arXiv subjects

Chunlin Li

Publications and source records attributed to Chunlin Li.

28 records · Page 2Linked to original sources

arXiv2024

Analysis of a Modular Autonomous Driving Architecture: The Top Submission to CARLA Leaderboard 2.0 Challenge

In this paper we present the architecture of the Kyber-E2E submission to the map track of CARLA Leaderboard 2.0 Autonomous Driving (AD) challenge 2023, which achieved first place. We employed a modular architecture for our solution consists of five main components: sensing, localization, perception, tracking/prediction, and planning/control. Our solution leverages state-of-the-art language-assisted perception models to help our planner perform more reliably in highly challenging traffic scenarios. We use open-source driving datasets in conjunction with Inverse Reinforcement Learning (IRL) to enhance the performance of our motion planner. We provide insight into our design choices and trade-offs made to achieve this solution. We also explore the impact of each component in the overall performance of our solution, with the intent of providing a guideline where allocation of resources can have the greatest impact.

cs.AI↗

arXiv2024

Elastic wave imaging with Maxwell's fish-eye lens

In this paper, a modified Maxwell's fish-eye lens is proposed in order to achieve super-resolution imaging. This lens possesses elevated refractive index profile compared with the traditional Maxwell's fish-eye lens. The refractive index profile is achieved with variable thickness configuration defined in a sheet plate structure, to realise desired changes in refractive indices. The wave propagation behaviours and the full width at half maximum (FWHM) are obtained from numerical simulations and experimental studies at the focal region of the lens. Super-resolution imaging is observed in a broadband frequency scope, with the FWHM around 0.2λ from 5 to 10 kHz. This work provides a straightforward and flexible approach to the engineering of the MFEL imaging characteristics and energy distributions for related applications.

physics.class-ph↗

arXiv2023

Active Encoding of Flexural Wave with Non-Diffractive Talbot Effect

This study employs the theory of conformal transformation to devise a Mikaelian lens for flexural waves manipulation. We investigate the propagation patterns of flexural waves in the lens under scenarios of plane wave and point source incidence. Additionally, the study explores the Talbot effect generated by interference patterns of multiple sources. Within the Mikaelian lens, the Talbot effect displays non diffractive characteristics, facilitating propagation over considerable distances. Leveraging the non-diffractive attributes of the Talbot effect in the Mikaelian lens, the paper discusses the feasibility of encoding flexural waves based on active interference sources. Simulation and experimental validation attest to the lens's effective active encoding. This research introduces novel perspectives on flexural wave encoding, showcasing potential applications in flexural wave communication, detection, and related fields.

physics.app-ph↗

arXiv2023

RankSEG: A Consistent Ranking-based Framework for Segmentation

Segmentation has emerged as a fundamental field of computer vision and natural language processing, which assigns a label to every pixel/feature to extract regions of interest from an image/text. To evaluate the performance of segmentation, the Dice and IoU metrics are used to measure the degree of overlap between the ground truth and the predicted segmentation. In this paper, we establish a theoretical foundation of segmentation with respect to the Dice/IoU metrics, including the Bayes rule and Dice-/IoU-calibration, analogous to classification-calibration or Fisher consistency in classification. We prove that the existing thresholding-based framework with most operating losses are not consistent with respect to the Dice/IoU metrics, and thus may lead to a suboptimal solution. To address this pitfall, we propose a novel consistent ranking-based framework, namely RankDice/RankIoU, inspired by plug-in rules of the Bayes segmentation rule. Three numerical algorithms with GPU parallel execution are developed to implement the proposed framework in large-scale and high-dimensional segmentation. We study statistical properties of the proposed framework. We show it is Dice-/IoU-calibrated, and its excess risk bounds and the rate of convergence are also provided. The numerical effectiveness of RankDice/mRankDice is demonstrated in various simulated examples and Fine-annotated CityScapes, Pascal VOC and Kvasir-SEG datasets with state-of-the-art deep learning architectures.

stat.ML↗

arXiv2023

Inference of nonlinear causal effects with GWAS summary data

Large-scale genome-wide association studies (GWAS) have offered an exciting opportunity to discover putative causal genes or risk factors associated with diseases by using SNPs as instrumental variables (IVs). However, conventional approaches assume linear causal relations partly for simplicity and partly for the availability of GWAS summary data. In this work, we propose a novel model {for transcriptome-wide association studies (TWAS)} to incorporate nonlinear relationships across IVs, an exposure/gene, and an outcome, which is robust against violations of the valid IV assumptions, permits the use of GWAS summary data, and covers two-stage least squares as a special case. We decouple the estimation of a marginal causal effect and a nonlinear transformation, where the former is estimated via sliced inverse regression and a sparse instrumental variable regression, and the latter is estimated by a ratio-adjusted inverse regression. On this ground, we propose an inferential procedure. An application of the proposed method to the ADNI gene expression data and the IGAP GWAS summary data identifies 18 causal genes associated with Alzheimer's disease, including APOE and TOMM40, in addition to 7 other genes missed by two-stage least squares considering only linear relationships. Our findings suggest that nonlinear modeling is required to unleash the power of IV regression for identifying potentially nonlinear gene-trait associations. Accompanying this paper is our Python library \texttt{nl-causal} (\url{https://nonlinear-causal.readthedocs.io/}) that implements the proposed method.

stat.ME↗

arXiv2023

Discovery and inference of a causal network with hidden confounding

This article proposes a novel causal discovery and inference method called GrIVET for a Gaussian directed acyclic graph with unmeasured confounders. GrIVET consists of an order-based causal discovery method and a likelihood-based inferential procedure. For causal discovery, we generalize the existing peeling algorithm to estimate the ancestral relations and candidate instruments in the presence of hidden confounders. Based on this, we propose a new procedure for instrumental variable estimation of each direct effect by separating it from any mediation effects. For inference, we develop a new likelihood ratio test of multiple causal effects that is able to account for the unmeasured confounders. Theoretically, we prove that the proposed method has desirable guarantees, including robustness to invalid instruments and uncertain interventions, estimation consistency, low-order polynomial time complexity, and validity of asymptotic inference. Numerically, GrIVET performs well and compares favorably against state-of-the-art competitors. Furthermore, we demonstrate the utility and effectiveness of the proposed method through an application inferring regulatory pathways from Alzheimer's disease gene expression data.

stat.ME↗

arXiv2023

ENVIDR: Implicit Differentiable Renderer with Neural Environment Lighting

Recent advances in neural rendering have shown great potential for reconstructing scenes from multiview images. However, accurately representing objects with glossy surfaces remains a challenge for existing methods. In this work, we introduce ENVIDR, a rendering and modeling framework for high-quality rendering and reconstruction of surfaces with challenging specular reflections. To achieve this, we first propose a novel neural renderer with decomposed rendering components to learn the interaction between surface and environment lighting. This renderer is trained using existing physically based renderers and is decoupled from actual scene representations. We then propose an SDF-based neural surface model that leverages this learned neural renderer to represent general scenes. Our model additionally synthesizes indirect illuminations caused by inter-reflections from shiny surfaces by marching surface-reflected rays. We demonstrate that our method outperforms state-of-art methods on challenging shiny scenes, providing high-quality rendering of specular reflections while also enabling material editing and scene relighting.

cs.CV↗

arXiv2023

Inference for a Large Directed Acyclic Graph with Unspecified Interventions

Statistical inference of directed relations given some unspecified interventions (i.e., the intervention targets are unknown) is challenging. In this article, we test hypothesized directed relations with unspecified interventions. First, we derive conditions to yield an identifiable model. Unlike classical inference, testing directed relations requires identifying the ancestors and relevant interventions of hypothesis-specific primary variables. To this end, we propose a peeling algorithm based on nodewise regressions to establish a topological order of primary variables. Moreover, we prove that the peeling algorithm yields a consistent estimator in low-order polynomial time. Second, we propose a likelihood ratio test integrated with a data perturbation scheme to account for the uncertainty of identifying ancestors and interventions. Also, we show that the distribution of a data perturbation test statistic converges to the target distribution. Numerical examples demonstrate the utility and effectiveness of the proposed methods, including an application to infer gene regulatory networks. The R implementation is available at https://github.com/chunlinli/intdag.

stat.ME↗

arXiv2022

Data-Adaptive Discriminative Feature Localization with Statistically Guaranteed Interpretation

In explainable artificial intelligence, discriminative feature localization is critical to reveal a blackbox model's decision-making process from raw data to prediction. In this article, we use two real datasets, the MNIST handwritten digits and MIT-BIH Electrocardiogram (ECG) signals, to motivate key characteristics of discriminative features, namely adaptiveness, predictive importance and effectiveness. Then, we develop a localization framework based on adversarial attacks to effectively localize discriminative features. In contrast to existing heuristic methods, we also provide a statistically guaranteed interpretability of the localized features by measuring a generalized partial $R^2$. We apply the proposed method to the MNIST dataset and the MIT-BIH dataset with a convolutional auto-encoder. In the first, the compact image regions localized by the proposed method are visually appealing. Similarly, in the second, the identified ECG features are biologically plausible and consistent with cardiac electrophysiological principles while locating subtle anomalies in a QRS complex that may not be discernible by the naked eye. Overall, the proposed method compares favorably with state-of-the-art competitors. Accompanying this paper is a Python library dnn-locate (https://dnn-locate.readthedocs.io/en/latest/) that implements the proposed approach.

stat.ML↗

arXiv2021

A General Framework for Revealing Human Mind with auto-encoding GANs

Addressing the question of visualising human mind could help us to find regions that are associated with observed cognition and responsible for expressing the elusive mental image, leading to a better understanding of cognitive function. The traditional approach treats brain decoding as a classification problem, reading the mind through statistical analysis of brain activity. However, human thought is rich and varied, that it is often influenced by more of a combination of object features than a specific type of category. For this reason, we propose an end-to-end brain decoding framework which translates brain activity into an image by latent space alignment. To find the correspondence from brain signal features to image features, we embedded them into two latent spaces with modality-specific encoders and then aligned the two spaces by minimising the distance between paired latent representations. The proposed framework was trained by simultaneous electroencephalogram and functional MRI data, which were recorded when the subjects were viewing or imagining a set of image stimuli. In this paper, we focused on implementing the fMRI experiment. Our experimental results demonstrated the feasibility of translating brain activity to an image. The reconstructed image matches image stimuli approximate in both shape and colour. Our framework provides a promising direction for building a direct visualisation to reveal human mind.

q-bio.NC↗