre-mapping efforts. It also employs Large Language Models (LLMs) to comprehend delivery instructions and Vision-Language Models (VLMs) for global localization, map updates, and house number recognition. To compensate the limitations of existing benchmarks that are inadequate for assessing last-mile delivery, this work introduces a new benchmark specifically designed for outdoor navigation in residential areas, reflecting the real-world challenges faced by autonomous delivery systems. Extensive experiments in simulated and real-world environments demonstrate the proposed system's efficacy in enhancing navigation efficiency and reliability. To facilitate further research, our code and benchmark are publicly available.

cs.RO↗

arXiv2025

Fantastic Multi-Task Gradient Updates and How to Find Them In a Cone

Balancing competing objectives remains a fundamental challenge in multi-task learning (MTL), primarily due to conflicting gradients across individual tasks. A common solution relies on computing a dynamic gradient update vector that balances competing tasks as optimization progresses. Building on this idea, we propose ConicGrad, a principled, scalable, and robust MTL approach formulated as a constrained optimization problem. Our method introduces an angular constraint to dynamically regulate gradient update directions, confining them within a cone centered on the reference gradient of the overall objective. By balancing task-specific gradients without over-constraining their direction or magnitude, ConicGrad effectively resolves inter-task gradient conflicts. Moreover, our framework ensures computational efficiency and scalability to high-dimensional parameter spaces. We conduct extensive experiments on standard supervised learning and reinforcement learning MTL benchmarks, and demonstrate that ConicGrad achieves state-of-the-art performance across diverse tasks.

cs.LG↗

arXiv2025

Learning Complex Heterogeneous Multimodal Fake News via Social Latent Network Inference

With the diversification of online social platforms, news dissemination has become increasingly complex, heterogeneous, and multimodal, making the fake news detection task more challenging and crucial. Previous works mainly focus on obtaining social relationships of news via retweets, limiting the accurate detection when real cascades are inaccessible. Given the proven assessment of the spreading influence of events, this paper proposes a method called HML (Complex Heterogeneous Multimodal Fake News Detection method via Latent Network Inference). Specifically, an improved social latent network inference strategy is designed to estimate the maximum likelihood of news influences under the same event. Meanwhile, a novel heterogeneous graph is built based on social attributes for multimodal news under different events. Further, to better aggregate the relationships among heterogeneous multimodal features, this paper proposes a self-supervised-based multimodal content learning strategy, to enhance, align, fuse and compare heterogeneous modal contents. Based above, a personalized heterogeneous graph representation learning is designed to classify fake news. Extensive experiments demonstrate that the proposed method outperforms the SOTA in real social media news datasets.

cs.MM↗

arXiv2025

Sparsity meets correlation in Gaussian sequence model

We study estimation of an $s$-sparse signal in the $p$-dimensional Gaussian sequence model with equicorrelated observations and derive the minimax rate. A new phenomenon emerges from correlation, namely the rate scales with respect to $p-2s$ and exhibits a phase transition at $p-2s \asymp \sqrt{p}$. Correlation is shown to be a blessing provided it is sufficiently strong, and the critical correlation level exhibits a delicate dependence on the sparsity level. Due to correlation, the minimax rate is driven by two subproblems: estimation of a linear functional (the average of the signal) and estimation of the signal's $(p-1)$-dimensional projection onto the orthogonal subspace. The high-dimensional projection is estimated via sparse regression and the linear functional is cast as a robust location estimation problem. Existing robust estimators turn out to be suboptimal, and we show a kernel mode estimator with a widening bandwidth exploits the Gaussian character of the data to achieve the optimal estimation rate.

math.ST↗

arXiv2025

Optimal estimation of the null distribution in large-scale inference

The advent of large-scale inference has spurred reexamination of conventional statistical thinking. In a Gaussian model for $n$ many $z$-scores with at most $k < \frac{n}{2}$ nonnulls, Efron suggests estimating the location and scale parameters of the null distribution. Placing no assumptions on the nonnull effects, the statistical task can be viewed as a robust estimation problem. However, the best known robust estimators fail to be consistent in the regime $k \asymp n$ which is especially relevant in large-scale inference. The failure of estimators which are minimax rate-optimal with respect to other formulations of robustness (e.g. Huber's contamination model) might suggest the impossibility of consistent estimation in this regime and, consequently, a major weakness of Efron's suggestion. A sound evaluation of Efron's model thus requires a complete understanding of consistency. We sharply characterize the regime of $k$ for which consistent estimation is possible and further establish the minimax estimation rates. It is shown consistent estimation of the location parameter is possible if and only if $\frac{n}{2} - k = ω(\sqrt{n})$, and consistent estimation of the scale parameter is possible in the entire regime $k < \frac{n}{2}$. Faster rates than those in Huber's contamination model are achievable by exploiting the Gaussian character of the data. The minimax upper bound is obtained by considering estimators based on the empirical characteristic function. The minimax lower bound involves constructing two marginal distributions whose characteristic functions match on a wide interval containing zero. The construction notably differs from those in the literature by sharply capturing a scaling of $n-2k$ in the minimax estimation rate of the location.

math.ST↗

arXiv2024

ResAD: A Simple Framework for Class Generalizable Anomaly Detection

This paper explores the problem of class-generalizable anomaly detection, where the objective is to train one unified AD model that can generalize to detect anomalies in diverse classes from different domains without any retraining or fine-tuning on the target data. Because normal feature representations vary significantly across classes, this will cause the widely studied one-for-one AD models to be poorly classgeneralizable (i.e., performance drops dramatically when used for new classes). In this work, we propose a simple but effective framework (called ResAD) that can be directly applied to detect anomalies in new classes. Our main insight is to learn the residual feature distribution rather than the initial feature distribution. In this way, we can significantly reduce feature variations. Even in new classes, the distribution of normal residual features would not remarkably shift from the learned distribution. Therefore, the learned model can be directly adapted to new classes. ResAD consists of three components: (1) a Feature Converter that converts initial features into residual features; (2) a simple and shallow Feature Constraintor that constrains normal residual features into a spatial hypersphere for further reducing feature variations and maintaining consistency in feature scales among different classes; (3) a Feature Distribution Estimator that estimates the normal residual feature distribution, anomalies can be recognized as out-of-distribution. Despite the simplicity, ResAD can achieve remarkable anomaly detection results when directly used in new classes. The code is available at https://github.com/xcyao00/ResAD.

cs.CV↗

arXiv2024

Modeling Bilingual Sentence Processing: Evaluating RNN and Transformer Architectures for Cross-Language Structural Priming

This study evaluates the performance of Recurrent Neural Network (RNN) and Transformer models in replicating cross-language structural priming, a key indicator of abstract grammatical representations in human language processing. Focusing on Chinese-English priming, which involves two typologically distinct languages, we examine how these models handle the robust phenomenon of structural priming, where exposure to a particular sentence structure increases the likelihood of selecting a similar structure subsequently. Our findings indicate that transformers outperform RNNs in generating primed sentence structures, with accuracy rates that exceed 25.84\% to 33. 33\%. This challenges the conventional belief that human sentence processing primarily involves recurrent and immediate processing and suggests a role for cue-based retrieval mechanisms. This work contributes to our understanding of how computational models may reflect human cognitive processes across diverse language families.

cs.CL↗