arXiv subjects

Han Wang

Publications and source records attributed to Han Wang.

At least 307 records · Page 17Linked to original sources

arXiv2024

Designing, simulating, and performing the 100-AV field test for the CIRCLES consortium: Methodology and Implementation of the Largest mobile traffic control experiment to date

Previous controlled experiments on single-lane ring roads have shown that a single partially autonomous vehicle (AV) can effectively mitigate traffic waves. This naturally prompts the question of how these findings can be generalized to field operational, high-density traffic conditions. To address this question, the Congestion Impacts Reduction via CAV-in-the-loop Lagrangian Energy Smoothing (CIRCLES) Consortium conducted MegaVanderTest (MVT), a live traffic control experiment involving 100 vehicles near Nashville, TN, USA. This article is a tutorial for developing analytical and simulation-based tools essential for designing and executing a live traffic control experiment like the MVT. It presents an overview of the proposed roadmap and various procedures used in designing, monitoring, and conducting the MVT, which is the largest mobile traffic control experiment at the time. The design process is aimed at evaluating the impact of the CIRCLES AVs on surrounding traffic. The article discusses the agent-based traffic simulation framework created for this evaluation. A novel methodological framework is introduced to calibrate this microsimulation, aiming to accurately capture traffic dynamics and assess the impact of adding 100 vehicles to existing traffic. The calibration model's effectiveness is verified using data from a six-mile section of Nashville's I-24 highway. The results indicate that the proposed model establishes an effective feedback loop between the optimizer and the simulator, thereby calibrating flow and speed with different spatiotemporal characteristics to minimize the error between simulated and real-world data. Finally, We simulate AVs in multiple scenarios to assess their effect on traffic congestion. This evaluation validates the AV routes, thereby contributing to the execution of a safe and successful live traffic control experiment via AVs.

eess.SY↗

arXiv2024

A discovery of Two Slow Pulsars with FAST: "Ronin" from the Globular Cluster M15

Globular clusters harbor numerous millisecond pulsars, but long-period pulsars ($P \gtrsim 100$ ms) are rarely found. In this study, we employed a fast folding algorithm to analyze observational data from multiple globular clusters obtained by the Five-hundred-meter Aperture Spherical radio Telescope (FAST), aiming to detect the existence of long-period pulsars. We estimated the impact of the median filtering algorithm in eliminating red noise on the minimum detectable flux density ($S_{\rm min}$) of pulsars. Subsequently, we successfully discovered two isolated long-period pulsars in M15 with periods approximately equal to 1.928451 seconds and 3.960716 seconds, respectively. On the $P-\dot{P}$ diagram, both pulsars are positioned below the spin-up line, suggesting a possible history of partial recycling in X-ray binary systems disrupted by dynamical encounters later on. According to timing results, these two pulsars exhibit remarkably strong magnetic fields. If the magnetic fields were weakened during the accretion process, then a short duration of accretion might explain the strong magnetic fields of these pulsars.

astro-ph.HE↗

arXiv2024

Finite-Time Analysis of On-Policy Heterogeneous Federated Reinforcement Learning

Federated reinforcement learning (FRL) has emerged as a promising paradigm for reducing the sample complexity of reinforcement learning tasks by exploiting information from different agents. However, when each agent interacts with a potentially different environment, little to nothing is known theoretically about the non-asymptotic performance of FRL algorithms. The lack of such results can be attributed to various technical challenges and their intricate interplay: Markovian sampling, linear function approximation, multiple local updates to save communication, heterogeneity in the reward functions and transition kernels of the agents' MDPs, and continuous state-action spaces. Moreover, in the on-policy setting, the behavior policies vary with time, further complicating the analysis. In response, we introduce FedSARSA, a novel federated on-policy reinforcement learning scheme, equipped with linear function approximation, to address these challenges and provide a comprehensive finite-time error analysis. Notably, we establish that FedSARSA converges to a policy that is near-optimal for all agents, with the extent of near-optimality proportional to the level of heterogeneity. Furthermore, we prove that FedSARSA leverages agent collaboration to enable linear speedups as the number of agents increases, which holds for both fixed and adaptive step-size configurations.

cs.LG↗

arXiv2024

Asynchronous Heterogeneous Linear Quadratic Regulator Design

We address the problem of designing an LQR controller in a distributed setting, where M similar but not identical systems share their locally computed policy gradient (PG) estimates with a server that aggregates the estimates and computes a controller that, on average, performs well on all systems. Learning in a distributed setting has the potential to offer statistical benefits - multiple datasets can be leveraged simultaneously to produce more accurate policy gradient estimates. However, the interplay of heterogeneous trajectory data and varying levels of local computational power introduce bias to the aggregated PG descent direction, and prevents us from fully exploiting the parallelism in the distributed computation. The latter stems from synchronous aggregation, where straggler systems negatively impact the runtime. To address this, we propose an asynchronous policy gradient algorithm for LQR control design. By carefully controlling the "staleness" in the asynchronous aggregation, we show that the designed controller converges to each system's $ε$-near optimal controller up to a heterogeneity bias. Furthermore, we prove that our asynchronous approach obtains exact local convergence at a sub-linear rate.

math.OC↗

arXiv2024

HiCRISP: An LLM-based Hierarchical Closed-Loop Robotic Intelligent Self-Correction Planner

The integration of Large Language Models (LLMs) into robotics has revolutionized human-robot interactions and autonomous task planning. However, these systems are often unable to self-correct during the task execution, which hinders their adaptability in dynamic real-world environments. To address this issue, we present a Hierarchical Closed-loop Robotic Intelligent Self-correction Planner (HiCRISP), an innovative framework that enables robots to correct errors within individual steps during the task execution. HiCRISP actively monitors and adapts the task execution process, addressing both high-level planning and low-level action errors. Extensive benchmark experiments, encompassing virtual and real-world scenarios, showcase HiCRISP's exceptional performance, positioning it as a promising solution for robotic task planning with LLMs.

cs.RO↗

arXiv2024

Resistive Memory-based Neural Differential Equation Solver for Score-based Diffusion Model

Human brains image complicated scenes when reading a novel. Replicating this imagination is one of the ultimate goals of AI-Generated Content (AIGC). However, current AIGC methods, such as score-based diffusion, are still deficient in terms of rapidity and efficiency. This deficiency is rooted in the difference between the brain and digital computers. Digital computers have physically separated storage and processing units, resulting in frequent data transfers during iterative calculations, incurring large time and energy overheads. This issue is further intensified by the conversion of inherently continuous and analog generation dynamics, which can be formulated by neural differential equations, into discrete and digital operations. Inspired by the brain, we propose a time-continuous and analog in-memory neural differential equation solver for score-based diffusion, employing emerging resistive memory. The integration of storage and computation within resistive memory synapses surmount the von Neumann bottleneck, benefiting the generative speed and energy efficiency. The closed-loop feedback integrator is time-continuous, analog, and compact, physically implementing an infinite-depth neural network. Moreover, the software-hardware co-design is intrinsically robust to analog noise. We experimentally validate our solution with 180 nm resistive memory in-memory computing macros. Demonstrating equivalent generative quality to the software baseline, our system achieved remarkable enhancements in generative speed for both unconditional and conditional generation tasks, by factors of 64.8 and 156.5, respectively. Moreover, it accomplished reductions in energy consumption by factors of 5.2 and 4.1. Our approach heralds a new horizon for hardware solutions in edge computing for generative AI applications.

cs.AR↗

arXiv2024

Integrating AI in NDE: Techniques, Trends, and Further Directions

The digital transformation is fundamentally changing our industries, affecting planning, execution as well as monitoring of production processes in a wide range of application fields. With product line-ups becoming more and more versatile and diverse, the necessary inspection and monitoring sparks significant novel requirements on the corresponding Nondestructive Evaluation (NDE) systems. The establishment of increasingly powerful approaches to incorporate Artificial Intelligence (AI) may provide just the needed innovation to solve some of these challenges. In this paper we provide a comprehensive survey about the usage of AI methods in NDE in light of the recent innovations towards NDE 4.0. Since we cannot discuss each NDE modality in one paper, we limit our attention to magnetic methods, ultrasound, thermography, as well as optical inspection. In addition to reviewing recent AI developments in each field, we draw common connections by pointing out NDE-related tasks that have a common underlying mathematical problem and categorizing the state of the art according to the corresponding sub-tasks. In so doing, interdisciplinary connections are drawn that provide a more complete overall picture.

eess.SP↗

arXiv2024

Remote-contact catalysis for target-diameter semiconducting carbon nanotube array

Electrostatic catalysis has been an exciting development in chemical synthesis (beyond enzymes catalysis) in recent years, boosting reaction rates and selectively producing certain reaction products. Most of the studies to date have been focused on using external electric field (EEF) to rearrange the charge distribution in small molecule reactions such as Diels-Alder addition, carbene reaction, etc. However, in order for these EEFs to be effective, a field on the order of 1 V/nm (10 MV/cm) is required, and the direction of the EEF has to be aligned with the reaction axis. Such a large and oriented EEF will be challenging for large-scale implementation, or materials growth with multiple reaction axis or steps. Here, we demonstrate that the energy band at the tip of an individual single-walled carbon nanotube (SWCNT) can be spontaneously shifted in a high-permittivity growth environment, with its other end in contact with a low-work function electrode (e.g., hafnium carbide or titanium carbide). By adjusting the Fermi level at a point where there is a substantial disparity in the density of states (DOS) between semiconducting (s-) and metallic (m-) SWCNTs, we achieve effective electrostatic catalysis for s-SWCNT growth assisted by a weak EEF perturbation (200V/cm). This approach enables the production of high-purity (99.92%) s-SWCNT horizontal arrays with narrow diameter distribution (0.95+-0.04 nm), targeting the requirement of advanced SWCNT-based electronics for future computing. These findings highlight the potential of electrostatic catalysis in precise materials growth, especially for s-SWCNTs, and pave the way for the development of advanced SWCNT-based electronics.

physics.app-ph↗

arXiv2024

Elysium: Exploring Object-level Perception in Videos via MLLM

Multi-modal Large Language Models (MLLMs) have demonstrated their ability to perceive objects in still images, but their application in video-related tasks, such as object tracking, remains understudied. This lack of exploration is primarily due to two key challenges. Firstly, extensive pretraining on large-scale video datasets is required to equip MLLMs with the capability to perceive objects across multiple frames and understand inter-frame relationships. Secondly, processing a large number of frames within the context window of Large Language Models (LLMs) can impose a significant computational burden. To address the first challenge, we introduce ElysiumTrack-1M, a large-scale video dataset supported for three tasks: Single Object Tracking (SOT), Referring Single Object Tracking (RSOT), and Video Referring Expression Generation (Video-REG). ElysiumTrack-1M contains 1.27 million annotated video frames with corresponding object boxes and descriptions. Leveraging this dataset, we conduct training of MLLMs and propose a token-compression model T-Selector to tackle the second challenge. Our proposed approach, Elysium: Exploring Object-level Perception in Videos via MLLM, is an end-to-end trainable MLLM that attempts to conduct object-level tasks in videos without requiring any additional plug-in or expert models. All codes and datasets are available at https://github.com/Hon-Wong/Elysium.

cs.CV↗

arXiv2024

Convex Co-Design of Control Barrier Function and Safe Feedback Controller Under Input Constraints

We study the problem of co-designing control barrier functions (CBF) and linear state feedback controllers for continuous-time linear systems. We achieve this by means of a single semi-definite optimization program. Our formulation can handle mixed-relative degree problems without requiring an explicit safe controller. Different L-norm based input limitations can be introduced as convex constraints in the proposed program. We demonstrate our results on an omni-directional car numerical example.

math.OC↗

arXiv2024

Emerging Synergies Between Large Language Models and Machine Learning in Ecommerce Recommendations

With the boom of e-commerce and web applications, recommender systems have become an important part of our daily lives, providing personalized recommendations based on the user's preferences. Although deep neural networks (DNNs) have made significant progress in improving recommendation systems by simulating the interaction between users and items and incorporating their textual information, these DNN-based approaches still have some limitations, such as the difficulty of effectively understanding users' interests and capturing textual information. It is not possible to generalize to different seen/unseen recommendation scenarios and reason about their predictions. At the same time, the emergence of large language models (LLMs), represented by ChatGPT and GPT-4, has revolutionized the fields of natural language processing (NLP) and artificial intelligence (AI) due to their superior capabilities in the basic tasks of language understanding and generation, and their impressive generalization and reasoning capabilities. As a result, recent research has sought to harness the power of LLM to improve recommendation systems. Given the rapid development of this research direction in the field of recommendation systems, there is an urgent need for a systematic review of existing LLM-driven recommendation systems for researchers and practitioners in related fields to gain insight into. More specifically, we first introduced a representative approach to learning user and item representations using LLM as a feature encoder. We then reviewed the latest advances in LLMs techniques for collaborative filtering enhanced recommendation systems from the three paradigms of pre-training, fine-tuning, and prompting. Finally, we had a comprehensive discussion on the future direction of this emerging field.

cs.AI↗

arXiv2024

Schema-Aware Multi-Task Learning for Complex Text-to-SQL

Conventional text-to-SQL parsers are not good at synthesizing complex SQL queries that involve multiple tables or columns, due to the challenges inherent in identifying the correct schema items and performing accurate alignment between question and schema items. To address the above issue, we present a schema-aware multi-task learning framework (named MTSQL) for complicated SQL queries. Specifically, we design a schema linking discriminator module to distinguish the valid question-schema linkings, which explicitly instructs the encoder by distinctive linking relations to enhance the alignment quality. On the decoder side, we define 6-type relationships to describe the connections between tables and columns (e.g., WHERE_TC), and introduce an operator-centric triple extractor to recognize those associated schema items with the predefined relationship. Also, we establish a rule set of grammar constraints via the predicted triples to filter the proper SQL operators and schema items during the SQL generation. On Spider, a cross-domain challenging text-to-SQL benchmark, experimental results indicate that MTSQL is more effective than baselines, especially in extremely hard scenarios. Moreover, further analyses verify that our approach leads to promising improvements for complicated SQL queries.

cs.CL↗

arXiv2024

Large Language Models for Code Analysis: Do LLMs Really Do Their Job?

Large language models (LLMs) have demonstrated significant potential in the realm of natural language understanding and programming code processing tasks. Their capacity to comprehend and generate human-like code has spurred research into harnessing LLMs for code analysis purposes. However, the existing body of literature falls short in delivering a systematic evaluation and assessment of LLMs' effectiveness in code analysis, particularly in the context of obfuscated code. This paper seeks to bridge this gap by offering a comprehensive evaluation of LLMs' capabilities in performing code analysis tasks. Additionally, it presents real-world case studies that employ LLMs for code analysis. Our findings indicate that LLMs can indeed serve as valuable tools for automating code analysis, albeit with certain limitations. Through meticulous exploration, this research contributes to a deeper understanding of the potential and constraints associated with utilizing LLMs in code analysis, paving the way for enhanced applications in this critical domain.

cs.SE↗

arXiv2024

Mesoscale Traffic Forecasting for Real-Time Bottleneck and Shockwave Prediction

Accurate real-time traffic state forecasting plays a pivotal role in traffic control research. In particular, the CIRCLES consortium project necessitates predictive techniques to mitigate the impact of data source delays. After the success of the MegaVanderTest experiment, this paper aims at overcoming the current system limitations and develop a more suited approach to improve the real-time traffic state estimation for the next iterations of the experiment. In this paper, we introduce the SA-LSTM, a deep forecasting method integrating Self-Attention (SA) on the spatial dimension with Long Short-Term Memory (LSTM) yielding state-of-the-art results in real-time mesoscale traffic forecasting. We extend this approach to multi-step forecasting with the n-step SA-LSTM, which outperforms traditional multi-step forecasting methods in the trade-off between short-term and long-term predictions, all while operating in real-time.

cs.LG↗

arXiv2024

Jointly Learning Selection Matrices For Transmitters, Receivers And Fourier Coefficients In Multichannel Imaging

Strategic subsampling has become a focal point due to its effectiveness in compressing data, particularly in the Full Matrix Capture (FMC) approach in ultrasonic imaging. This paper introduces the Joint Deep Probabilistic Subsampling (J-DPS) method, which aims to learn optimal selection matrices simultaneously for transmitters, receivers, and Fourier coefficients. This task-based algorithm is realized by introducing a specialized measurement model and integrating a customized Complex Learned FISTA (CL-FISTA) network. We propose a parallel network architecture, partitioned into three segments corresponding to the three matrices, all working toward a shared optimization objective with adjustable loss allocation. A synthetic dataset is designed to reflect practical scenarios, and we provide quantitative comparisons with a traditional CRB-based algorithm, standard DPS, and J-DPS.

eess.IV↗

arXiv2024

Hierarchical Speed Planner for Automated Vehicles: A Framework for Lagrangian Variable Speed Limit in Mixed Autonomy Traffic

This paper introduces a novel control framework for Lagrangian variable speed limits in hybrid traffic flow environments utilizing automated vehicles (AVs). The framework was validated using a fleet of 100 connected automated vehicles as part of the largest coordinated open-road test designed to smooth traffic flow. The framework includes two main components: a high-level controller deployed on the server side, named Speed Planner, and low-level controllers called vehicle controllers deployed on the vehicle side. The Speed Planner designs and updates target speeds for the vehicle controllers based on real-time Traffic State Estimation (TSE) [1]. The Speed Planner comprises two modules: a TSE enhancement module and a target speed design module. The TSE enhancement module is designed to minimize the effects of inherent latency in the received traffic information and to improve the spatial and temporal resolution of the input traffic data. The target speed design module generates target speed profiles with the goal of improving traffic flow. The vehicle controllers are designed to track the target speed meanwhile responding to the surrounding situation. The numerical simulation indicates the performance of the proposed method: the bottleneck throughput has increased by 5.01%, and the speed standard deviation has been reduced by a significant 34.36%. We further showcase an operational study with a description of how the controller was implemented on a field-test with 100 AVs and its comprehensive effects on the traffic flow.

eess.SY↗

arXiv2024

Traffic Control via Connected and Automated Vehicles: An Open-Road Field Experiment with 100 CAVs

The CIRCLES project aims to reduce instabilities in traffic flow, which are naturally occurring phenomena due to human driving behavior. These "phantom jams" or "stop-and-go waves,"are a significant source of wasted energy. Toward this goal, the CIRCLES project designed a control system referred to as the MegaController by the CIRCLES team, that could be deployed in real traffic. Our field experiment leveraged a heterogeneous fleet of 100 longitudinally-controlled vehicles as Lagrangian traffic actuators, each of which ran a controller with the architecture described in this paper. The MegaController is a hierarchical control architecture, which consists of two main layers. The upper layer is called Speed Planner, and is a centralized optimal control algorithm. It assigns speed targets to the vehicles, conveyed through the LTE cellular network. The lower layer is a control layer, running on each vehicle. It performs local actuation by overriding the stock adaptive cruise controller, using the stock on-board sensors. The Speed Planner ingests live data feeds provided by third parties, as well as data from our own control vehicles, and uses both to perform the speed assignment. The architecture of the speed planner allows for modular use of standard control techniques, such as optimal control, model predictive control, kernel methods and others, including Deep RL, model predictive control and explicit controllers. Depending on the vehicle architecture, all onboard sensing data can be accessed by the local controllers, or only some. Control inputs vary across different automakers, with inputs ranging from torque or acceleration requests for some cars, and electronic selection of ACC set points in others. The proposed architecture allows for the combination of all possible settings proposed above. Most configurations were tested throughout the ramp up to the MegaVandertest.

eess.SY↗

arXiv2024

Beyond Accuracy: An Empirical Study on Unit Testing in Open-source Deep Learning Projects

Deep Learning (DL) models have rapidly advanced, focusing on achieving high performance through testing model accuracy and robustness. However, it is unclear whether DL projects, as software systems, are tested thoroughly or functionally correct when there is a need to treat and test them like other software systems. Therefore, we empirically study the unit tests in open-source DL projects, analyzing 9,129 projects from GitHub. We find that: 1) unit tested DL projects have positive correlation with the open-source project metrics and have a higher acceptance rate of pull requests, 2) 68% of the sampled DL projects are not unit tested at all, 3) the layer and utilities (utils) of DL models have the most unit tests. Based on these findings and previous research outcomes, we built a mapping taxonomy between unit tests and faults in DL projects. We discuss the implications of our findings for developers and researchers and highlight the need for unit testing in open-source DL projects to ensure their reliability and stability. The study contributes to this community by raising awareness of the importance of unit testing in DL projects and encouraging further research in this area.

cs.SE↗