arXiv subjects

Di Guo

Publications and source records attributed to Di Guo.

At least 73 records · Page 4Linked to original sources

arXiv2021

Exponential Signal Reconstruction with Deep Hankel Matrix Factorization

Exponential is a basic signal form, and how to fast acquire this signal is one of the fundamental problems and frontiers in signal processing. To achieve this goal, partial data may be acquired but result in the severe artifacts in its spectrum, which is the Fourier transform of exponentials. Thus, reliable spectrum reconstruction is highly expected in the fast sampling in many applications, such as chemistry, biology, and medical imaging. In this work, we propose a deep learning method whose neural network structure is designed by unrolling the iterative process in the model-based state-of-the-art exponentials reconstruction method with low-rank Hankel matrix factorization. With the experiments on synthetic data and realistic biological magnetic resonance signals, we demonstrate that the new method yields much lower reconstruction errors and preserves the low-intensity signals much better.

eess.SP↗

arXiv2021

One-dimensional Deep Low-rank and Sparse Network for Accelerated MRI

Deep learning has shown astonishing performance in accelerated magnetic resonance imaging (MRI). Most state-of-the-art deep learning reconstructions adopt the powerful convolutional neural network and perform 2D convolution since many magnetic resonance images or their corresponding k-space are in 2D. In this work, we present a new approach that explores the 1D convolution, making the deep network much easier to be trained and generalized. We further integrate the 1D convolution into the proposed deep network, named as One-dimensional Deep Low-rank and Sparse network (ODLS), which unrolls the iteration procedure of a low-rank and sparse reconstruction model. Extensive results on in vivo knee and brain datasets demonstrate that, the proposed ODLS is very suitable for the case of limited training subjects and provides improved reconstruction performance than state-of-the-art methods both visually and quantitatively. Additionally, ODLS also shows nice robustness to different undersampling scenarios and some mismatches between the training and test data. In summary, our work demonstrates that the 1D deep learning scheme is memory-efficient and robust in fast MRI.

eess.IV↗

arXiv2021

Audio-Visual Grounding Referring Expression for Robotic Manipulation

Referring expressions are commonly used when referring to a specific target in people's daily dialogue. In this paper, we develop a novel task of audio-visual grounding referring expression for robotic manipulation. The robot leverages both the audio and visual information to understand the referring expression in the given manipulation instruction and the corresponding manipulations are implemented. To solve the proposed task, an audio-visual framework is proposed for visual localization and sound recognition. We have also established a dataset which contains visual data, auditory data and manipulation instructions for evaluation. Finally, extensive experiments are conducted both offline and online to verify the effectiveness of the proposed audio-visual framework. And it is demonstrated that the robot performs better with the audio-visual data than with only the visual data.

cs.RO↗

arXiv2021

Multi-Agent Embodied Visual Semantic Navigation with Scene Prior Knowledge

In visual semantic navigation, the robot navigates to a target object with egocentric visual observations and the class label of the target is given. It is a meaningful task inspiring a surge of relevant research. However, most of the existing models are only effective for single-agent navigation, and a single agent has low efficiency and poor fault tolerance when completing more complicated tasks. Multi-agent collaboration can improve the efficiency and has strong application potentials. In this paper, we propose the multi-agent visual semantic navigation, in which multiple agents collaborate with others to find multiple target objects. It is a challenging task that requires agents to learn reasonable collaboration strategies to perform efficient exploration under the restrictions of communication bandwidth. We develop a hierarchical decision framework based on semantic mapping, scene prior knowledge, and communication mechanism to solve this task. The results of testing experiments in unseen scenes with both known objects and unknown objects illustrate the higher accuracy and efficiency of the proposed model compared with the single-agent model.

cs.AI↗

arXiv2021

Knowledge-based Embodied Question Answering

In this paper, we propose a novel Knowledge-based Embodied Question Answering (K-EQA) task, in which the agent intelligently explores the environment to answer various questions with the knowledge. Different from explicitly specifying the target object in the question as existing EQA work, the agent can resort to external knowledge to understand more complicated question such as "Please tell me what are objects used to cut food in the room?", in which the agent must know the knowledge such as "knife is used for cutting food". To address this K-EQA problem, a novel framework based on neural program synthesis reasoning is proposed, where the joint reasoning of the external knowledge and 3D scene graph is performed to realize navigation and question answering. Especially, the 3D scene graph can provide the memory to store the visual information of visited scenes, which significantly improves the efficiency for the multi-turn question answering. Experimental results have demonstrated that the proposed framework is capable of answering more complicated and realistic questions in the embodied environment. The proposed method is also applicable to multi-agent scenarios.

cs.RO↗

arXiv2021

Accelerated MRI Reconstruction with Separable and Enhanced Low-Rank Hankel Regularization

The combination of the sparse sampling and the low-rank structured matrix reconstruction has shown promising performance, enabling a significant reduction of the magnetic resonance imaging data acquisition time. However, the low-rank structured approaches demand considerable memory consumption and are time-consuming due to a noticeable number of matrix operations performed on the huge-size block Hankel-like matrix. In this work, we proposed a novel framework to utilize the low-rank property but meanwhile to achieve faster reconstructions and promising results. The framework allows us to enforce the low-rankness of Hankel matrices constructing from 1D vectors instead of 2D matrices from 1D vectors and thus avoid the construction of huge block Hankel matrix for 2D k-space matrices. Moreover, under this framework, we can easily incorporate other information, such as the smooth phase of the image and the low-rankness in the parameter dimension, to further improve the image quality. We built and validated two models for parallel and parameter magnetic resonance imaging experiments, respectively. Our retrospective in-vivo results indicate that the proposed approaches enable faster reconstructions than the state-of-the-art approaches, e.g., about 8x faster than STDLRSPIRiT, and faithful removal of undersampling artifacts.

eess.IV↗

arXiv2021

XCloud-pFISTA: A Medical Intelligence Cloud for Accelerated MRI

Machine learning and artificial intelligence have shown remarkable performance in accelerated magnetic resonance imaging (MRI). Cloud computing technologies have great advantages in building an easily accessible platform to deploy advanced algorithms. In this work, we develop an open-access, easy-to-use and high-performance medical intelligence cloud computing platform (XCloud-pFISTA) to reconstruct MRI images from undersampled k-space data. Two state-of-the-art approaches of the Projected Fast Iterative Soft-Thresholding Algorithm (pFISTA) family have been successfully implemented on the cloud. This work can be considered as a good example of cloud-based medical image reconstruction and may benefit the future development of integrated reconstruction and online diagnosis system.

eess.IV↗

arXiv2020

Fault-Aware Robust Control via Adversarial Reinforcement Learning

Robots have limited adaptation ability compared to humans and animals in the case of damage. However, robot damages are prevalent in real-world applications, especially for robots deployed in extreme environments. The fragility of robots greatly limits their widespread application. We propose an adversarial reinforcement learning framework, which significantly increases robot robustness over joint damage cases in both manipulation tasks and locomotion tasks. The agent is trained iteratively under the joint damage cases where it has poor performance. We validate our algorithm on a three-fingered robot hand and a quadruped robot. Our algorithm can be trained only in simulation and directly deployed on a real robot without any fine-tuning. It also demonstrates exceeding success rates over arbitrary joint damage cases.

cs.RO↗

arXiv2020

An auto-parameter denoising method for nuclear magnetic resonance spectroscopy based on low-rank Hankel matrix

Nuclear Magnetic Resonance (NMR) spectroscopy, which is modeled as the sum of damped exponential signals, has become an indispensable tool in various scenarios, such as the structure and function determination, chemical analysis, and disease diagnosis. NMR spectroscopy signals, however, are usually corrupted by Gaussian noise in practice, raising difficulties in sequential analysis and quantification of the signals. The low-rank Hankel property plays an important role in the denoising issue, but selecting an appropriate parameter still remains a problem. In this work, we explore the effect of the regularization parameter of a convex optimization denoising method based on low-rank Hankel matrices for exponential signals corrupted by Gaussian noise. An accurate estimate on the spectral norm of weighted Hankel matrices is provided as a guidance to set the regularization parameter. The bound can be efficiently calculated since it only depends on the standard deviation of the noise and a constant. Aided by the bound, one can easily obtain an auto-setting regularization parameter to produce promising denoised results. Our experiments on synthetic and realistic NMR spectroscopy data demonstrate a superior denoising performance of our proposed approach in comparison with the typical Cadzow and the state-of-the-art QR decomposition methods, especially in the low signal-to-noise ratio regime.

physics.med-ph↗

arXiv2020

Adversarial Skill Learning for Robust Manipulation

Deep reinforcement learning has made significant progress in robotic manipulation tasks and it works well in the ideal disturbance-free environment. However, in a real-world environment, both internal and external disturbances are inevitable, thus the performance of the trained policy will dramatically drop. To improve the robustness of the policy, we introduce the adversarial training mechanism to the robotic manipulation tasks in this paper, and an adversarial skill learning algorithm based on soft actor-critic (SAC) is proposed for robust manipulation. Extensive experiments are conducted to demonstrate that the learned policy is robust to internal and external disturbances. Additionally, the proposed algorithm is evaluated in both the simulation environment and on the real robotic platform.

cs.RO↗

arXiv2020

Unsupervised Representation Learning by InvariancePropagation

Unsupervised learning methods based on contrastive learning have drawn increasing attention and achieved promising results. Most of them aim to learn representations invariant to instance-level variations, which are provided by different views of the same instance. In this paper, we propose Invariance Propagation to focus on learning representations invariant to category-level variations, which are provided by different instances from the same category. Our method recursively discovers semantically consistent samples residing in the same high-density regions in representation space. We demonstrate a hard sampling strategy to concentrate on maximizing the agreement between the anchor sample and its hard positive samples, which provide more intra-class variations to help capture more abstract invariance. As a result, with a ResNet-50 as the backbone, our method achieves 71.3% top-1 accuracy on ImageNet linear classification and 78.2% top-5 accuracy fine-tuning on only 1% labels, surpassing previous results. We also achieve state-of-the-art performance on other downstream tasks, including linear classification on Places205 and Pascal VOC, and transfer learning on small scale datasets.

cs.CV↗

arXiv2020

The Clock and Control System for the ATLAS Liquid Argon Calorimeter Phase-I Upgrade

A Liquid-argon Trigger Digitizer Board (LTDB) is being developed to upgrade the ATLAS Liquid Argon Calorimeter Phase-I trigger electronics. The LTDB located at the front end needs to obtain the clock signals and be configured and monitored remotely from the back end. A clock and control system is being developed for the LTDB and the major functions of the system have been evaluated. The design and evaluation of the clock and control system are presented in this paper.

physics.ins-det↗

arXiv2020

LOCx2, a Low-latency, Low-overhead, 2 x 5.12-Gbps Transmitter ASIC for the ATLAS Liquid Argon Calorimeter Trigger Upgrade

In this paper, we present the design and test results of LOCx2, a transmitter ASIC for the ATLAS Liquid Argon Calorimeter trigger upgrade. LOCx2 consists of two channels and each channel encodes ADC data with an overhead of 14.3% and transmits serial data at 5.12 Gbps with a latency of less than 27.2 ns. LOCx2 is fabricated with a commercial 0.25-um Silicon-on-Sapphire CMOS technology and is packaged in a 100-pin QFN package. The power consumption of LOCx2 is about 843 mW.

physics.ins-det↗

arXiv2020

Mid-board miniature dual channel optical transmitter MTx and transceiver MTRx

We report the development of a mid-board, TOSA and ROSA based miniature dual channel optical transmitter (MTx) and a transceiver (MTRx). The design transmission data rate is 5.12 Gbps per channel and receiving data rate 4.8 Gbps. MTx and MTRx are only 6 mm tall and are electrically and optically pluggable. Although the fiber TOSA/ROSA coupling is through a custom latch, the fiber uses the standard LC ferrule, flange and spring. Light coupling is ensured by the TOSA and ROSA with the LC coupling mechanism. With the dual channel serializer LOCx2 sits under MTx, one achieves high data transmission with a small PCB footprint, and enjoys the reliability of the hermetically packaged TOSA. MTx and MTRx are designed for detector front-end readout of the ATLAS Liquid Argon Calorimeter (LAr) trigger upgrade.

physics.ins-det↗

arXiv2020

Two low-power optical data transmission ASICs for the ATLAS Liquid Argon Calorimeter readout upgrade

A serializer ASIC and a VCSEL driver ASIC are needed for the front-end optical data transmission in the ATLAS liquid argon calorimeter readout phase-I upgrade. The baseline ASICs are the serializer LOCx2 and the VCSEL driver LOCld, designed in a 0.25-μm Silicon-on-Sapphire (SoS) CMOS technology and consumed 843 mW and 320 mW, respectively. Based on a 130-nm CMOS technology, we design two pin-to-pin-compatible backup ASICs, LOCx2-130 and LOCld-130. Their power consumptions are much lower then of their counterparts, whereas other performance, such as the latency, data rate, and radiation tolerance, meet the phase-I upgrade requirements. We present the design of LOCx2-130 and LOCld-130. The test results of LOCx2-130 are also presented.

physics.ins-det↗

arXiv2020

A Low-Power, Low-Latency, Dual-Channel Serializer ASIC for Detector Front-End Readout

In this paper, we present a dual-channel serializer ASIC, LOCx2, and its pin-compatible backup, LOCx2-130, for detector front-end readout. LOCx2 is fabricated in a 0.25-um Silicon-on-Sapphire CMOS process and each channel operates at 5.12 Gbps, while LOCx2-130 is fabricated in a 130-nm bulk CMOS process and each channel operates at 4.8 Gbps. The power consumption and the transmission latency are 900 mW and 27 ns for LOCx2 and the corresponding simulation result of LOCx2-130 are 386 mW and 38 ns, respectively.

physics.ins-det↗

arXiv2020

The Latency Validation of the Optical Link for the ATLAS Liquid Argon Calorimeter Phase-I Trigger Upgrade

Two optical data link data transmission Application Specific Integrated Circuits (ASICs), the baseline and its backup, have been designed for the ATLAS Liquid Argon (LAr) Calorimeter Phase-I trigger upgrade. The latency of each ASIC and that of its corresponding receiver implemented in a back-end Field-Programmable Gate Array (FPGA) are critical specifications. In this paper, we present the latency measurements and simulation of two ASICs. The measurement results indicate that both ASICs achieve their design goals and meet the latency specifications. The consistency between the simulation and measurements validates the ASIC latency characterization.

physics.ins-det↗

arXiv2020

LOCx2-130, a low-power, low-latency, 2 x 4.8-Gbps serializer ASIC for detector front-end readout

In this paper, we present the design and test results of LOCx2-130, a low-power, low-latency, dual-channel transmitter ASIC for detector front-end readout. LOCx2-130 has two channels of encoders and serializers, and each channel operates at 4.8 Gbps. LOCx2-130 can interface with three types of ADCs, an ASIC ADC and two COTS ADCs. LOCx2-130 is fabricated in a commercial 130-nm CMOS technology and is packaged in a 100-pin QFN package. LOCx2-130 consumes 440 mW and achieves a latency of less than 40.7 ns.

physics.ins-det↗