arXiv subjects

Hanqing Guo

Publications and source records attributed to Hanqing Guo.

39 records · Page 3Linked to original sources

arXiv2018

DSIC: Deep Learning based Self-Interference Cancellation for In-Band Full Duplex Wireless

In-band full duplex wireless is of utmost interest to future wireless communication and networking due to great potentials of spectrum efficiency. IBFD wireless, however, is throttled by its key challenge, namely self-interference. Therefore, effective self-interference cancellation is the key to enable IBFD wireless. This paper proposes a real-time non-linear self-interference cancellation solution based on deep learning. In this solution, a self-interference channel is modeled by a deep neural network (DNN). Synchronized self-interference channel data is first collected to train the DNN of the self-interference channel. Afterwards, the trained DNN is used to cancel the self-interference at a wireless node. This solution has been implemented on a USRP SDR testbed and evaluated in real world in multiple scenarios with various modulations in transmitting information including numbers, texts as well as images. It results in the performance of 17dB in digital cancellation, which is very close to the self-interference power and nearly cancels the self-interference at a SDR node in the testbed. The solution yields an average of 8.5% bit error rate (BER) over many scenarios and different modulation schemes.

cs.NI↗

arXiv2018

Shared Multi-Task Imitation Learning for Indoor Self-Navigation

Deep imitation learning enables robots to learn from expert demonstrations to perform tasks such as lane following or obstacle avoidance. However, in the traditional imitation learning framework, one model only learns one task, and thus it lacks of the capability to support a robot to perform various different navigation tasks with one model in indoor environments. This paper proposes a new framework, Shared Multi-headed Imitation Learning(SMIL), that allows a robot to perform multiple tasks with one model without switching among different models. We model each task as a sub-policy and design a multi-headed policy to learn the shared information among related tasks by summing up activations from all sub-policies. Compared to single or non-shared multi-headed policies, this framework is able to leverage correlated information among tasks to increase performance.We have implemented this framework using a robot based on NVIDIA TX2 and performed extensive experiments in indoor environments with different baseline solutions. The results demonstrate that SMIL has doubled the performance over nonshared multi-headed policy.

cs.CV↗

arXiv2018

Avoidance of Manual Labeling in Robotic Autonomous Navigation Through Multi-Sensory Semi-Supervised Learning

Imitation learning holds the promise to address challenging robotic tasks such as autonomous navigation. It however requires a human supervisor to oversee the training process and send correct control commands to robots without feedback, which is always prone to error and expensive. To minimize human involvement and avoid manual labeling of data in the robotic autonomous navigation with imitation learning, this paper proposes a novel semi-supervised imitation learning solution based on a multi-sensory design. This solution includes a suboptimal sensor policy based on sensor fusion to automatically label states encountered by a robot to avoid human supervision during training. In addition, a recording policy is developed to throttle the adversarial affect of learning too much from the suboptimal sensor policy. This solution allows the robot to learn a navigation policy in a self-supervised manner. With extensive experiments in indoor environments, this solution can achieve near human performance in most of the tasks and even surpasses human performance in case of unexpected events such as hardware failures or human operation errors. To best of our knowledge, this is the first work that synthesizes sensor fusion and imitation learning to enable robotic autonomous navigation in the real world without human supervision.

cs.LG↗