arXiv subjects

Chenxi Wang

Publications and source records attributed to Chenxi Wang.

123 records · Page 7Linked to original sources

arXiv2021

Simple Baseline for Single Human Motion Forecasting

Global human motion forecasting is important in many fields, which is the combination of global human trajectory prediction and local human pose prediction. Visual and social information are often used to boost model performance, however, they may consume too much computational resource. In this paper, we establish a simple but effective baseline for single human motion forecasting without visual and social information, equipped with useful training tricks. Our method "futuremotion_ICCV21" outperforms existing methods by a large margin on SoMoF benchmark. We hope our work provide new ideas for future research.

cs.CV↗

arXiv2021

Tolerance-Guided Policy Learning for Adaptable and Transferrable Delicate Industrial Insertion

Policy learning for delicate industrial insertion tasks (e.g., PC board assembly) is challenging. This paper considers two major problems: how to learn a diversified policy (instead of just one average policy) that can efficiently handle different workpieces with minimum amount of training data, and how to handle defects of workpieces during insertion. To address the problems, we propose tolerance-guided policy learning. To encourage transferability of the learned policy to different workpieces, we add a task embedding to the policy's input space using the insertion tolerance. Then we train the policy using generative adversarial imitation learning with reward shaping (RS-GAIL) on a variety of representative situations. To encourage adaptability of the learned policy to handle defects, we build a probabilistic inference model that can output the best inserting pose based on failed insertions using the tolerance model. The best inserting pose is then used as a reference to the learned policy. This proposed method is validated on a sequence of IC socket insertion tasks in simulation. The results show that 1) RS-GAIL can efficiently learn optimal policies under sparse rewards; 2) the tolerance embedding can enhance the transferability of the learned policy; 3) the probabilistic inference makes the policy robust to defects on the workpieces.

cs.RO↗

arXiv2021

SpecBox: A Label-Based Transparent Speculation Scheme Against Transient Execution Attacks

Speculative execution techniques have been a cornerstone of modern processors to improve instruction-level parallelism. However, recent studies showed that this kind of techniques could be exploited by attackers to leak secret data via transient execution attacks, such as Spectre. Many defenses are proposed to address this problem, but they all face various challenges: (1) Tracking data flow in the instruction pipeline could comprehensively address this problem, but it could cause pipeline stalls and incur high performance overhead; (2) Making side effect of speculative execution imperceptible to attackers, but it often needs additional storage components and complicated data movement operations. In this paper, we propose a label-based transparent speculation scheme called SpecBox. It dynamically partitions the cache system to isolate speculative data and non-speculative data, which can prevent transient execution from being observed by subsequent execution. Moreover, it uses thread ownership semaphores to prevent speculative data from being accessed across cores. In addition, SpecBox also enhances the auxiliary components in the cache system against transient execution attacks, such as hardware prefetcher. Our security analysis shows that SpecBox is secure and the performance evaluation shows that the performance overhead on SPEC CPU 2006 and PARSEC-3.0 benchmarks is small.

cs.CR↗

arXiv2021

RGB Matters: Learning 7-DoF Grasp Poses on Monocular RGBD Images

General object grasping is an important yet unsolved problem in the field of robotics. Most of the current methods either generate grasp poses with few DoF that fail to cover most of the success grasps, or only take the unstable depth image or point cloud as input which may lead to poor results in some cases. In this paper, we propose RGBD-Grasp, a pipeline that solves this problem by decoupling 7-DoF grasp detection into two sub-tasks where RGB and depth information are processed separately. In the first stage, an encoder-decoder like convolutional neural network Angle-View Net(AVN) is proposed to predict the SO(3) orientation of the gripper at every location of the image. Consequently, a Fast Analytic Searching(FAS) module calculates the opening width and the distance of the gripper to the grasp point. By decoupling the grasp detection problem and introducing the stable RGB modality, our pipeline alleviates the requirement for the high-quality depth image and is robust to depth sensor noise. We achieve state-of-the-art results on GraspNet-1Billion dataset compared with several baselines. Real robot experiments on a UR5 robot with an Intel Realsense camera and a Robotiq two-finger gripper show high success rates for both single object scenes and cluttered scenes. Our code and trained model will be made publicly available.

cs.RO↗

arXiv2020

Transferable Active Grasping and Real Embodied Dataset

Grasping in cluttered scenes is challenging for robot vision systems, as detection accuracy can be hindered by partial occlusion of objects. We adopt a reinforcement learning (RL) framework and 3D vision architectures to search for feasible viewpoints for grasping by the use of hand-mounted RGB-D cameras. To overcome the disadvantages of photo-realistic environment simulation, we propose a large-scale dataset called Real Embodied Dataset (RED), which includes full-viewpoint real samples on the upper hemisphere with amodal annotation and enables a simulator that has real visual feedback. Based on this dataset, a practical 3-stage transferable active grasping pipeline is developed, that is adaptive to unseen clutter scenes. In our pipeline, we propose a novel mask-guided reward to overcome the sparse reward issue in grasping and ensure category-irrelevant behavior. The grasping pipeline and its possible variants are evaluated with extensive experiments both in simulation and on a real-world UR-5 robotic arm.

cs.RO↗

arXiv2020

Enumerating Chemical Graphs with Two Disjoint Cycles Satisfying Given Path Frequency Specifications

Enumerating chemical graphs satisfying given constraints is a fundamental problem in mathematical and computational chemistry, and plays an essential part in a recently proposed framework for the inverse QSAR/QSPR. In this paper, constraints are given by feature vectors each of which consists of the frequencies of paths in a given set of paths. We consider the problem of enumerating chemical graphs that satisfy the path frequency constraints, which are given by a pair of feature vectors specifying upper and lower bounds of the frequency of each path. We design a branch-and-bound algorithm for enumerating chemical graphs of bi-block 2-augmented structure, that is, graphs that contain two edge-disjoint cycles. We present some computational experiments with an implementation of our proposed algorithm.

cs.DS↗

arXiv2020

Enumerating Chemical Graphs with Mono-block 2-Augmented Tree Structure from Given Upper and Lower Bounds on Path Frequencies

We consider a problem of enumerating chemical graphs from given constraints concerning their structures, which has an important application to a novel method for the inverse QSAR/QSPR recently proposed. In this paper, the structure of a chemical graph is specified by a feature vector each of whose entries represents the frequency of a prescribed path. We call a graph a 2-augmented tree if it is obtained from a tree (an acyclic graph) by adding edges between two pairs of nonadjacent vertices. Given a set of feature vectors as the interval between upper and lower bounds of feature vectors, we design an efficient algorithm for enumerating chemical 2-augmented trees that satisfy the path frequency specified by some feature vector in the set. We implemented the proposed algorithm and conducted some computational experiments.

cs.DS↗

arXiv2020

GraspNet: A Large-Scale Clustered and Densely Annotated Dataset for Object Grasping

Object grasping is critical for many applications, which is also a challenging computer vision problem. However, for the clustered scene, current researches suffer from the problems of insufficient training data and the lacking of evaluation benchmarks. In this work, we contribute a large-scale grasp pose detection dataset with a unified evaluation system. Our dataset contains 87,040 RGBD images with over 370 million grasp poses. Meanwhile, our evaluation system directly reports whether a grasping is successful or not by analytic computation, which is able to evaluate any kind of grasp poses without exhausted labeling pose ground-truth. We conduct extensive experiments to show that our dataset and evaluation system can align well with real-world experiments. Our dataset, source code and models will be made publicly available.

cs.CV↗

arXiv2019

Deep Reinforcement Learning for Multi-Driver Vehicle Dispatching and Repositioning Problem

Order dispatching and driver repositioning (also known as fleet management) in the face of spatially and temporally varying supply and demand are central to a ride-sharing platform marketplace. Hand-crafting heuristic solutions that account for the dynamics in these resource allocation problems is difficult, and may be better handled by an end-to-end machine learning method. Previous works have explored machine learning methods to the problem from a high-level perspective, where the learning method is responsible for either repositioning the drivers or dispatching orders, and as a further simplification, the drivers are considered independent agents maximizing their own reward functions. In this paper we present a deep reinforcement learning approach for tackling the full fleet management and dispatching problems. In addition to treating the drivers as individual agents, we consider the problem from a system-centric perspective, where a central fleet management agent is responsible for decision-making for all drivers.

cs.LG↗

arXiv2019

Multi-Agent Reinforcement Learning for Order-dispatching via Order-Vehicle Distribution Matching

Improving the efficiency of dispatching orders to vehicles is a research hotspot in online ride-hailing systems. Most of the existing solutions for order-dispatching are centralized controlling, which require to consider all possible matches between available orders and vehicles. For large-scale ride-sharing platforms, there are thousands of vehicles and orders to be matched at every second which is of very high computational cost. In this paper, we propose a decentralized execution order-dispatching method based on multi-agent reinforcement learning to address the large-scale order-dispatching problem. Different from the previous cooperative multi-agent reinforcement learning algorithms, in our method, all agents work independently with the guidance from an evaluation of the joint policy since there is no need for communication or explicit cooperation between agents. Furthermore, we use KL-divergence optimization at each time step to speed up the learning process and to balance the vehicles (supply) and orders (demand). Experiments on both the explanatory environment and real-world simulator show that the proposed method outperforms the baselines in terms of accumulated driver income (ADI) and Order Response Rate (ORR) in various traffic environments. Besides, with the support of the online platform of Didi Chuxing, we designed a hybrid system to deploy our model.

cs.MA↗

arXiv2019

CoRide: Joint Order Dispatching and Fleet Management for Multi-Scale Ride-Hailing Platforms

How to optimally dispatch orders to vehicles and how to tradeoff between immediate and future returns are fundamental questions for a typical ride-hailing platform. We model ride-hailing as a large-scale parallel ranking problem and study the joint decision-making task of order dispatching and fleet management in online ride-hailing platforms. This task brings unique challenges in the following four aspects. First, to facilitate a huge number of vehicles to act and learn efficiently and robustly, we treat each region cell as an agent and build a multi-agent reinforcement learning framework. Second, to coordinate the agents from different regions to achieve long-term benefits, we leverage the geographical hierarchy of the region grids to perform hierarchical reinforcement learning. Third, to deal with the heterogeneous and variant action space for joint order dispatching and fleet management, we design the action as the ranking weight vector to rank and select the specific order or the fleet management destination in a unified formulation. Fourth, to achieve the multi-scale ride-hailing platform, we conduct the decision-making process in a hierarchical way where a multi-head attention mechanism is utilized to incorporate the impacts of neighbor agents and capture the key agent in each scale. The whole novel framework is named as CoRide. Extensive experiments based on multiple cities real-world data as well as analytic synthetic data demonstrate that CoRide provides superior performance in terms of platform revenue and user experience in the task of city-wide hybrid order dispatching and fleet management over strong baselines.

cs.MA↗

arXiv2019

DELTA: A DEep learning based Language Technology plAtform

In this paper we present DELTA, a deep learning based language technology platform. DELTA is an end-to-end platform designed to solve industry level natural language and speech processing problems. It integrates most popular neural network models for training as well as comprehensive deployment tools for production. DELTA aims to provide easy and fast experiences for using, deploying, and developing natural language processing and speech models for both academia and industry use cases. We demonstrate the reliable performance with DELTA on several natural language processing and speech tasks, including text classification, named entity recognition, natural language inference, speech recognition, speaker verification, etc. DELTA has been used for developing several state-of-the-art algorithms for publications and delivering real production to serve millions of users.

cs.CL↗

arXiv2019

Efficient Ridesharing Order Dispatching with Mean Field Multi-Agent Reinforcement Learning

A fundamental question in any peer-to-peer ridesharing system is how to, both effectively and efficiently, dispatch user's ride requests to the right driver in real time. Traditional rule-based solutions usually work on a simplified problem setting, which requires a sophisticated hand-crafted weight design for either centralized authority control or decentralized multi-agent scheduling systems. Although recent approaches have used reinforcement learning to provide centralized combinatorial optimization algorithms with informative weight values, their single-agent setting can hardly model the complex interactions between drivers and orders. In this paper, we address the order dispatching problem using multi-agent reinforcement learning (MARL), which follows the distributed nature of the peer-to-peer ridesharing problem and possesses the ability to capture the stochastic demand-supply dynamics in large-scale ridesharing scenarios. Being more reliable than centralized approaches, our proposed MARL solutions could also support fully distributed execution through recent advances in the Internet of Vehicles (IoV) and the Vehicle-to-Network (V2N). Furthermore, we adopt the mean field approximation to simplify the local interactions by taking an average action among neighborhoods. The mean field approximation is capable of globally capturing dynamic demand-supply variations by propagating many local interactions between agents and the environment. Our extensive experiments have shown the significant improvements of MARL order dispatching algorithms over several strong baselines on the gross merchandise volume (GMV), and order response rate measures. Besides, the simulated experiments with real data have also justified that our solution can alleviate the supply-demand gap during the rush hours, thus possessing the capability of reducing traffic congestion.

cs.MA↗

arXiv2015

On the Effect of Fronthaul Latency on ARQ in C-RAN Systems

In the Cloud Radio Access Network (C-RAN) architecture, a Control Unit (CU) implements the baseband processing functionalities of a cluster of Base Stations (BSs), which are connected to it through a fronthaul network. This architecture enables centralized processing at the CU, and hence the implementation of enhanced interference mitigation strategies, but it also entails an increased decoding latency due to the transport on the fronthaul network. The fronthaul latency may offset the benefits of centralized processing when considering the performance of protocols at layer 2 and above. This letter studies the impact of fronthaul latency on the performance of standard Automatic Retransmission reQuest (ARQ) protocols, namely Stop and Wait, Go-Back-N and Selective Repeat. The performance of the C-RAN architecture in terms of throughput and efficiency is compared to the that of a conventional cellular system with local processing, as well as with that of a proposed hybrid C-RAN system in which BSs can perform decoding. The dynamics of the system are modeled as a multi-dimensional Markov process that includes sub-chains to capture the temporal correlation of interference and channel gains. Numerical results yield insights into the impact of system parameters such as fronthaul latency and signal-to-interference ratio on different ARQ protocols.

cs.IT↗

arXiv2011

Chemical Vapor Deposition Growth of Graphene using Other Hydrocarbon Sources

Graphene has attracted a lot of research interests due to its exotic properties and a wide spectrum of potential applications. Chemical vapor deposition (CVD) from gaseous hydrocarbon sources has shown great promises for large-scale graphene growth. However, high growth temperature, typically 1000°C, is required for such growth. Here we demonstrate a revised CVD route to grow graphene on Cu foils at low temperature, adopting solid and liquid hydrocarbon feedstocks. For solid PMMA and polystyrene precursors, centimeter-scale monolayer graphene films are synthesized at a growth temperature down to 400°C. When benzene is used as the hydrocarbon source, monolayer graphene flakes with excellent quality are achieved at a growth temperature as low as 300°C. The successful low-temperature growth can be qualitatively understood from the first principles calculations. Our work might pave a way to undemanding route for economical and convenient graphene growth.

cond-mat.mtrl-sci↗