arXiv subjects

Chao Xu

Publications and source records attributed to Chao Xu.

At least 325 records · Page 18Linked to original sources

arXiv2020

Understanding Age of Information in Large-Scale Wireless Networks

The notion of age-of-information (AoI) is investigated in the context of large-scale wireless networks, in which transmitters need to send a sequence of information packets, which are generated as independent Bernoulli processes, to their intended receivers over a shared spectrum. Due to interference, the rate of packet depletion at any given node is entangled with both the spatial configurations, which determine the path loss, and temporal dynamics, which influence the active states, of the other transmitters, resulting in the queues to interact with each other in both space and time over the entire network. To that end, variants in the packet update frequency affect not just the inter-arrival time but also the departure process, and the impact of such phenomena on the AoI is not well understood. In this paper, we establish a theoretical framework to characterize the AoI performance in the aforementioned setting. Particularly, tractable expressions are derived for both the peak and average AoI under two different transmission protocols, namely the FCFS and the LCFS-PR. Based on the theoretical outcomes, we find that: i) networks operating under LCFS-PR are able to attain smaller values of peak and average AoI than that under FCFS, whereas the gain is more pronounced when the infrastructure is densely deployed, ii) in sparsely deployed networks, ALOHA with a universally designed channel access probability is not instrumental in reducing the AoI, thus calling for more advanced channel access approaches, and iii) when the infrastructure is densely rolled out, there exists a non-trivial ALOHA channel access probability that minimizes the peak and average AoI under both FCFS and LCFS-PR.

cs.IT↗

arXiv2020

Single branch of chiral Majorana modes from doubly degenerate Fermi surfaces

Majorana fermions are often proposed to be realized by first singling out one Fermi surface without spin degeneracy via spin-orbit coupling, and then imposing boundaries or defects. In this work, we take a different route starting with two degenerate Fermi surfaces without spin-orbit coupling, and show that by the method of "kink on boundary", the dispersive chiral Majorana fermions can be realized in superconducting systems with $p\pm is$ pairings. The surfaces of these systems develop spontaneous magnetizations whose directions are determined by the boundary orientations and the phase difference between the $p$ and $s$-component gap functions. Along the magnetic domain walls on the surface, there exist chiral Majorana fermions propagating unidirectionally, which can be conveniently dragged and controlled by external magnetic fields. Furthermore, the surface magnetization is shown to be a magnetoelectric effect based on a Ginzburg-Landau free energy analysis. We also discuss how to use the proximity effects to realize chiral Majorana fermions by performing the "kink on boundary" method.

cond-mat.supr-con↗

arXiv2020

HourNAS: Extremely Fast Neural Architecture Search Through an Hourglass Lens

Neural Architecture Search (NAS) refers to automatically design the architecture. We propose an hourglass-inspired approach (HourNAS) for this problem that is motivated by the fact that the effects of the architecture often proceed from the vital few blocks. Acting like the narrow neck of an hourglass, vital blocks in the guaranteed path from the input to the output of a deep neural network restrict the information flow and influence the network accuracy. The other blocks occupy the major volume of the network and determine the overall network complexity, corresponding to the bulbs of an hourglass. To achieve an extremely fast NAS while preserving the high accuracy, we propose to identify the vital blocks and make them the priority in the architecture search. The search space of those non-vital blocks is further shrunk to only cover the candidates that are affordable under the computational resource constraints. Experimental results on the ImageNet show that only using 3 hours (0.1 days) with one GPU, our HourNAS can search an architecture that achieves a 77.0% Top-1 accuracy, which outperforms the state-of-the-art methods.

cs.CV↗

arXiv2020

EGO-Planner: An ESDF-free Gradient-based Local Planner for Quadrotors

Gradient-based planners are widely used for quadrotor local planning, in which a Euclidean Signed Distance Field (ESDF) is crucial for evaluating gradient magnitude and direction. Nevertheless, computing such a field has much redundancy since the trajectory optimization procedure only covers a very limited subspace of the ESDF updating range. In this paper, an ESDF-free gradient-based planning framework is proposed, which significantly reduces computation time. The main improvement is that the collision term in the penalty function is formulated by comparing the colliding trajectory with a collision-free guiding path. The resulting obstacle information will be stored only if the trajectory hits new obstacles, making the planner only extract necessary obstacle information. Then, we lengthen the time allocation if dynamical feasibility is violated. An anisotropic curve fitting algorithm is introduced to adjust higher-order derivatives of the trajectory while maintaining the original shape. Benchmark comparisons and real-world experiments verify its robustness and high-performance. The source code is released as ROS packages.

cs.RO↗

arXiv2020

Generating Large Convex Polytopes Directly on Point Clouds

In this paper, we present a method to efficiently generate large, free, and guaranteed convex space among arbitrarily cluttered obstacles. Our method operates directly on point clouds, avoids expensive calculations, and processes thousands of points within a few milliseconds, which extremely suits embedded platforms. The base stone of our method is sphere flipping, a one-one invertible nonlinear transformation, which maps a set of unordered points to a nonlinear space. With these wrapped points, we obtain a collision-free star convex polytope. Then, utilizing the star convexity, we efficiently modify the polytope to convex and guarantee its free of obstacles. Extensive quantitative evaluations show that our method significantly outperforms state-of-the-art works in efficiency. We also present practical applications with our method in 3D, including large-scale deformable topological mapping and quadrotor optimal trajectory planning, to validate its capability and efficiency. The source code of our method will be released for the reference of the community.

cs.RO↗

arXiv2020

Mapless-Planner: A Robust and Fast Planning Framework for Aggressive Autonomous Flight without Map Fusion

Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner which directly conducts such abstraction on the unfused sensor data. A limited-memory data structure with a reliable proximity query algorithm is proposed for maintaining raw historical information. A sampling-based scheme is designed to extract the free-space skeleton. A smart waypoint selection strategy enables to generate high-quality trajectories within the resultant flight corridors. Our planner differs from other mapless ones in that it can abstract and exploit the environment information efficiently. The online replan consistency and success rate are both significantly improved against conventional mapless methods.

cs.RO↗

arXiv2020

Attractive and repulsive dipolar interaction in bilayers of indirect excitons

We explore attractive dipolar interaction in indirect excitons (IXs). For one layer of IXs in a single pair of coupled quantum wells (CQW), the out-of-plane IX electric dipoles lead to repulsive dipolar interaction between IXs. The attractive dipolar interaction between IXs is realized in a 2-CQW heterostructure with two IX layers in two separated CQW pairs. We found both in experimental measurements and theoretical simulations that increasing density of IXs in one layer causes a monotonic energy reduction for IXs in the other layer. We also found an in-plane shift of a cloud of IXs in one layer towards a cloud of IXs in the other layer. This behaviour is qualitatively consistent with attractive dipolar interaction. The measured IX energy reduction and IX cloud shift are higher than the values given by the correlated liquid theory.

cond-mat.mes-hall↗

arXiv2020

TGK-Planner: An Efficient Topology Guided Kinodynamic Planner for Autonomous Quadrotors

In this paper, we propose a lightweight yet effective Topology Guided Kinodynamic planner (TGK-Planner) for quadrotor aggressive flights with limited onboard computing resources. The proposed system follows the traditional hierarchical planning workflow, with novel designs to improve the robustness and efficiency in both the pathfinding and trajectory optimization sub-modules. Firstly, we propose the topology guided graph, which roughly captures the topological structure of the environment and guides the state sampling of a sampling-based kinodynamic planner. In this way, we significantly improve the efficiency of finding a safe and dynamically feasible trajectory. Then, we refine the smoothness and continuity of the trajectory in an optimization framework, which incorporates the homotopy constraint to guarantee the safety of the trajectory. The optimization program is formulated as a sequence of quadratic programmings (QPs) and can be iteratively solved in a few milliseconds. Finally, the proposed system is integrated into a fully autonomous quadrotor and validated in various simulated and real-world scenarios. Benchmark comparisons show that our method outperforms state-of-the-art methods with regard to efficiency and trajectory quality. Moreover, we will release our code as an open-source package.

cs.RO↗

arXiv2020

Fast-Tracker: A Robust Aerial System for Tracking Agile Target in Cluttered Environments

This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense environments are unknown to the UAV. Our work is divided into two parts: target motion prediction and tracking trajectory planning. The target motion prediction method utilizes target observations to reliably predict the future motion of the target considering dynamic constraints. The tracking trajectory planner follows the traditional hierarchical workflow.A target informed kinodynamic searching method is adopted as the front-end, which heuristically searches for a safe tracking trajectory. The back-end optimizer then refines it into a spatial-temporal optimal and collision-free trajectory. The proposed solution is integrated into an onboard quadrotor system. We fully test the system in challenging real-world tracking missions.Moreover, benchmark comparisons validate that the proposed method surpasses the cutting-edge methods on time efficiency and tracking effectiveness.

cs.RO↗

arXiv2020

APB2FaceV2: Real-Time Audio-Guided Multi-Face Reenactment

Audio-guided face reenactment aims to generate a photorealistic face that has matched facial expression with the input audio. However, current methods can only reenact a special person once the model is trained or need extra operations such as 3D rendering and image post-fusion on the premise of generating vivid faces. To solve the above challenge, we propose a novel \emph{R}eal-time \emph{A}udio-guided \emph{M}ulti-face reenactment approach named \emph{APB2FaceV2}, which can reenact different target faces among multiple persons with corresponding reference face and drive audio signal as inputs. Enabling the model to be trained end-to-end and have a faster speed, we design a novel module named Adaptive Convolution (AdaConv) to infuse audio information into the network, as well as adopt a lightweight network as our backbone so that the network can run in real time on CPU and GPU. Comparison experiments prove the superiority of our approach than existing state-of-the-art methods, and further experiments demonstrate that our method is efficient and flexible for practical applications https://github.com/zhangzjn/APB2FaceV2

cs.CV↗

arXiv2020

Searching for Low-Bit Weights in Quantized Neural Networks

Quantized neural networks with low-bit weights and activations are attractive for developing AI accelerators. However, the quantization functions used in most conventional quantization methods are non-differentiable, which increases the optimization difficulty of quantized networks. Compared with full-precision parameters (i.e., 32-bit floating numbers), low-bit values are selected from a much smaller set. For example, there are only 16 possibilities in 4-bit space. Thus, we present to regard the discrete weights in an arbitrary quantized neural network as searchable variables, and utilize a differential method to search them accurately. In particular, each weight is represented as a probability distribution over the discrete value set. The probabilities are optimized during training and the values with the highest probability are selected to establish the desired quantized network. Experimental results on benchmarks demonstrate that the proposed method is able to produce quantized neural networks with higher performance over the state-of-the-art methods on both image classification and super-resolution tasks.

cs.CV↗

arXiv2020

Discernible Image Compression

Image compression, as one of the fundamental low-level image processing tasks, is very essential for computer vision. Tremendous computing and storage resources can be preserved with a trivial amount of visual information. Conventional image compression methods tend to obtain compressed images by minimizing their appearance discrepancy with the corresponding original images, but pay little attention to their efficacy in downstream perception tasks, e.g., image recognition and object detection. Thus, some of compressed images could be recognized with bias. In contrast, this paper aims to produce compressed images by pursuing both appearance and perceptual consistency. Based on the encoder-decoder framework, we propose using a pre-trained CNN to extract features of the original and compressed images, and making them similar. Thus the compressed images are discernible to subsequent tasks, and we name our method as Discernible Image Compression (DIC). In addition, the maximum mean discrepancy (MMD) is employed to minimize the difference between feature distributions. The resulting compression network can generate images with high image quality and preserve the consistent perception in the feature domain, so that these images can be well recognized by pre-trained machine learning models. Experiments on benchmarks demonstrate that images compressed by using the proposed method can also be well recognized by subsequent visual recognition and detection models. For instance, the mAP value of compressed images by DIC is about 0.6% higher than that of using compressed images by conventional methods.

cs.CV↗

arXiv2020

Deep Learning Based Antenna Selection for Channel Extrapolation in FDD Massive MIMO

In massive multiple-input multiple-output (MIMO) systems, the large number of antennas would bring a great challenge for the acquisition of the accurate channel state information, especially in the frequency division duplex mode. To overcome the bottleneck of the limited number of radio links in hybrid beamforming, we utilize the neural networks (NNs) to capture the inherent connection between the uplink and downlink channel data sets and extrapolate the downlink channels from a subset of the uplink channel state information. We study the antenna subset selection problem in order to achieve the best channel extrapolation and decrease the data size of NNs. The probabilistic sampling theory is utilized to approximate the discrete antenna selection as a continuous and differentiable function, which makes the back propagation of the deep learning feasible. Then, we design the proper off-line training strategy to optimize both the antenna selection pattern and the extrapolation NNs. Finally, numerical results are presented to verify the effectiveness of our proposed massive MIMO channel extrapolation algorithm.

eess.SP↗

arXiv2020

Multicritera Cuts and Size-Constrained $k$-cuts in Hypergraphs

We address counting and optimization variants of multicriteria global min-cut and size-constrained min-$k$-cut in hypergraphs. 1. For an $r$-rank $n$-vertex hypergraph endowed with $t$ hyperedge-cost functions, we show that the number of multiobjective min-cuts is $O(r2^{tr}n^{3t-1})$. In particular, this shows that the number of parametric min-cuts in constant rank hypergraphs for a constant number of criteria is strongly polynomial, thus resolving an open question by Aissi, Mahjoub, McCormick, and Queyranne (Math Programming, 2015). In addition, we give randomized algorithms to enumerate all multiobjective min-cuts and all pareto-optimal cuts in strongly polynomial-time. 2. We also address node-budgeted multiobjective min-cuts: For an $n$-vertex hypergraph endowed with $t$ vertex-weight functions, we show that the number of node-budgeted multiobjective min-cuts is $O(r2^{r}n^{t+2})$, where $r$ is the rank of the hypergraph, and the number of node-budgeted $b$-multiobjective min-cuts for a fixed budget-vector $b$ is $O(n^2)$. 3. We show that min-$k$-cut in hypergraphs subject to constant lower bounds on part sizes is solvable in polynomial-time for constant $k$, thus resolving an open problem posed by Queyranne. Our technique also shows that the number of optimal solutions is polynomial. All of our results build on the random contraction approach of Karger (SODA, 1993). Our techniques illustrate the versatility of the random contraction approach to address counting and algorithmic problems concerning multiobjective min-cuts and size-constrained $k$-cuts in hypergraphs.

cs.DS↗

arXiv2020

Hierarchical and Efficient Learning for Person Re-Identification

Recent works in the person re-identification task mainly focus on the model accuracy while ignore factors related to the efficiency, e.g. model size and latency, which are critical for practical application. In this paper, we propose a novel Hierarchical and Efficient Network (HENet) that learns hierarchical global, partial, and recovery features ensemble under the supervision of multiple loss combinations. To further improve the robustness against the irregular occlusion, we propose a new dataset augmentation approach, dubbed Random Polygon Erasing (RPE), to random erase irregular area of the input image for imitating the body part missing. We also propose an Efficiency Score (ES) metric to evaluate the model efficiency. Extensive experiments on Market1501, DukeMTMC-ReID, and CUHK03 datasets shows the efficiency and superiority of our approach compared with epoch-making methods.

cs.CV↗

arXiv2020

Performance Analysis for Multi-Antenna Small Cell Networks with Clustered Dynamic TDD

Small cell networks with dynamic time-division duplex (D-TDD) have emerged as a potential solution to address the asymmetric traffic demands in 5G wireless networks. By allowing the dynamic adjustment of cell-specific UL/DL configuration, D-TDD flexibly allocates percentage of subframes to UL and DL transmissions to accommodate the traffic within each cell. However, the unaligned transmissions bring in extra interference which degrades the potential gain achieved by D-TDD. In this work, we propose an analytical framework to study the performance of multi-antenna small cell networks with clustered D-TDD, where cell clustering is employed to mitigate the interference from opposite transmission direction in neighboring cells. With tools from stochastic geometry, we derive explicit expressions and tractable tight upper bounds for success probability and network throughput. The proposed analytical framework allows to quantify the effect of key system parameters, such as UL/DL configuration, cluster size, antenna number, and SINR threshold. Our results show the superiority of the clustered D-TDD over the traditional D-TDD, and reveal the fact that there exists an optimal cluster size for DL performance, while UL performance always benefits from a larger cluster.

cs.IT↗

arXiv2020

A Semi-Supervised Assessor of Neural Architectures

Neural architecture search (NAS) aims to automatically design deep neural networks of satisfactory performance. Wherein, architecture performance predictor is critical to efficiently value an intermediate neural architecture. But for the training of this predictor, a number of neural architectures and their corresponding real performance often have to be collected. In contrast with classical performance predictor optimized in a fully supervised way, this paper suggests a semi-supervised assessor of neural architectures. We employ an auto-encoder to discover meaningful representations of neural architectures. Taking each neural architecture as an individual instance in the search space, we construct a graph to capture their intrinsic similarities, where both labeled and unlabeled architectures are involved. A graph convolutional neural network is introduced to predict the performance of architectures based on the learned representations and their relation modeled by the graph. Extensive experimental results on the NAS-Benchmark-101 dataset demonstrated that our method is able to make a significant reduction on the required fully trained architectures for finding efficient architectures.

cs.CV↗

arXiv2020

The Paradox of Information Access: Growing Isolation in the Age of Sharing

Modern online media, such as Twitter, Instagram, and YouTube, enable anyone to become an information producer and to offer online content for potentially global consumption. By increasing the amount of globally accessible real-time information, today's ubiquitous producers contribute to a world, where an individual consumes vanishingly smaller fractions of all produced content. In general, consumers preferentially select information that closely matches their individual views and values. The bias inherent in such selection is further magnified by today's information curation services that maximize user engagement (and thus service revenue) by filtering new content in accordance with observed consumer preferences. Consequently, individuals get exposed to increasingly narrower bands of the ideology spectrum. Societies get fragmented into increasingly ideologically isolated enclaves. These enclaves (or echo-chambers) then become vulnerable to misinformation spread, which in turn further magnifies polarization and bias. We call this dynamic the paradox of information access; a growing ideological fragmentation in the age of sharing. This article describes the technical, economic, and socio-cognitive contributors to this paradox, and explores research directions towards its mitigation.

cs.CY↗