arXiv subjects

Chao Huang

Publications and source records attributed to Chao Huang.

At least 307 records · Page 17Linked to original sources

arXiv2021

On partitions of integers with restrictions involving squares

In this paper, we study partitions of positive integers with restrictions involving squares. We mainly establish the following two results (which were conjectured by Sun in 2013): (i) Each positive integer $n$ can be written as $n=x+y+z$ with $x,y,z$ positive integers such that $x^2+y^2+z^2$ is a square, unless $n$ has the form $n=2^{a}3^{b}$ or $2^{a}7$ with $a$ and $b$ nonnegative integers. (ii) Each integer $n>7$ with $n\not=11,14,17$ can be written as $n=x+y+2z$ with $x,y,z$ positive integers such that $x^2+y^2+2z^2$ is a square.

math.NT↗

arXiv2021

VSpSR: Explorable Super-Resolution via Variational Sparse Representation

Super-resolution (SR) is an ill-posed problem, which means that infinitely many high-resolution (HR) images can be degraded to the same low-resolution (LR) image. To study the one-to-many stochastic SR mapping, we implicitly represent the non-local self-similarity of natural images and develop a Variational Sparse framework for Super-Resolution (VSpSR) via neural networks. Since every small patch of a HR image can be well approximated by the sparse representation of atoms in an over-complete dictionary, we design a two-branch module, i.e., VSpM, to explore the SR space. Concretely, one branch of VSpM extracts patch-level basis from the LR input, and the other branch infers pixel-wise variational distributions with respect to the sparse coefficients. By repeatedly sampling coefficients, we could obtain infinite sparse representations, and thus generate diverse HR images. According to the preliminary results of NTIRE 2021 challenge on learning SR space, our team (FudanZmic21) ranks 7-th in terms of released scores. The implementation of VSpSR is released at https://zmiclab.github.io/.

cs.CV↗

arXiv2021

Human-in-the-Loop Deep Reinforcement Learning with Application to Autonomous Driving

Due to the limited smartness and abilities of machine intelligence, currently autonomous vehicles are still unable to handle all kinds of situations and completely replace drivers. Because humans exhibit strong robustness and adaptability in complex driving scenarios, it is of great importance to introduce humans into the training loop of artificial intelligence, leveraging human intelligence to further advance machine learning algorithms. In this study, a real-time human-guidance-based deep reinforcement learning (Hug-DRL) method is developed for policy training of autonomous driving. Leveraging a newly designed control transfer mechanism between human and automation, human is able to intervene and correct the agent's unreasonable actions in real time when necessary during the model training process. Based on this human-in-the-loop guidance mechanism, an improved actor-critic architecture with modified policy and value networks is developed. The fast convergence of the proposed Hug-DRL allows real-time human guidance actions to be fused into the agent's training loop, further improving the efficiency and performance of deep reinforcement learning. The developed method is validated by human-in-the-loop experiments with 40 subjects and compared with other state-of-the-art learning approaches. The results suggest that the proposed method can effectively enhance the training efficiency and performance of the deep reinforcement learning algorithm under human guidance, without imposing specific requirements on participant expertise and experience.

cs.RO↗

arXiv2021

Decision Making of Connected Automated Vehicles at An Unsignalized Roundabout Considering Personalized Driving Behaviours

To improve the safety and efficiency of the intelligent transportation system, particularly in complex urban scenarios, in this paper a game theoretic decision-making framework is designed for connected automated vehicles (CAVs) at unsignalized roundabouts considering their personalized driving behaviours. Within the decision-making framework, a motion prediction module is designed and optimized using model predictive control (MPC) to enhance the effectiveness and accuracy of the decision-making algorithm. Besides, the payoff function of decision making is defined with the consideration of vehicle safety, ride comfort and travel efficiency. Additionally, the constraints of the decision-making problem are constructed. Based on the established decision-making model, Stackelberg game and grand coalition game approaches are adopted to address the decision making of CAVs at an unsignalized roundabout. Three testing cases considering personalized driving behaviours are carried out to verify the performance of the developed decision-making algorithms. The testing results show that the proposed game theoretic decision-making framework is able to make safe and reasonable decisions for CAVs in the complex urban scenarios, validating its feasibility and effectiveness. Stackelberg game approach shows its advantage in guaranteeing personalized driving objectives of individuals, while the grand coalition game approach is advantageous regarding the efficiency improvement of the transportation system.

eess.SY↗

arXiv2021

Strategic Information Revelation in Crowdsourcing Systems Without Verification

We study a crowdsourcing problem where the platform aims to incentivize distributed workers to provide high quality and truthful solutions without the ability to verify the solutions. While most prior work assumes that the platform and workers have symmetric information, we study an asymmetric information scenario where the platform has informational advantages. Specifically, the platform knows more information regarding worker average solution accuracy, and can strategically reveal such information to workers. Workers will utilize the announced information to determine the likelihood that they obtain a reward if exerting effort on the task. We study two types of workers, naive workers who fully trust the announcement, and strategic workers who update prior belief based on the announcement. For naive workers, we show that the platform should always announce a high average accuracy to maximize its payoff. However, this is not always optimal for strategic workers, as it may reduce the credibility of the platform announcement and hence reduce the platform payoff. Interestingly, the platform may have an incentive to even announce an average accuracy lower than the actual value when facing strategic workers. Another counterintuitive result is that the platform payoff may decrease in the number of high accuracy workers.

cs.GT↗

arXiv2021

BERT-based Chinese Text Classification for Emergency Domain with a Novel Loss Function

This paper proposes an automatic Chinese text categorization method for solving the emergency event report classification problem. Since bidirectional encoder representations from transformers (BERT) has achieved great success in natural language processing domain, it is employed to derive emergency text features in this study. To overcome the data imbalance problem in the distribution of emergency event categories, a novel loss function is proposed to improve the performance of the BERT-based model. Meanwhile, to avoid the impact of the extreme learning rate, the Adabound optimization algorithm that achieves a gradual smooth transition from Adam to SGD is employed to learn parameters of the model. To verify the feasibility and effectiveness of the proposed method, a Chinese emergency text dataset collected from the Internet is employed. Compared with benchmarking methods, the proposed method has achieved the best performance in terms of accuracy, weighted-precision, weighted-recall, and weighted-F1 values. Therefore, it is promising to employ the proposed method for real applications in smart emergency management systems.

cs.CL↗

arXiv2021

Robot Inner Attention Modeling for Task-Adaptive Teaming of Heterogeneous Multi Robots

Attracted by team scale and function diversity, a heterogeneous multi-robot system (HMRS), where multiple robots with different functions and numbers are coordinated to perform tasks, has been widely used for complex and large-scale scenarios, including disaster search and rescue, site surveillance, and social security. However, due to the variety of the task requirements, it is challenging to accurately compose a robot team with appropriate sizes and functions to dynamically satisfy task needs while limiting the robot resource cost to a low level. To solve this problem, in this paper, a novel adaptive cooperation method, inner attention (innerATT), is developed to flexibly team heterogeneous robots to execute tasks as task types and environment change. innerATT is designed by integrating a novel attention mechanism into a multi-agent actor-critic reinforcement learning architecture. With an attention mechanism, robot capability will be analyzed to flexibly form teams to meet task requirements. Scenarios with different task variety ("Single Task", "Double Task", and "Mixed Task") were designed. The effectiveness of the innerATT was validated by its accuracy in flexible cooperation.

cs.RO↗

arXiv2021

Cooperative Decision Making of Connected Automated Vehicles at Multi-lane Merging Zone: A Coalitional Game Approach

To address the safety and efficiency issues of vehicles at multi-lane merging zones, a cooperative decision-making framework is designed for connected automated vehicles (CAVs) using a coalitional game approach. Firstly, a motion prediction module is established based on the simplified single-track vehicle model for enhancing the accuracy and reliability of the decision-making algorithm. Then, the cost function and constraints of the decision making are designed considering multiple performance indexes, i.e. the safety, comfort and efficiency. Besides, in order to realize human-like and personalized smart mobility, different driving characteristics are considered and embedded in the modeling process. Furthermore, four typical coalition models are defined for CAVS at the scenario of a multi-lane merging zone. Then, the coalitional game approach is formulated with model predictive control (MPC) to deal with decision making of CAVs at the defined scenario. Finally, testings are carried out in two cases considering different driving characteristics to evaluate the performance of the developed approach. The testing results show that the proposed coalitional game based method is able to make reasonable decisions and adapt to different driving characteristics for CAVs at the multi-lane merging zone. It guarantees the safety and efficiency of CAVs at the complex dynamic traffic condition, and simultaneously accommodates the objectives of individual vehicles, demonstrating the feasibility and effectiveness of the proposed approach.

eess.SY↗

arXiv2021

Meta Preference Learning for Fast User Adaptation in Human-Supervisory Multi-Robot Deployments

As multi-robot systems (MRS) are widely used in various tasks such as natural disaster response and social security, people enthusiastically expect an MRS to be ubiquitous that a general user without heavy training can easily operate. However, humans have various preferences on balancing between task performance and safety, imposing different requirements onto MRS control. Failing to comply with preferences makes people feel difficult in operation and decreases human willingness of using an MRS. Therefore, to improve social acceptance as well as performance, there is an urgent need to adjust MRS behaviors according to human preferences before triggering human corrections, which increases cognitive load. In this paper, a novel Meta Preference Learning (MPL) method was developed to enable an MRS to fast adapt to user preferences. MPL based on meta learning mechanism can quickly assess human preferences from limited instructions; then, a neural network based preference model adjusts MRS behaviors for preference adaption. To validate method effectiveness, a task scenario "An MRS searches victims in an earthquake disaster site" was designed; 20 human users were involved to identify preferences as "aggressive", "medium", "reserved"; based on user guidance and domain knowledge, about 20,000 preferences were simulated to cover different operations related to "task quality", "task progress", "robot safety". The effectiveness of MPL in preference adaption was validated by the reduced duration and frequency of human interventions.

cs.RO↗

arXiv2021

Human-Machine Adaptive Shared Control for Safe Automated Driving under Automation Degradation

In this paper, a human-machine adaptive shared control method is proposed for automated vehicles (AVs) under automation performance degradation. First, a novel risk assessment module is proposed to monitor driving behavior and evaluate automation performance degradation for AVs. Then, an adaptive control authority allocation module is developed. In the event of any performance degradation detection, the allocated control authority of the automation system is decreased based on the assessed risk to reduce the potential risk of vehicle motion. Consequently, the control authority allocated to the human driver is adaptively increased and thus requires more driver engagement in the control loop to compensate for the automation degradation and ensure AV safety. Experimental validation is conducted under different driving scenarios. The testing results show that the proposed approach is able to effectively compensate for the performance degradation of vehicle automation through the human-machine adaptive shared control, ensuring the safety of automated driving

eess.SY↗

arXiv2021

On Joint Reconstruction of State and Input-Output Injection Attacks for Nonlinear Systems

We address the problem of robust state reconstruction for discrete-time nonlinear systems when the actuators and sensors are injected with (potentially unbounded) attack signals. Exploiting redundancy in sensors and actuators and using a bank of unknown input observers (UIOs), we propose an observer-based estimator capable of providing asymptotic estimates of the system state and attack signals under the condition that the numbers of sensors and actuators under attack are sufficiently small. Using the proposed estimator, we provide methods for isolating the compromised actuators and sensors. Numerical examples are provided to demonstrate the effectiveness of our methods.

eess.SY↗

arXiv2021

Cocktail: Learn a Better Neural Network Controller from Multiple Experts via Adaptive Mixing and Robust Distillation

Neural networks are being increasingly applied to control and decision-making for learning-enabled cyber-physical systems (LE-CPSs). They have shown promising performance without requiring the development of complex physical models; however, their adoption is significantly hindered by the concerns on their safety, robustness, and efficiency. In this work, we propose COCKTAIL, a novel design framework that automatically learns a neural network-based controller from multiple existing control methods (experts) that could be either model-based or neural network-based. In particular, COCKTAIL first performs reinforcement learning to learn an optimal system-level adaptive mixing strategy that incorporates the underlying experts with dynamically-assigned weights and then conducts a teacher-student distillation with probabilistic adversarial training and regularization to synthesize a student neural network controller with improved control robustness (measured by a safe control rate metric with respect to adversarial attacks or measurement noises), control energy efficiency, and verifiability (measured by the computation time for verification). Experiments on three non-linear systems demonstrate significant advantages of our approach on these properties over various baseline methods.

eess.SY↗

arXiv2020

Heterogeneous Deep Graph Infomax

Graph representation learning is to learn universal node representations that preserve both node attributes and structural information. The derived node representations can be used to serve various downstream tasks, such as node classification and node clustering. When a graph is heterogeneous, the problem becomes more challenging than the homogeneous graph node learning problem. Inspired by the emerging information theoretic-based learning algorithm, in this paper we propose an unsupervised graph neural network Heterogeneous Deep Graph Infomax (HDGI) for heterogeneous graph representation learning. We use the meta-path structure to analyze the connections involving semantics in heterogeneous graphs and utilize graph convolution module and semantic-level attention mechanism to capture local representations. By maximizing local-global mutual information, HDGI effectively learns high-level node representations that can be utilized in downstream graph-related tasks. Experiment results show that HDGI remarkably outperforms state-of-the-art unsupervised graph representation learning methods on both classification and clustering tasks. By feeding the learned representations into a parametric model, such as logistic regression, we even achieve comparable performance in node classification tasks when comparing with state-of-the-art supervised end-to-end GNN models.

cs.LG↗

arXiv2020

Energy-Efficient Control Adaptation with Safety Guarantees for Learning-Enabled Cyber-Physical Systems

Neural networks have been increasingly applied for control in learning-enabled cyber-physical systems (LE-CPSs) and demonstrated great promises in improving system performance and efficiency, as well as reducing the need for complex physical models. However, the lack of safety guarantees for such neural network based controllers has significantly impeded their adoption in safety-critical CPSs. In this work, we propose a controller adaptation approach that automatically switches among multiple controllers, including neural network controllers, to guarantee system safety and improve energy efficiency. Our approach includes two key components based on formal methods and machine learning. First, we approximate each controller with a Bernstein-polynomial based hybrid system model under bounded disturbance, and compute a safe invariant set for each controller based on its corresponding hybrid system. Intuitively, the invariant set of a controller defines the state space where the system can always remain safe under its control. The union of the controllers' invariants sets then define a safe adaptation space that is larger than (or equal to) that of each controller. Second, we develop a deep reinforcement learning method to learn a controller switching strategy for reducing the control/actuation energy cost, while with the help of a safety guard rule, ensuring that the system stays within the safe space. Experiments on a linear adaptive cruise control system and a non-linear Van der Pol's oscillator demonstrate the effectiveness of our approach on energy saving and safety enhancement.

eess.SY↗

arXiv2020

Human-Like Decision Making for Autonomous Driving: A Noncooperative Game Theoretic Approach

Considering that human-driven vehicles and autonomous vehicles (AVs) will coexist on roads in the future for a long time, how to merge AVs into human drivers traffic ecology and minimize the effect of AVs and their misfit with human drivers, are issues worthy of consideration. Moreover, different passengers have different needs for AVs, thus, how to provide personalized choices for different passengers is another issue for AVs. Therefore, a human-like decision making framework is designed for AVs in this paper. Different driving styles and social interaction characteristics are formulated for AVs regarding driving safety, ride comfort and travel efficiency, which are considered in the modeling process of decision making. Then, Nash equilibrium and Stackelberg game theory are applied to the noncooperative decision making. In addition, potential field method and model predictive control (MPC) are combined to deal with the motion prediction and planning for AVs, which provides predicted motion information for the decision-making module. Finally, two typical testing scenarios of lane change, i.e., merging and overtaking, are carried out to evaluate the feasibility and effectiveness of the proposed decision-making framework considering different human-like behaviors. Testing results indicate that both the two game theoretic approaches can provide reasonable human-like decision making for AVs. Compared with the Nash equilibrium approach, under the normal driving style, the cost value of decision making using the Stackelberg game theoretic approach is reduced by over 20%.

cs.RO↗

arXiv2020

Balanced paring of $\{1,2,\ldots,(p-1)/2\}$ for $p\equiv 1 \pmod{4}$

Let $p\equiv 1 \pmod{4}$ be a prime. Write $t = \prod_{x=1}^{(p-1)/2}x$. Since $t ^2\equiv -1 \pmod{p}$ , we can divide $\{1,2,\ldots,(p-1)/2\}$ into $(p-1)/4$ ordered pairs so that each pair, say $ $ , satisfies that $t a \equiv \pm \tilde{a} \pmod{p}.$ For any two such pairs, assume $a<\tilde{a}, b<\tilde{b}, a<b $, then there are three possibilities for their relative order : $a<\tilde{a} < b< \tilde{b}$ , $a< b < \tilde{a} < \tilde{b}$ , $a< b < \tilde{b}< \tilde{a}$. We show this paring is balanced in the sense that the three cases occur with equal frequencies. Utilizing properties of this paring we solve one problem raised by Zhi-Wei Sun concerning the sign of permutation related to quadratic residues.

math.NT↗

arXiv2020

Legendre Symbol of $\prod f(i,j) $ over $ 0<i<j<p/2, \ p\nmid f(i,j) $

Let $p>3$ be a prime. We investigate Legendre symbol of $\displaystyle \prod_{0<i<j<p/2 \atop p\nmid f(i,j) } f(i,j) \ $, where $i,j\in \Bbb Z, f(i,j)$ is a linear or quadratic form with integer coefficients. When $f=ai^2+bij+cj^2$ and $p\nmid c(a+b+c)$ , we prove that to evaluate the product is equivalent to determine $ \displaystyle \sum_{y=1}^{p-1} \bigg(\frac{y(y+1)(y+k)}{p}\bigg) \pmod{16}$ , where $4c(a+b+c)k \equiv (4ac-b^2)\pmod{p}.$ Parallel results are given for $\displaystyle \prod_{i,j=1 \atop p\nmid f(i,j) }^{(p-1)/2} \bigg(\frac{ f(i,j) }{p}\bigg).$ Then we show that $ \displaystyle \sum_{y=1}^{p-1} \bigg(\frac{y(y+1)(y+k)}{p}\bigg) \pmod{16}$ can be evaluated explicitly when k=2,4,5,9,10 or k is a square. And for several classes of f(i,j) these two kinds of products can be evaluated explicitly. Finally when f is a linear form we give unified identities for these products. Thus we prove these kind of problems raised in Sun's paper.

math.NT↗

arXiv2020

Inner Attention Supported Adaptive Cooperation for Heterogeneous Multi Robots Teaming based on Multi-agent Reinforcement Learning

Humans can selectively focus on different information based on different tasks requirements, other people's abilities and availability. Therefore, they can adapt quickly to a completely different and complex environments. If, like people, robot could obtain the same abilities, then it would greatly increase their adaptability to new and unexpected situations. Recent efforts in Heterogeneous Multi Robots Teaming have try to achieve this ability, such as the methods based on communication and multi-modal information fusion strategies. However, these methods will not only suffer from the exponential explosion problem with the increase of robots number but also need huge computational resources. To that end, we introduce an inner attention actor-critic method that replicates aspects of human flexibly cooperation. By bringing attention mechanism on computer vision, natural language process into the realm of multi-robot cooperation, our attention method is able to dynamically select which robots to attend to. In order to test the effectiveness of our proposed method, several simulation experiments have been designed. And the results show that inner attention mechanism can enable flexible cooperation and lower resources consuming in rescuing tasks.

cs.RO↗