arXiv subjects

Chen Ye

Publications and source records attributed to Chen Ye.

At least 37 records · Page 2Linked to original sources

arXiv2024

Focus On What Matters: Separated Models For Visual-Based RL Generalization

A primary challenge for visual-based Reinforcement Learning (RL) is to generalize effectively across unseen environments. Although previous studies have explored different auxiliary tasks to enhance generalization, few adopt image reconstruction due to concerns about exacerbating overfitting to task-irrelevant features during training. Perceiving the pre-eminence of image reconstruction in representation learning, we propose SMG (Separated Models for Generalization), a novel approach that exploits image reconstruction for generalization. SMG introduces two model branches to extract task-relevant and task-irrelevant representations separately from visual observations via cooperatively reconstruction. Built upon this architecture, we further emphasize the importance of task-relevant features for generalization. Specifically, SMG incorporates two additional consistency losses to guide the agent's focus toward task-relevant areas across different scenarios, thereby achieving free from overfitting. Extensive experiments in DMC demonstrate the SOTA performance of SMG in generalization, particularly excelling in video-background settings. Evaluations on robotic manipulation tasks further confirm the robustness of SMG in real-world applications.

cs.CV↗

arXiv2024

LOG-LIO2: A LiDAR-Inertial Odometry with Efficient Uncertainty Analysis

Uncertainty in LiDAR measurements, stemming from factors such as range sensing, is crucial for LIO (LiDAR-Inertial Odometry) systems as it affects the accurate weighting in the loss function. While recent LIO systems address uncertainty related to range sensing, the impact of incident angle on uncertainty is often overlooked by the community. Moreover, the existing uncertainty propagation methods suffer from computational inefficiency. This paper proposes a comprehensive point uncertainty model that accounts for both the uncertainties from LiDAR measurements and surface characteristics, along with an efficient local uncertainty analytical method for LiDAR-based state estimation problem. We employ a projection operator that separates the uncertainty into the ray direction and its orthogonal plane. Then, we derive incremental Jacobian matrices of eigenvalues and eigenvectors w.r.t. points, which enables a fast approximation of uncertainty propagation. This approach eliminates the requirement for redundant traversal of points, significantly reducing the time complexity of uncertainty propagation from $\mathcal{O} (n)$ to $\mathcal{O} (1)$ when a new point is added. Simulations and experiments on public datasets are conducted to validate the accuracy and efficiency of our formulations. The proposed methods have been integrated into a LIO system, which is available at https://github.com/tiev-tongji/LOG-LIO2.

cs.RO↗

arXiv2024

Progressive Dual Priori Network for Generalized Breast Tumor Segmentation

To promote the generalization ability of breast tumor segmentation models, as well as to improve the segmentation performance for breast tumors with smaller size, low-contrast and irregular shape, we propose a progressive dual priori network (PDPNet) to segment breast tumors from dynamic enhanced magnetic resonance images (DCE-MRI) acquired at different centers. The PDPNet first cropped tumor regions with a coarse-segmentation based localization module, then the breast tumor mask was progressively refined by using the weak semantic priori and cross-scale correlation prior knowledge. To validate the effectiveness of PDPNet, we compared it with several state-of-the-art methods on multi-center datasets. The results showed that, comparing against the suboptimal method, the DSC and HD95 of PDPNet were improved at least by 5.13% and 7.58% respectively on multi-center test sets. In addition, through ablations, we demonstrated that the proposed localization module can decrease the influence of normal tissues and therefore improve the generalization ability of the model. The weak semantic priors allow focusing on tumor regions to avoid missing small tumors and low-contrast tumors. The cross-scale correlation priors are beneficial for promoting the shape-aware ability for irregular tumors. Thus integrating them in a unified framework improved the multi-center breast tumor segmentation performance. The source code and open data can be accessed at https://github.com/wangli100209/PDPNet.

eess.IV↗

arXiv2024

Exploring Mathematical Extrapolation of Large Language Models with Synthetic Data

Large Language Models (LLMs) have shown excellent performance in language understanding, text generation, code synthesis, and many other tasks, while they still struggle in complex multi-step reasoning problems, such as mathematical reasoning. In this paper, through a newly proposed arithmetical puzzle problem, we show that the model can perform well on multi-step reasoning tasks via fine-tuning on high-quality synthetic data. Experimental results with the open-llama-3B model on three different test datasets show that not only the model can reach a zero-shot pass@1 at 0.44 on the in-domain dataset, it also demonstrates certain generalization capabilities on the out-of-domain datasets. Specifically, this paper has designed two out-of-domain datasets in the form of extending the numerical range and the composing components of the arithmetical puzzle problem separately. The fine-tuned models have shown encouraging performance on these two far more difficult tasks with the zero-shot pass@1 at 0.33 and 0.35, respectively.

cs.CL↗

arXiv2024

N$^{3}$-Mapping: Normal Guided Neural Non-Projective Signed Distance Fields for Large-scale 3D Mapping

Accurate and dense mapping in large-scale environments is essential for various robot applications. Recently, implicit neural signed distance fields (SDFs) have shown promising advances in this task. However, most existing approaches employ projective distances from range data as SDF supervision, introducing approximation errors and thus degrading the mapping quality. To address this problem, we introduce N$^{3}$-Mapping, an implicit neural mapping system featuring normal-guided neural non-projective signed distance fields. Specifically, we directly sample points along the surface normal, instead of the ray, to obtain more accurate non-projective distance values from range data. Then these distance values are used as supervision to train the implicit map. For large-scale mapping, we apply a voxel-oriented sliding window mechanism to alleviate the forgetting issue with a bounded memory footprint. Besides, considering the uneven distribution of measured point clouds, a hierarchical sampling strategy is designed to improve training efficiency. Experiments demonstrate that our method effectively mitigates SDF approximation errors and achieves state-of-the-art mapping quality compared to existing approaches.

cs.RO↗

arXiv2024

Learning Sequence Descriptor based on Spatio-Temporal Attention for Visual Place Recognition

Visual Place Recognition (VPR) aims to retrieve frames from a geotagged database that are located at the same place as the query frame. To improve the robustness of VPR in perceptually aliasing scenarios, sequence-based VPR methods are proposed. These methods are either based on matching between frame sequences or extracting sequence descriptors for direct retrieval. However, the former is usually based on the assumption of constant velocity, which is difficult to hold in practice, and is computationally expensive and subject to sequence length. Although the latter overcomes these problems, existing sequence descriptors are constructed by aggregating features of multiple frames only, without interaction on temporal information, and thus cannot obtain descriptors with spatio-temporal discrimination.In this paper, we propose a sequence descriptor that effectively incorporates spatio-temporal information. Specifically, spatial attention within the same frame is utilized to learn spatial feature patterns, while attention in corresponding local regions of different frames is utilized to learn the persistence or change of features over time. We use a sliding window to control the temporal range of attention and use relative positional encoding to construct sequential relationships between different features. This allows our descriptors to capture the intrinsic dynamics in a sequence of frames.Comprehensive experiments on challenging benchmark datasets show that the proposed approach outperforms recent state-of-the-art methods.The code is available at https://github.com/tiev-tongji/Spatio-Temporal-SeqVPR.

cs.CV↗

arXiv2023

How to Fine-tune the Model: Unified Model Shift and Model Bias Policy Optimization

Designing and deriving effective model-based reinforcement learning (MBRL) algorithms with a performance improvement guarantee is challenging, mainly attributed to the high coupling between model learning and policy optimization. Many prior methods that rely on return discrepancy to guide model learning ignore the impacts of model shift, which can lead to performance deterioration due to excessive model updates. Other methods use performance difference bound to explicitly consider model shift. However, these methods rely on a fixed threshold to constrain model shift, resulting in a heavy dependence on the threshold and a lack of adaptability during the training process. In this paper, we theoretically derive an optimization objective that can unify model shift and model bias and then formulate a fine-tuning process. This process adaptively adjusts the model updates to get a performance improvement guarantee while avoiding model overfitting. Based on these, we develop a straightforward algorithm USB-PO (Unified model Shift and model Bias Policy Optimization). Empirical results show that USB-PO achieves state-of-the-art performance on several challenging benchmark tasks.

cs.LG↗

arXiv2023

LOG-LIO: A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation

Local geometric information, i.e. normal and distribution of points, is crucial for LiDAR-based simultaneous localization and mapping (SLAM) because it provides constraints for data association, which further determines the direction of optimization and ultimately affects the accuracy of localization. However, estimating normal and distribution of points are time-consuming tasks even with the assistance of kdtree or volumetric maps. To achieve fast normal estimation, we look into the structure of LiDAR scan and propose a ring-based fast approximate least squares (Ring FALS) method. With the Ring structural information, estimating the normal requires only the range information of the points when a new scan arrives. To efficiently estimate the distribution of points, we extend the ikd-tree to manage the map in voxels and update the distribution of points in each voxel incrementally while maintaining its consistency with the normal estimation. We further fix the distribution after its convergence to balance the time consumption and the correctness of representation. Based on the extracted and maintained local geometric information, we devise a robust and accurate hierarchical data association scheme where point-to-surfel association is prioritized over point-to-plane. Extensive experiments on diverse public datasets demonstrate the advantages of our system compared to other state-of-the-art methods. Our open source implementation is available at https://github.com/tiev-tongji/LOG-LIO.

cs.RO↗

arXiv2023

Competition of electronic correlation and reconstruction in La1-xSrxTiO3/SrTiO3 heterostructures

Electronic correlation and reconstruction are two important factors that play a critical role in shaping the magnetic and electronic properties of correlated low-dimensional systems. Here, we report a competition between the electronic correlation and structural reconstruction in La1-xSrxTiO3/SrTiO3 heterostructures by modulating material polarity and interfacial strain, respectively. The heterostructures exhibit a critical thickness (tc) at which a metal-to-insulator transition (MIT) abruptly occurs at certain thickness, accompanied by the coexistence of two- and three-dimensional (2D and 3D) carriers. Intriguingly, the tc exhibits a V-shaped dependence on the doping concentration of Sr, with the smallest tc value at x = 0.5. We attribute this V-shaped dependence to the competition between the electronic reconstruction (modulated by the polarity) and the electronic correlation (modulated by strain), which are borne out by the experimental results, including strain-dependent electronic properties and the evolution of 2D and 3D carriers. Our findings underscore the significance of the interplay between electronic reconstruction and correlation in the realization and utilization of emergent electronic functionalities in low-dimensional correlated systems.

cond-mat.str-el↗

arXiv2023

LIMOT: A Tightly-Coupled System for LiDAR-Inertial Odometry and Multi-Object Tracking

Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the accurate tracking of moving objects is of great significance for the control and planning of autonomous vehicles. This study proposes LIMOT, a tightly-coupled multi-object tracking and LiDAR-inertial odometry system that is capable of accurately estimating the poses of both ego-vehicle and objects. We propose a trajectory-based dynamic feature filtering method, which filters out features belonging to moving objects by leveraging tracking results before scan-matching. Factor graph-based optimization is then conducted to optimize the bias of the IMU and the poses of both the ego-vehicle and surrounding objects in a sliding window. Experiments conducted on the KITTI tracking dataset and self-collected dataset show that our method achieves better pose and tracking accuracy than our previous work DL-SLOT and other baseline methods. Our open-source implementation is available at https://github.com/tiev-tongji/LIMOT.

cs.RO↗

arXiv2023

VNI-Net: Vector Neurons-based Rotation-Invariant Descriptor for LiDAR Place Recognition

LiDAR-based place recognition plays a crucial role in Simultaneous Localization and Mapping (SLAM) and LiDAR localization. Despite the emergence of various deep learning-based and hand-crafting-based methods, rotation-induced place recognition failure remains a critical challenge. Existing studies address this limitation through specific training strategies or network structures. However, the former does not produce satisfactory results, while the latter focuses mainly on the reduced problem of SO(2) rotation invariance. Methods targeting SO(3) rotation invariance suffer from limitations in discrimination capability. In this paper, we propose a new method that employs Vector Neurons Network (VNN) to achieve SO(3) rotation invariance. We first extract rotation-equivariant features from neighboring points and map low-dimensional features to a high-dimensional space through VNN. Afterwards, we calculate the Euclidean and Cosine distance in the rotation-equivariant feature space as rotation-invariant feature descriptors. Finally, we aggregate the features using GeM pooling to obtain global descriptors. To address the significant information loss when formulating rotation-invariant descriptors, we propose computing distances between features at different layers within the Euclidean space neighborhood. This greatly improves the discriminability of the point cloud descriptors while ensuring computational efficiency. Experimental results on public datasets show that our approach significantly outperforms other baseline methods implementing rotation invariance, while achieving comparable results with current state-of-the-art place recognition methods that do not consider rotation issues.

cs.CV↗

arXiv2023

Safe Reinforcement Learning with Dead-Ends Avoidance and Recovery

Safety is one of the main challenges in applying reinforcement learning to realistic environmental tasks. To ensure safety during and after training process, existing methods tend to adopt overly conservative policy to avoid unsafe situations. However, overly conservative policy severely hinders the exploration, and makes the algorithms substantially less rewarding. In this paper, we propose a method to construct a boundary that discriminates safe and unsafe states. The boundary we construct is equivalent to distinguishing dead-end states, indicating the maximum extent to which safe exploration is guaranteed, and thus has minimum limitation on exploration. Similar to Recovery Reinforcement Learning, we utilize a decoupled RL framework to learn two policies, (1) a task policy that only considers improving the task performance, and (2) a recovery policy that maximizes safety. The recovery policy and a corresponding safety critic are pretrained on an offline dataset, in which the safety critic evaluates upper bound of safety in each state as awareness of environmental safety for the agent. During online training, a behavior correction mechanism is adopted, ensuring the agent to interact with the environment using safe actions only. Finally, experiments of continuous control tasks demonstrate that our approach has better task performance with less safety violations than state-of-the-art algorithms.

cs.LG↗

arXiv2022

DL-SLOT: Dynamic LiDAR SLAM and object tracking based on collaborative graph optimization

Ego-pose estimation and dynamic object tracking are two critical problems for autonomous driving systems. The solutions to these problems are generally based on their respective assumptions, \ie{the static world assumption for simultaneous localization and mapping (SLAM) and the accurate ego-pose assumption for object tracking}. However, these assumptions are challenging to hold in dynamic road scenarios, where SLAM and object tracking become closely correlated. Therefore, we propose DL-SLOT, a dynamic LiDAR SLAM and object tracking method, to simultaneously address these two coupled problems. This method integrates the state estimations of both the autonomous vehicle and the stationary and dynamic objects in the environment into a unified optimization framework. First, we used object detection to identify all points belonging to potentially dynamic objects. Subsequently, a LiDAR odometry was conducted using the filtered point cloud. Simultaneously, we proposed a sliding window-based object association method that accurately associates objects according to the historical trajectories of tracked objects. The ego-states and those of the stationary and dynamic objects are integrated into the sliding window-based collaborative graph optimization. The stationary objects are subsequently restored from the potentially dynamic object set. Finally, a global pose-graph is implemented to eliminate the accumulated error. Experiments on KITTI datasets demonstrate that our method achieves better accuracy than SLAM and object tracking baseline methods. This confirms that solving SLAM and object tracking simultaneously is mutually advantageous, dramatically improving the robustness and accuracy of SLAM and object tracking in dynamic road scenarios.

cs.RO↗

arXiv2022

Phase diagram of superconducting vortex ratchet motion in a superlattice with noncentrosymmetry

Ratchet motion of superconducting vortices, which is a directional flow of vortices in superconductors, is highly useful for exploring quantum phenomena and developing superconducting devices, such as superconducting diode and microwave antenna. However, because of the challenges in the quantitative characterization of the dynamic motion of vortices, a phase diagram of the vortex ratchet motion is still missing, especially in the superconductors with low dimensional structures. Here we establish a quantitative phase diagram of the vortex ratchet motion in a highly anisotropic superlattice superconductor, (SnS)1.17NbS2, using nonreciprocal magnetotransport. The (SnS)1.17NbS2, which possesses a layered atomic structure and noncentrosymmetry, exhibits nonreciprocal magnetotransport in a magnetic field perpendicular and parallel to the plane, which is considered a manifest of ratchet motion of superconducting vortices. We demonstrated that the ratchet motion is responsive to current excitation, magnetic field and thermal perturbation. Furthermore, we extrapolated a giant nonreciprocal coefficient (γ), which quantitatively describes the magnitude of the vortex ratchet motion, and eventually established phase diagrams of the ratchet motion of the vortices with a quantitative description. Last, we propose that the ratchet motion originates from the coexistence of pancake vortices (PVs) and Josephson vortices (JVs). The phase diagrams are desirable for controlling the vortex motion in superlattice superconductors and developing next-generation energy-efficient superconducting devices.

cond-mat.supr-con↗

arXiv2022

Room temperature charge-to-spin conversion from q-2DEG at SrTiO3-based interfaces

Interfacial two-dimensional electron gas (2DEG), especially the SrTiO3-based ones at the unexpected interface of insulators, have emerged to be a promising candidate for efficient charge-spin current interconversion. In this article, to gain insight into the mechanism of the charge-spin current interconversion at the oxide-based 2DEG, we focused on conducting interfaces between insulating SrTiO3 and two types of aluminium-based amorphous insulators, namely SrTiO3/AlN and SrTiO3/Al2O3, and estimated their charge-spin conversion efficiency, θ_cs. The two types of amorphous insulators were selected to explicitly probe the overlooked contribution of oxygen vacancy to the θ_cs. We proposed a mechanism to explain results of spin-torque ferromagnetic resonance (ST-FMR) measurements and developed an analysis protocol to reliably estimate the θ_cs of the oxide based 2DEG. The resultant θ_cs/t, where t is the thickness of the 2DEG, were estimated to be 0.244 nm-1 and 0.101 nm-1 for the SrTiO3/AlN and SrTiO3/Al2O3, respectively, and they are strikingly comparable to their crystalline counterparts. Furthermore, we also observe a large direct current modulation of resonance linewidth in SrTiO3/AlN samples, confirming its high θ_cs and attesting an oxygen-vacancy-enabled charge-spin conversion. Our findings emphasize the defects' contribution to the charge-spin interconversion, especially in the oxide-based low dimensional systems, and provide a way to create and enhance charge-spin interconversion via defect engineering.

cond-mat.mtrl-sci↗

arXiv2022

Scale Estimation with Dual Quadrics for Monocular Object SLAM

The scale ambiguity problem is inherently unsolvable to monocular SLAM without the metric baseline between moving cameras. In this paper, we present a novel scale estimation approach based on an object-level SLAM system. To obtain the absolute scale of the reconstructed map, we derive a nonlinear optimization method to make the scaled dimensions of objects conforming to the distribution of their sizes in the physical world, without relying on any prior information of gravity direction. We adopt the dual quadric to represent objects for its ability to fit objects compactly and accurately. In the proposed monocular object-level SLAM system, dual quadrics are fastly initialized based on constraints of 2-D detections and fitted oriented bounding box and are further optimized to provide reliable dimensions for scale estimation.

cs.RO↗

arXiv2022

Layer-dependent interlayer antiferromagnetic spin reorientation in air-stable semiconductor CrSBr

Magnetic van der Waals (vdW) materials offer a fantastic platform to investigate and exploit rich spin configurations stabilized in reduced dimensions. One tantalizing magnetic order is the interlayer antiferromagnetism in A-type vdW antiferromagnet, which may be effectively modified by the magnetic field, stacking order and thickness scaling. However, atomically revealing the interlayer spin orientation in the vdW antiferromagnet is highly challenging, because most of the material candidates exhibit an insulating ground state or instability in ambient conditions. Here, we report the layer-dependent interlayer antiferromagnetic reorientation in air-stable semiconductor CrSBr using magnetotransport characterization and first-principles calculations. We reveal a pronounced odd-even layer effect of interlayer reorientation, which originates from the competitions among interlayer exchange, magnetic anisotropy energy and extra Zeeman energy of uncompensated magnetization. Furthermore, we quantitatively constructed the layer-dependent magnetic phase diagram with the help of a linear-chain model. Our work uncovers the layer-dependent interlayer antiferromagnetic reorientation engineered by magnetic field in the air-stable semiconductor, which could contribute to future vdW spintronic devices.

cond-mat.mtrl-sci↗

arXiv2022

DL-SLOT: Dynamic Lidar SLAM and Object Tracking Based On Graph Optimization

Ego-pose estimation and dynamic object tracking are two key issues in an autonomous driving system. Two assumptions are often made for them, i.e. the static world assumption of simultaneous localization and mapping (SLAM) and the exact ego-pose assumption of object tracking, respectively. However, these assumptions are difficult to hold in highly dynamic road scenarios where SLAM and object tracking become correlated and mutually beneficial. In this paper, DL-SLOT, a dynamic Lidar SLAM and object tracking method is proposed. This method integrates the state estimations of both the ego vehicle and the static and dynamic objects in the environment into a unified optimization framework, to realize SLAM and object tracking (SLOT) simultaneously. Firstly, we implement object detection to remove all the points that belong to potential dynamic objects. Then, LiDAR odometry is conducted using the filtered point cloud. At the same time, detected objects are associated with the history object trajectories based on the time-series information in a sliding window. The states of the static and dynamic objects and ego vehicle in the sliding window are integrated into a unified local optimization framework. We perform SLAM and object tracking simultaneously in this framework, which significantly improves the robustness and accuracy of SLAM in highly dynamic road scenarios and the accuracy of objects' states estimation. Experiments on public datasets have shown that our method achieves better accuracy than A-LOAM.

cs.RO↗