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Chao Xu

Publications and source records attributed to Chao Xu.

At least 289 records · Page 16Linked to original sources

Hire-MLP: Vision MLP via Hierarchical Rearrangement

Previous vision MLPs such as MLP-Mixer and ResMLP accept linearly flattened image patches as input, making them inflexible for different input sizes and hard to capture spatial information. Such approach withholds MLPs from getting comparable performance with their transformer-based counterparts and prevents them from becoming a general backbone for computer vision. This paper presents Hire-MLP, a simple yet competitive vision MLP architecture via \textbf{Hi}erarchical \textbf{re}arrangement, which contains two levels of rearrangements. Specifically, the inner-region rearrangement is proposed to capture local information inside a spatial region, and the cross-region rearrangement is proposed to enable information communication between different regions and capture global context by circularly shifting all tokens along spatial directions. Extensive experiments demonstrate the effectiveness of Hire-MLP as a versatile backbone for various vision tasks. In particular, Hire-MLP achieves competitive results on image classification, object detection and semantic segmentation tasks, e.g., 83.8% top-1 accuracy on ImageNet, 51.7% box AP and 44.8% mask AP on COCO val2017, and 49.9% mIoU on ADE20K, surpassing previous transformer-based and MLP-based models with better trade-off for accuracy and throughput. Code is available at https://github.com/ggjy/Hire-Wave-MLP.pytorch.

cs.CV↗

Pre-Trained Image Processing Transformer

As the computing power of modern hardware is increasing strongly, pre-trained deep learning models (e.g., BERT, GPT-3) learned on large-scale datasets have shown their effectiveness over conventional methods. The big progress is mainly contributed to the representation ability of transformer and its variant architectures. In this paper, we study the low-level computer vision task (e.g., denoising, super-resolution and deraining) and develop a new pre-trained model, namely, image processing transformer (IPT). To maximally excavate the capability of transformer, we present to utilize the well-known ImageNet benchmark for generating a large amount of corrupted image pairs. The IPT model is trained on these images with multi-heads and multi-tails. In addition, the contrastive learning is introduced for well adapting to different image processing tasks. The pre-trained model can therefore efficiently employed on desired task after fine-tuning. With only one pre-trained model, IPT outperforms the current state-of-the-art methods on various low-level benchmarks. Code is available at https://github.com/huawei-noah/Pretrained-IPT and https://gitee.com/mindspore/mindspore/tree/master/model_zoo/research/cv/IPT

cs.CV↗

Ultrafast Internal Conversion Dynamics Through the on-the-fly Simulation of Transient Absorption Pump-Probe Spectra with Different Electronic Structure Methods

The ultrafast nonadiabatic internal conversion in azomethane is explored by the on-the-fly trajectory surface-hopping simulations of photoinduced dynamics and femtosecond transient absorption (TA) pump-probe (PP) spectra at three electronic-structure theory levels, OM2/MRCI, SA-CASSCF, and XMS-CASPT2. All these dynamics simulations predict ultrafast internal conversion. On the one hand, the OM2/MRCI and SA-CASSCF methods yield similar excited-state dynamics, while the XMS-CASPT2 method predicts a much slower population decay. On the other hand, the TA PP signals simulated at the SA-CASSCF and XMS-CASPT2 levels show the similar spectral features, particularly for the similar stimulated emission contributions, while the OM2/MRCI signals are quite different. This demonstrates that the nonadiabatic population dynamics and time-resolved stimulated emission signals may reflect different aspects of photoinduced processes. The combination of the dynamical and spectral simulations definitely provides more accurate and detailed information which sheds light on the microscopic mechanisms of photophysical and photochemical processes.

physics.chem-ph↗

The Optimal Pilot Power Allocation Strategy for Multi-IRS Assisted Communication Systems

Intelligent reflecting surface (IRS) is a promising technology that enables the precise control of the electromagnetic environment in future wireless communication networks. To leverage the IRS effectively, the acquisition of channel state information (CSI) is crucial in IRS-assisted communication systems, which, however, is challenging. In this paper, we propose the optimal pilot power allocation strategy for the channel estimation of IRS-assisted communication systems, which is capable of further improving the achievable rate performance with imperfect CSI. More specifically, first of all, we introduce a multi-IRS-assisted communication system in the face of practical channel estimation errors. Furthermore, the ergodic capacity with imperfect CSI is derived in an explicit closed-form expression under the single-input single-output (SISO) consideration. Secondly, we formulate the optimization problem of maximizing the ergodic capacity with imperfect CSI, subject to the constraint of the average uplink pilot power. Thirdly, the method of Lagrange multipliers is invoked to solve the ergodic rate maximizing problem and thus to obtain the optimal pilot power allocation strategy. The resultant pilot power allocation solution suggests allocating more amount of power to the pilots for estimating the weak reflection channels. Besides, we also elaborate on the expense of the proposed pilot power allocation strategy upon analyzing the peak-to-average-power ratio (PAPR) increase quantitatively. Finally, the extensive simulation results verify our analysis and reveal some interesting results. For example, for the user in the vicinity of a large IRS, it is suggested to switch off other IRSs and only switch on the IRS nearest the user; For the user near a small IRS, it is better to switch on all IRSs and perform the optimal pilot power allocation for enhancing the achievable rate performance.

cs.IT↗

Reconfigurable Intelligent Surface-Enhanced OFDM Communications via Delay Adjustable Metasurface

Reconfigurable intelligent surface (RIS) is a promising technology for establishing spectral- and energy-efficient wireless networks. In this paper, we study RIS-enhanced orthogonal frequency division multiplexing (OFDM) communications, which generalize the existing RIS-driven context focusing only on frequency-flat channels. Firstly, we introduce the delay adjustable metasurface (DAM) relying on varactor diodes. In contrast to existing reflecting elements, each one in DAM is capable of storing and retrieving the impinging electromagnetic waves upon dynamically controlling its electromagnetically induced transparency (EIT) properties, thus additionally imposing an extra delay onto the reflected incident signals. Secondly, we formulate the rate-maximization problem by jointly optimizing the transmit power allocation and the RIS reflection coefficients as well as the RIS delays. Furthermore, to address the coupling among optimization variables, we propose an efficient algorithm to achieve a high-quality solution for the formulated non-convex design problem by alternately optimizing the transmit power allocation and the RIS reflection pattern, including the reflection coefficients and the delays. Thirdly, to circumvent the high complexity for optimizing the RIS reflection coefficients, we conceive a low-complexity scheme upon aligning the strongest taps of all reflected channels, while ensuring that the maximum delay spread after introducing extra RIS delays does not exceed the length of the cyclic prefix (CP). Finally, simulation results demonstrate that the proposed design significantly improves the OFDM rate performance as well as the RIS's adaptability to wideband signals compared to baseline schemes without employing DAM.

cs.IT↗

Age of Changed Information: Content-Aware Status Updating in the Internet of Things

In Internet of Things (IoT), the freshness of status updates is crucial for mission-critical applications. In this regard, it is suggested to quantify the freshness of updates by using Age of Information (AoI) from the receiver's perspective. Specifically, the AoI measures the freshness over time. However, the freshness in the content is neglected. In this paper, we introduce an age-based utility, named as Age of Changed Information (AoCI), which captures both the passage of time and the change of information content. By modeling the underlying physical process as a discrete time Markov chain, we investigate the AoCI in a time-slotted status update system, where a sensor samples the physical process and transmits the update packets to the destination. With the aim of minimizing the weighted sum of the AoCI and the update cost, we formulate an infinite horizon average cost Markov Decision Process. We show that the optimal updating policy has a special structure with respect to the AoCI and identify the condition under which the special structure exists. By exploiting the special structure, we provide a low complexity relative policy iteration algorithm that finds the optimal updating policy. We further investigate the optimal policy for two special cases. In the first case where the state of the physical process transits with equiprobability, we show that optimal policy is of threshold type and derive the closed-form of the optimal threshold. We then study a more generalized periodic Markov model of the physical process in the second case. Lastly, simulation results are laid out to exhibit the performance of the optimal updating policy and its superiority over the zero-wait baseline policy.

cs.IT↗

External Forces Resilient Safe Motion Planning for Quadrotor

Adaptive autonomous navigation with no prior knowledge of extraneous disturbance is of great significance for quadrotors in a complex and unknown environment. The mainstream that considers external disturbance is to implement disturbance-rejected control and path tracking. However, the robust control to compensate for tracking deviations is not well-considered regarding energy consumption, and even the reference path will become risky and intractable with disturbance. As recent external forces estimation advances, it is possible to incorporate a real-time force estimator to develop more robust and safe planning frameworks. This paper proposes a systematic (re)planning framework that can resiliently generate safe trajectories under volatile conditions. Firstly, a front-end kinodynamic path is searched with force-biased motion primitives. Then we develop a nonlinear model predictive control (NMPC) as a local planner with Hamilton-Jacobi (HJ) forward reachability analysis for error dynamics caused by external forces. It guarantees collision avoidance by constraining the ellipsoid of the quadrotor body expanded with the forward reachable sets (FRSs) within safe convex polytopes. Our method is validated in simulations and real-world experiments with different sources of external forces.

cs.RO↗

Robust Trajectory Planning for Spatial-Temporal Multi-Drone Coordination in Large Scenes

In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is designed to avoid reciprocal collisions when vehicles deviate from their nominal flight progress under disturbance. We further show the minimum-singularity differential flatness of our drone dynamics with nonlinear drag effects involved. Leveraging the flatness map, trajectory optimization is efficiently conducted on the flat outputs while still subject to physical limits considering drag forces at high speeds. The robustness and effectiveness of our framework are both validated in large-scale simulations. It can compute collision-free trajectories satisfying high-fidelity vehicle constraints for hundreds of drones in a few minutes.

cs.RO↗

STD-Trees: Spatio-temporal Deformable Trees for Multirotors Kinodynamic Planning

In constrained solution spaces with a huge number of homotopy classes, stand-alone sampling-based kinodynamic planners suffer low efficiency in convergence. Local optimization is integrated to alleviate this problem. In this paper, we propose to thrive the trajectory tree growing by optimizing the tree in the forms of deformation units, and each unit contains one tree node and all the edges connecting it. The deformation proceeds both spatially and temporally by optimizing the node state and edge time durations efficiently. The unit only changes the tree locally yet improves the overall quality of a corresponding sub-tree. Further, variants to deform different tree parts considering the computation burden and optimizing level are studied and compared, all showing much faster convergence. The proposed deformation is compatible with different RRT-based kinodynamic planning methods, and numerical experiments show that integrating the spatio-temporal deformation greatly accelerates the convergence and outperforms the spatial-only deformation.

cs.RO↗

Fast-Racing: An Open-source Strong Baseline for SE(3) Planning in Autonomous Drone Racing

With the autonomy of aerial robots advances in recent years, autonomous drone racing has drawn increasing attention. In a professional pilot competition, a skilled operator always controls the drone to agilely avoid obstacles in aggressive attitudes, for reaching the destination as fast as possible. Autonomous flight like elite pilots requires planning in SE(3), whose non-triviality and complexity hindering a convincing solution in our community by now. To bridge this gap, this paper proposes an open-source baseline, which includes a high-performance SE(3) planner and a challenging simulation platform tailored for drone racing. We specify the SE(3) trajectory generation as a soft-penalty optimization problem, and speed up the solving process utilizing its underlying parallel structure. Moreover, to provide a testbed for challenging the planner, we develop delicate drone racing tracks which mimic real-world set-up and necessities planning in SE(3). Besides, we provide necessary system components such as common map interfaces and a baseline controller, to make our work plug-in-and-use. With our baseline, we hope to future foster the research of SE(3) planning and the competition of autonomous drone racing.

cs.RO↗

Evaluation on characterization of acoustic emission of brittle rocks from the experiment to numerical simulation

Acoustic emission (AE) characterization is an effective technique to indirectly capture the progressive failure process of the brittle rock. In previous studies, both the experiment and numerical simulation were adopted to investigate AE characteristics of the brittle rock. However, as the most popular numerical model, the moment tensor model (MTM) did not reproduce the monitoring and analyzing manner of AE signals from the physical experiment. Consequently, its result could not be constrained by the experimental result. It is thus necessary to evaluate the consistency and compatibility between the experiment and MTM. To fulfill this, we developed a particle-velocity-based model (PVBM) which enabled directly monitor and analyze the particle velocity in the numerical model and had good robustness. The PVBM imitated the actual experiment and could fill in gaps between the experiment and MTM. AE experiments of Marine shale under uniaxial compression were carried out, of which results were simulated by MTM. In general, the variation trend of the experimental result could be presented by MTM. Nevertheless, magnitudes of AE parameters by MTM presented notable differences with more than several orders compared with those by the experiment. We sequentially used PVBM as a proxy to analyze these discrepancies quantitatively and make a systematical evaluation on AE characterization of brittle rocks from the experiment to numerical simulation, considering the influence of wave reflection, energy geometrical diffusion, viscous attenuation, particle size as well as progressive deterioration of rock material. It was suggested that only the combination of MTM and PVBM could reasonably and accurately acquire AE characteristics of the actual AE experiment of brittle rocks by making full use of their respective advantages.

physics.geo-ph↗

When to Preprocess? Keeping Information Fresh for Computing Enable Internet of Things

Age of information (AoI), a notion that measures the information freshness, is an essential performance measure for time-critical applications in Internet of Things (IoT). With the surge of computing resources at the IoT devices, it is possible to preprocess the information packets that contain the status update before sending them to the destination so as to alleviate the transmission burden. However, the additional time and energy expenditure induced by computing also make the optimal updating a non-trivial problem. In this paper, we consider a time-critical IoT system, where the IoT device is capable of preprocessing the status update before the transmission. Particularly, we aim to jointly design the preprocessing and transmission so that the weighted sum of the average AoI of the destination and the energy consumption of the IoT device is minimized. Due to the heterogeneity in transmission and computation capacities, the durations of distinct actions of the IoT device are non-uniform. Therefore, we formulate the status updating problem as an infinite horizon average cost semi-Markov decision process (SMDP) and then transform it into a discrete-time Markov decision process. We demonstrate that the optimal policy is of threshold type with respect to the AoI. Equipped with this, a structure-aware relative policy iteration algorithm is proposed to obtain the optimal policy of the SMDP. Our analysis shows that preprocessing is more beneficial in regimes of high AoIs, given it can reduce the time required for updates. We further prove the switching structure of the optimal policy in a special scenario, where the status updates are transmitted over a reliable channel, and derive the optimal threshold. Finally, simulation results demonstrate the efficacy of preprocessing and show that the proposed policy outperforms two baseline policies.

cs.IT↗

Low-Complexity Improved-Throughput Generalised Spatial Modulation: Bit-to-Symbol Mapping, Detection and Performance Analysis

Low-complexity improved-throughput generalised spatial modulation (LCIT-GSM) is proposed. More explicitly, in GSM, extra information bits are conveyed implicitly by activating a fixed number $N_{a}$ out of $N_{t}$ transmit antennas (TAs) at a time. As a result, GSM has the advantage of a reduced number of radio-frequency (RF) chains and reduced inter-antenna interference (IAI) at the cost of a lower throughput than its multiplexing-oriented full-RF based counterparts. Variable-${N_a}$ GSM mitigates this throughput reduction by incorporating all possible TA activation patterns associated with a variable value $N_{a}$ ranging from $1$ to $N_{t}$ during a single channel-use, which maximises the throughput of GSM but suffers a high complexity of the mapping book design and demodulation. In order to mitigate the complexity, \emph{first of all}, we propose two efficient schemes for mapping the information bits to the TA activation patterns, which can be readily scaled to massive MIMO setups. \emph{Secondly}, in the absence of IAI, we derive a pair of low-complexity near-optimal detectors, one of them has a reduced search scope, while the other benefits from a decoupled single-stream based signal detection algorithm. \emph{Finally}, the performance of the proposed LCIT-GSM system is characterised by the error probability upper bound (UB). Our Monte Carlo based simulation results confirm the improved error performance of our proposed scheme, despite its reduced signal detection complexity.

cs.IT↗

Training Object Detectors from Few Weakly-Labeled and Many Unlabeled Images

Weakly-supervised object detection attempts to limit the amount of supervision by dispensing the need for bounding boxes, but still assumes image-level labels on the entire training set. In this work, we study the problem of training an object detector from one or few images with image-level labels and a larger set of completely unlabeled images. This is an extreme case of semi-supervised learning where the labeled data are not enough to bootstrap the learning of a detector. Our solution is to train a weakly-supervised student detector model from image-level pseudo-labels generated on the unlabeled set by a teacher classifier model, bootstrapped by region-level similarities to labeled images. Building upon the recent representative weakly-supervised pipeline PCL, our method can use more unlabeled images to achieve performance competitive or superior to many recent weakly-supervised detection solutions.

cs.CV↗

EVA-Planner: Environmental Adaptive Quadrotor Planning

The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight smoothness. Although many works on quadrotor planning have been proposed, a research gap exists in incorporating self-adaptation into a planning framework to enable a drone to automatically fly slower in denser environments and increase its speed in a safer area. In this paper, we propose an environmental adaptive planner to adjust the flight aggressiveness effectively based on the obstacle distribution and quadrotor state. Firstly, we design an environmental adaptive safety aware method to assign the priority of the surrounding obstacles according to the environmental risk level and instantaneous motion tendency. Then, we apply it into a multi-layered model predictive contouring control (Multi-MPCC) framework to generate adaptive, safe, and dynamical feasible local trajectories. Extensive simulations and real-world experiments verify the efficiency and robustness of our planning framework. Benchmark comparison also shows superior performances of our method with another advanced environmental adaptive planning algorithm. Moreover, we release our planning framework as open-source ros-packages.

cs.RO↗

AdderNet: Do We Really Need Multiplications in Deep Learning?

Compared with cheap addition operation, multiplication operation is of much higher computation complexity. The widely-used convolutions in deep neural networks are exactly cross-correlation to measure the similarity between input feature and convolution filters, which involves massive multiplications between float values. In this paper, we present adder networks (AdderNets) to trade these massive multiplications in deep neural networks, especially convolutional neural networks (CNNs), for much cheaper additions to reduce computation costs. In AdderNets, we take the $\ell_1$-norm distance between filters and input feature as the output response. The influence of this new similarity measure on the optimization of neural network have been thoroughly analyzed. To achieve a better performance, we develop a special back-propagation approach for AdderNets by investigating the full-precision gradient. We then propose an adaptive learning rate strategy to enhance the training procedure of AdderNets according to the magnitude of each neuron's gradient. As a result, the proposed AdderNets can achieve 74.9% Top-1 accuracy 91.7% Top-5 accuracy using ResNet-50 on the ImageNet dataset without any multiplication in convolution layer. The codes are publicly available at: https://github.com/huaweinoah/AdderNet.

cs.CV↗

Augmented Shortcuts for Vision Transformers

Transformer models have achieved great progress on computer vision tasks recently. The rapid development of vision transformers is mainly contributed by their high representation ability for extracting informative features from input images. However, the mainstream transformer models are designed with deep architectures, and the feature diversity will be continuously reduced as the depth increases, i.e., feature collapse. In this paper, we theoretically analyze the feature collapse phenomenon and study the relationship between shortcuts and feature diversity in these transformer models. Then, we present an augmented shortcut scheme, which inserts additional paths with learnable parameters in parallel on the original shortcuts. To save the computational costs, we further explore an efficient approach that uses the block-circulant projection to implement augmented shortcuts. Extensive experiments conducted on benchmark datasets demonstrate the effectiveness of the proposed method, which brings about 1% accuracy increase of the state-of-the-art visual transformers without obviously increasing their parameters and FLOPs.

cs.CV↗

Universal Adder Neural Networks

Compared with cheap addition operation, multiplication operation is of much higher computation complexity. The widely-used convolutions in deep neural networks are exactly cross-correlation to measure the similarity between input feature and convolution filters, which involves massive multiplications between float values. In this paper, we present adder networks (AdderNets) to trade these massive multiplications in deep neural networks, especially convolutional neural networks (CNNs), for much cheaper additions to reduce computation costs. In AdderNets, we take the $\ell_1$-norm distance between filters and input feature as the output response. We first develop a theoretical foundation for AdderNets, by showing that both the single hidden layer AdderNet and the width-bounded deep AdderNet with ReLU activation functions are universal function approximators. An approximation bound for AdderNets with a single hidden layer is also presented. We further analyze the influence of this new similarity measure on the optimization of neural network and develop a special training scheme for AdderNets. Based on the gradient magnitude, an adaptive learning rate strategy is proposed to enhance the training procedure of AdderNets. AdderNets can achieve a 75.7% Top-1 accuracy and a 92.3% Top-5 accuracy using ResNet-50 on the ImageNet dataset without any multiplication in the convolutional layer.

cs.CV↗