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Gang Zheng

Publications and source records attributed to Gang Zheng.

30 records · Page 2Linked to original sources
arXiv2023

Cosserat-Rod Based Dynamic Modeling of Soft Slender Robot Interacting with Environment

Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge because of the non-linearity of deformation and the non-smooth property of the contacts. In this work, starting from a piece-wise local strain field assumption, we propose a nonlinear dynamic model for soft robot via Cosserat rod theory using Newtonian mechanics which handles the frictional contact with environment and transfer them into the nonlinear complementary constraint (NCP) formulation. Moreover, we smooth both the contact and friction constraints in order to convert the inequality equations of NCP to the smooth equality equations. The proposed model allows us to compute the dynamic deformation and frictional contact force under common optimization framework in real time when the soft slender robot interacts with other rigid or soft bodies. In the end, the corresponding experiments are carried out which valid our proposed dynamic model.

cs.RO↗
arXiv2023

Generalized Homogeneous Rigid-BodyAttitude Control

The attitude tracking problem for a full-actuated rigid body in 3D is studied using a impulsive system model based on Lie algebra so(3). A nonlinear homogeneous controller is designed to globally track a smooth attitude trajectory in a finite or a (nearly) fixed time. A global settling time estimate is obtained, which is easily adjustable by tuning the homogeneity degree. The local input-to-state stability is proven. Simulations illustrating the performance of the proposed algorithm are presented.

eess.SY↗
arXiv2022

Piecewise Linear Strain Cosserat Model for Soft Slender Manipulator

Recently soft robotics has rapidly become a novel and promising area of research with many designs and applications due to their flexible and compliant structure. However, it is more difficult to derive the nonlinear dynamic model of such soft robots. The differential kinematics and dynamics of the soft manipulator can be formulated as a set of highly nonlinear partial differential equations (PDEs) via the classic Cosserat rod theory. In this work, we propose a discrete modeling technique named piecewise linear strain (PLS) to solve the PDEs of Cosserat-based models, based on which the associated analytic models are deduced. To validate the accuracy of the proposed Cosserat model, the static model of the conical cantilever rod under gravity as a simple example is simulated by using different discretization methods. Results indicate that PLS Cosserat model is comparable to the mechanical deformation behavior of real-world soft manipulator. Finally, a parameters identification scheme for this model is established, and the simulation as well as experimental validation demonstrate that using this method can identify the model physical parameters with high accuracy.

cs.RO↗
arXiv2022

Policy Optimization with Stochastic Mirror Descent

Improving sample efficiency has been a longstanding goal in reinforcement learning. This paper proposes $\mathtt{VRMPO}$ algorithm: a sample efficient policy gradient method with stochastic mirror descent. In $\mathtt{VRMPO}$, a novel variance-reduced policy gradient estimator is presented to improve sample efficiency. We prove that the proposed $\mathtt{VRMPO}$ needs only $\mathcal{O}(ε^{-3})$ sample trajectories to achieve an $ε$-approximate first-order stationary point, which matches the best sample complexity for policy optimization. The extensive experimental results demonstrate that $\mathtt{VRMPO}$ outperforms the state-of-the-art policy gradient methods in various settings.

cs.LG↗
arXiv2020

On Convergence of Gradient Expected Sarsa($λ$)

We study the convergence of $\mathtt{Expected~Sarsa}(λ)$ with linear function approximation. We show that applying the off-line estimate (multi-step bootstrapping) to $\mathtt{Expected~Sarsa}(λ)$ is unstable for off-policy learning. Furthermore, based on convex-concave saddle-point framework, we propose a convergent $\mathtt{Gradient~Expected~Sarsa}(λ)$ ($\mathtt{GES}(λ)$) algorithm. The theoretical analysis shows that our $\mathtt{GES}(λ)$ converges to the optimal solution at a linear convergence rate, which is comparable to extensive existing state-of-the-art gradient temporal difference learning algorithms. Furthermore, we develop a Lyapunov function technique to investigate how the step-size influences finite-time performance of $\mathtt{GES}(λ)$, such technique of Lyapunov function can be potentially generalized to other GTD algorithms. Finally, we conduct experiments to verify the effectiveness of our $\mathtt{GES}(λ)$.

cs.LG↗
arXiv2020

Improving Spiking Sparse Recovery via Non-Convex Penalties

Compared with digital methods, sparse recovery based on spiking neural networks has great advantages like high computational efficiency and low power-consumption. However, current spiking algorithms cannot guarantee more accurate estimates since they are usually designed to solve the classical optimization with convex penalties, especially the $\ell_{1}$-norm. In fact, convex penalties are observed to underestimate the true solution in practice, while non-convex ones can avoid the underestimation. Inspired by this, we propose an adaptive version of spiking sparse recovery algorithm to solve the non-convex regularized optimization, and provide an analysis on its global asymptotic convergence. Through experiments, the accuracy is greatly improved under different adaptive ways.

eess.SP↗
arXiv2020

FiDi-RL: Incorporating Deep Reinforcement Learning with Finite-Difference Policy Search for Efficient Learning of Continuous Control

In recent years significant progress has been made in dealing with challenging problems using reinforcement learning.Despite its great success, reinforcement learning still faces challenge in continuous control tasks. Conventional methods always compute the derivatives of the optimal goal with a costly computation resources, and are inefficient, unstable and lack of robust-ness when dealing with such tasks. Alternatively, derivative-based methods treat the optimization process as a blackbox and show robustness and stability in learning continuous control tasks, but not data efficient in learning. The combination of both methods so as to get the best of the both has raised attention. However, most of the existing combination works adopt complex neural networks (NNs) as the policy for control. The double-edged sword of deep NNs can yield better performance, but also makes it difficult for parameter tuning and computation. To this end, in this paper we presents a novel method called FiDi-RL, which incorporates deep RL with Finite-Difference (FiDi) policy search.FiDi-RL combines Deep Deterministic Policy Gradients (DDPG)with Augment Random Search (ARS) and aims at improving the data efficiency of ARS. The empirical results show that FiDi-RL can improves the performance and stability of ARS, and provide competitive results against some existing deep reinforcement learning methods

cs.LG↗
arXiv2017

Focusing Attention: Towards Accurate Text Recognition in Natural Images

Scene text recognition has been a hot research topic in computer vision due to its various applications. The state of the art is the attention-based encoder-decoder framework that learns the mapping between input images and output sequences in a purely data-driven way. However, we observe that existing attention-based methods perform poorly on complicated and/or low-quality images. One major reason is that existing methods cannot get accurate alignments between feature areas and targets for such images. We call this phenomenon "attention drift". To tackle this problem, in this paper we propose the FAN (the abbreviation of Focusing Attention Network) method that employs a focusing attention mechanism to automatically draw back the drifted attention. FAN consists of two major components: an attention network (AN) that is responsible for recognizing character targets as in the existing methods, and a focusing network (FN) that is responsible for adjusting attention by evaluating whether AN pays attention properly on the target areas in the images. Furthermore, different from the existing methods, we adopt a ResNet-based network to enrich deep representations of scene text images. Extensive experiments on various benchmarks, including the IIIT5k, SVT and ICDAR datasets, show that the FAN method substantially outperforms the existing methods.

cs.CV↗
arXiv2015

A Conversation with Robert C. Elston

Robert C. Elston was born on February 4, 1932, in London, England. He went to Cambridge University to study natural science from 1952-1956 and obtained B.A., M.A. and Diploma in Agriculture (Dip Ag). He came to the US at age 24 to study animal breeding at Cornell University and received his Ph.D. in 1959. From 1959-1960, he was a post-doctoral fellow in biostatistics at University of North Carolina (UNC), Chapel Hill, where he studied mathematical statistics. He then rose through the academic ranks in the department of biostatistics at UNC, becoming a full professor in 1969. From 1979-1995, he was a professor and head of the Department of Biometry and Genetics at Louisiana State University Medical Center in New Orleans. In 1995, he moved to Case Western Reserve University where he is a professor of epidemiology and biostatistics and served as chairman from 2008 to 2014. Between 1966 and 2013, he directed 42 Ph.D. students and mentored over 40 post-doctoral fellows. If one regards him as a founder of a pedigree in research in genetic epidemiology, it was estimated in 2007 that there were more than 500 progeny. Among his many honors are a NIH Research Career Development Award (1966-1976), the Leadership Award from International Society of Human Genetics (1995), William Allan Award from American Society of Human Genetics (1996), NIH MERIT Award (1998) and the Marvin Zelen Leadership Award, Harvard University (2004). He is a Fellow of the American Statistical Association and the Institute of Mathematical Statistics as well as a Fellow of the Ohio Academy of Science. A leader in research in genetic epidemiology for over 40 years, he has published over 600 research articles in biostatistics, genetic epidemiology and applications. He has also coauthored and edited 9 books in biostatistics, population genetics and methods for the analysis of genetic data.

stat.OT↗
arXiv2010

Robust Tests in Genome-Wide Scans under Incomplete Linkage Disequilibrium

Under complete linkage disequilibrium (LD), robust tests often have greater power than Pearson's chi-square test and trend tests for the analysis of case-control genetic association studies. Robust statistics have been used in candidate-gene and genome-wide association studies (GWAS) when the genetic model is unknown. We consider here a more general incomplete LD model, and examine the impact of penetrances at the marker locus when the genetic models are defined at the disease locus. Robust statistics are then reviewed and their efficiency and robustness are compared through simulations in GWAS of 300,000 markers under the incomplete LD model. Applications of several robust tests to the Wellcome Trust Case-Control Consortium [Nature 447 (2007) 661--678] are presented.

stat.ME↗
arXiv2006

Comparison of robust tests for genetic association using case-control studies

In genetic studies of complex diseases, the underlying mode of inheritance is often not known. Thus, the most powerful test or other optimal procedure for one model, e.g. recessive, may be quite inefficient if another model, e.g. dominant, describes the inheritance process. Rather than choose among the procedures that are optimal for a particular model, it is preferable to see a method that has high efficiency across a family of scientifically realistic models. Statisticians well recognize that this situation is analogous to the selection of an estimator of location when the form of the underlying distribution is not known. We review how the concepts and techniques in the efficiency robustness literature that are used to obtain efficiency robust estimators and rank tests can be adapted for the analysis of genetic data. In particular, several statistics have been used to test for a genetic association between a disease and a candidate allele or marker allele from data collected in case-control studies. Each of them is optimal for a specific inheritance model and we describe and compare several robust methods. The most suitable robust test depends somewhat on the range of plausible genetic models. When little is known about the inheritance process, the maximum of the optimal statistics for the extreme models and an intermediate one is usually the preferred choice. Sometimes one can eliminate a mode of inheritance, e.g. from prior studies of family pedigrees one may know whether the disease skips generations or not. If it does, the disease is much more likely to follow a recessive model than a dominant one. In that case, a simpler linear combination of the optimal tests for the extreme models can be a robust choice.

math.ST↗