arXiv subjects

Hao Zhang

Publications and source records attributed to Hao Zhang.

At least 883 records · Page 49Linked to original sources

arXiv2023

Deep Masked Graph Matching for Correspondence Identification in Collaborative Perception

Correspondence identification (CoID) is an essential component for collaborative perception in multi-robot systems, such as connected autonomous vehicles. The goal of CoID is to identify the correspondence of objects observed by multiple robots in their own field of view in order for robots to consistently refer to the same objects. CoID is challenging due to perceptual aliasing, object non-covisibility, and noisy sensing. In this paper, we introduce a novel deep masked graph matching approach to enable CoID and address the challenges. Our approach formulates CoID as a graph matching problem and we design a masked neural network to integrate the multimodal visual, spatial, and GPS information to perform CoID. In addition, we design a new technique to explicitly address object non-covisibility caused by occlusion and the vehicle's limited field of view. We evaluate our approach in a variety of street environments using a high-fidelity simulation that integrates the CARLA and SUMO simulators. The experimental results show that our approach outperforms the previous approaches and achieves state-of-the-art CoID performance in connected autonomous driving applications. Our work is available at: https://github.com/gaopeng5/DMGM.git.

cs.RO↗

arXiv2023

Field-induced spin level crossings within a quasi-XY antiferromagnetic state in Ba$_{2}$FeSi$_{2}$O$_{7}$

We present a high-field study of the strongly anisotropic easy-plane square lattice $S$ = 2 quantum magnet Ba$_{2}$FeSi$_{2}$O$_{7}$. This compound is a rare high-spin antiferromagnetic system with very strong easy-plane anisotropy, such that the interplay between spin level crossings and antiferromagnetic order can be studied. We observe a magnetic field-induced spin level crossing occurring within an ordered state. This spin level crossing appears to preserve the magnetic symmetry while producing a non-monotonic dependence the order parameter magnitude. The resulting temperature-magnetic field phase diagram exhibits two dome-shaped regions of magnetic order overlapping around 30 T. The ground state of the lower-field dome is predominantly a linear combination of $| S^{z} = 0 \rangle$ and $ |S^{z} = 1 \rangle$ states, while the ground state of the higher-field dome can be approximated by a linear combination of $| S^{z} = 1 \rangle $ and $ | S^{z} = 2\rangle$ states. At 30 T, where the spin levels cross, the magnetization exhibits a slanted plateau, {\color {black}the magnetocaloric effect shows a broad hump, and the electric polarization shows a weak slope change}. We determined the detailed magnetic phase boundaries and the spin level crossings using measurements of magnetization, electric polarization, and the magnetocaloric effect in pulsed magnetic fields to 60 T. We calculate these properties using a mean field theory based on direct products of SU(5) coherent states and find good agreement. Finally, we measure and calculate the magnetically-induced electric polarization that reflects magnetic ordering and spin level crossings. This multiferroic behavior provides another avenue for detecting phase boundaries and symmetry changes.

cond-mat.str-el↗

arXiv2023

Lite DETR : An Interleaved Multi-Scale Encoder for Efficient DETR

Recent DEtection TRansformer-based (DETR) models have obtained remarkable performance. Its success cannot be achieved without the re-introduction of multi-scale feature fusion in the encoder. However, the excessively increased tokens in multi-scale features, especially for about 75\% of low-level features, are quite computationally inefficient, which hinders real applications of DETR models. In this paper, we present Lite DETR, a simple yet efficient end-to-end object detection framework that can effectively reduce the GFLOPs of the detection head by 60\% while keeping 99\% of the original performance. Specifically, we design an efficient encoder block to update high-level features (corresponding to small-resolution feature maps) and low-level features (corresponding to large-resolution feature maps) in an interleaved way. In addition, to better fuse cross-scale features, we develop a key-aware deformable attention to predict more reliable attention weights. Comprehensive experiments validate the effectiveness and efficiency of the proposed Lite DETR, and the efficient encoder strategy can generalize well across existing DETR-based models. The code will be available in \url{https://github.com/IDEA-Research/Lite-DETR}.

cs.CV↗

arXiv2023

Temporal Sentence Grounding in Videos: A Survey and Future Directions

Temporal sentence grounding in videos (TSGV), \aka natural language video localization (NLVL) or video moment retrieval (VMR), aims to retrieve a temporal moment that semantically corresponds to a language query from an untrimmed video. Connecting computer vision and natural language, TSGV has drawn significant attention from researchers in both communities. This survey attempts to provide a summary of fundamental concepts in TSGV and current research status, as well as future research directions. As the background, we present a common structure of functional components in TSGV, in a tutorial style: from feature extraction from raw video and language query, to answer prediction of the target moment. Then we review the techniques for multimodal understanding and interaction, which is the key focus of TSGV for effective alignment between the two modalities. We construct a taxonomy of TSGV techniques and elaborate the methods in different categories with their strengths and weaknesses. Lastly, we discuss issues with the current TSGV research and share our insights about promising research directions.

cs.CV↗

arXiv2023

ConZIC: Controllable Zero-shot Image Captioning by Sampling-Based Polishing

Zero-shot capability has been considered as a new revolution of deep learning, letting machines work on tasks without curated training data. As a good start and the only existing outcome of zero-shot image captioning (IC), ZeroCap abandons supervised training and sequentially searches every word in the caption using the knowledge of large-scale pretrained models. Though effective, its autoregressive generation and gradient-directed searching mechanism limit the diversity of captions and inference speed, respectively. Moreover, ZeroCap does not consider the controllability issue of zero-shot IC. To move forward, we propose a framework for Controllable Zero-shot IC, named ConZIC. The core of ConZIC is a novel sampling-based non-autoregressive language model named GibbsBERT, which can generate and continuously polish every word. Extensive quantitative and qualitative results demonstrate the superior performance of our proposed ConZIC for both zero-shot IC and controllable zero-shot IC. Especially, ConZIC achieves about 5x faster generation speed than ZeroCap, and about 1.5x higher diversity scores, with accurate generation given different control signals.

cs.CV↗

arXiv2023

NIFT: Neural Interaction Field and Template for Object Manipulation

We introduce NIFT, Neural Interaction Field and Template, a descriptive and robust interaction representation of object manipulations to facilitate imitation learning. Given a few object manipulation demos, NIFT guides the generation of the interaction imitation for a new object instance by matching the Neural Interaction Template (NIT) extracted from the demos in the target Neural Interaction Field (NIF) defined for the new object. Specifically, the NIF is a neural field that encodes the relationship between each spatial point and a given object, where the relative position is defined by a spherical distance function rather than occupancies or signed distances, which are commonly adopted by conventional neural fields but less informative. For a given demo interaction, the corresponding NIT is defined by a set of spatial points sampled in the demo NIF with associated neural features. To better capture the interaction, the points are sampled on the Interaction Bisector Surface (IBS), which consists of points that are equidistant to the two interacting objects and has been used extensively for interaction representation. With both point selection and pointwise features defined for better interaction encoding, NIT effectively guides the feature matching in the NIFs of the new object instances such that the relative poses are optimized to realize the manipulation while imitating the demo interactions. Experiments show that our NIFT solution outperforms state-of-the-art imitation learning methods for object manipulation and generalizes better to objects from new categories.

cs.RO↗

arXiv2023

Reinforcement Learning Based Pushing and Grasping Objects from Ungraspable Poses

Grasping an object when it is in an ungraspable pose is a challenging task, such as books or other large flat objects placed horizontally on a table. Inspired by human manipulation, we address this problem by pushing the object to the edge of the table and then grasping it from the hanging part. In this paper, we develop a model-free Deep Reinforcement Learning framework to synergize pushing and grasping actions. We first pre-train a Variational Autoencoder to extract high-dimensional features of input scenario images. One Proximal Policy Optimization algorithm with the common reward and sharing layers of Actor-Critic is employed to learn both pushing and grasping actions with high data efficiency. Experiments show that our one network policy can converge 2.5 times faster than the policy using two parallel networks. Moreover, the experiments on unseen objects show that our policy can generalize to the challenging case of objects with curved surfaces and off-center irregularly shaped objects. Lastly, our policy can be transferred to a real robot without fine-tuning by using CycleGAN for domain adaption and outperforms the push-to-wall baseline.

cs.RO↗

arXiv2023

The origin of power-law spectra in relativistic magnetic reconnection

Magnetic reconnection is often invoked as a source of high-energy particles, and in relativistic astrophysical systems it is regarded as a prime candidate for powering fast and bright flares. We present a novel analytical model - supported and benchmarked with large-scale three-dimensional particle-in-cell simulations - that elucidates the physics governing the generation of power-law energy spectra in relativistic reconnection. Particles with Lorentz factor $γ\gtrsim 3σ$ (here, $σ$ is the magnetization) gain most of their energy in the inflow region, while meandering between the two sides of the reconnection layer. Their acceleration time is $t_{\rm acc}\sim γ\,η_{\rm rec}^{-1}ω_{\rm c}^{-1}\simeq 20\,γ\,ω_{\rm c}^{-1}$, where $η_{\rm rec}\simeq0.06$ is the inflow speed in units of the speed of light and $ω_{\rm c}=eB_0/mc$ is the gyrofrequency in the upstream magnetic field. They leave the region of active energization after $t_{\rm esc}$, when they get captured by one of the outflowing flux ropes of reconnected plasma. We directly measure $t_{\rm esc}$ in our simulations and find that $t_{\rm esc}\sim t_{\rm acc}$ for $σ\gtrsim {\rm few}$. This leads to a universal (i.e., $σ$-independent) power-law spectrum $dN_{\rm free}/dγ\propto γ^{-1}$ for the particles undergoing active acceleration, and $dN/dγ\propto γ^{-2}$ for the overall particle population. Our results help shedding light on the ubiquitous presence of power-law particle and photon spectra in astrophysical non-thermal sources.

astro-ph.HE↗

arXiv2023

Measurement of $^{19}$F($p$,$γ$)$^{20}$Ne reaction suggests CNO break-out in first stars

The origin of calcium production in the first stars (Pop III stars), which formed out of the primordial matter of the Big Bang, and their fates, remain most fascinating mysteries in astrophysics. Advanced nuclear burning and supernovae were thought to be the dominant source of the Ca production seen in all stars. Here we report on a qualitatively different path to Ca production through break-out from the "warm" carbon-nitrogen-oxygen (CNO) cycle. We extend direct measurement of the $^{19}$F($p$, $γ$)$^{20}$Ne break-out reaction down to an unprecedentedly low energy point of 186 keV and discover a key resonance at 225 keV. In the domain of astrophysical interest, at around 0.1 giga kelvin, this thermonuclear $^{19}$F($p$,$γ$)$^{20}$Ne rate is up to a factor of 7.4 larger than the previous recommended rate. Our stellar models show a stronger break-out during stellar hydrogen burning than thought before, and may reveal the nature of Ca production in Pop III stars imprinted on the oldest known ultra-iron poor star, SMSS0313-6708. This result from the China Jinping Underground Laboratory, the deepest laboratory in the world, offering an environment with extremely low cosmic-ray induced background, has far-reaching implications on our understanding of how the first stars evolve and die. Our rate showcases the impact that faint Pop III star supernovae can have on the nucleosynthesis observed in the oldest known stars and first galaxies, key mission targets of the James Webb Space Telescope.

astro-ph.SR↗

arXiv2023

Charge and Energy Transfer Dynamics of Hybridized Exciton-Polaritons in 2D Halide Perovskites

Excitons, bound electron-hole pairs, in Two-Dimensional Hybrid Organic Inorganic Perovskites (2D HOIPs) are capable of forming hybrid light-matter states known as exciton-polaritons (E-Ps) when the excitonic medium is confined in an optical cavity. In the case of 2D HOIPs, they can self-hybridize into E-Ps at specific thicknesses of the HOIP crystals that form a resonant optical cavity with the excitons. However, the fundamental properties of these self-hybridized E-Ps in 2D HOIPs, including their role in ultrafast energy and/or charge transfer at interfaces, remain unclear. Here, we demonstrate that > 0.5 um thick 2D HOIP crystals on Au substrates are capable of supporting multiple-orders of self-hybridized E-P modes. These E-Ps have high Q factors (> 100) and modulate the optical dispersion for the crystal to enhance sub-gap absorption and emission. Through varying excitation energy and ultrafast measurements, we also confirm energy transfer from higher energy upper E-Ps to lower energy, lower E-Ps. Finally, we also demonstrate that E-Ps are capable of charge transport and transfer at interfaces. Our findings provide new insights into charge and energy transfer in E-Ps opening new opportunities towards their manipulation for polaritonic devices.

cond-mat.mes-hall↗

arXiv2023

Unit roots of the unit root $L$-functions of Kloosterman family

As a consequence of Wan's theorem about Dwork's conjecture, the unit root $L$-functions of the $n$-dimensional Kloosterman family are $p$-adic meromorphic. By studying the symmetric power $L$-functions associated to the Kloosterman family, we prove that for each $0\le j\le n$, the unit root $L$-function coming from slope $j$ has a unique unit root which equals 1.

math.NT↗

arXiv2023

Futuristic Variations and Analysis in Fundus Images Corresponding to Biological Traits

Fundus image captures rear of an eye, and which has been studied for the diseases identification, classification, segmentation, generation, and biological traits association using handcrafted, conventional, and deep learning methods. In biological traits estimation, most of the studies have been carried out for the age prediction and gender classification with convincing results. However, the current study utilizes the cutting-edge deep learning (DL) algorithms to estimate biological traits in terms of age and gender together with associating traits to retinal visuals. For the traits association, our study embeds aging as the label information into the proposed DL model to learn knowledge about the effected regions with aging. Our proposed DL models, named FAG-Net and FGC-Net, correspondingly estimate biological traits (age and gender) and generates fundus images. FAG-Net can generate multiple variants of an input fundus image given a list of ages as conditions. Our study analyzes fundus images and their corresponding association with biological traits, and predicts of possible spreading of ocular disease on fundus images given age as condition to the generative model. Our proposed models outperform the randomly selected state of-the-art DL models.

eess.IV↗

arXiv2023

Gatemon qubit based on a thin InAs-Al hybrid nanowire

We study a gate-tunable superconducting qubit (gatemon) based on a thin InAs-Al hybrid nanowire. Using a gate voltage to control its Josephson energy, the gatemon can reach the strong coupling regime to a microwave cavity. In the dispersive regime, we extract the energy relaxation time $T_1\sim$0.56 $μ$s and the dephasing time $T_2^* \sim$0.38 $μ$s. Since thin InAs-Al nanowires can have fewer or single sub-band occupation and recent transport experiment shows the existence of nearly quantized zero-bias conductance peaks, our result holds relevancy for detecting Majorana zero modes in thin InAs-Al nanowires using circuit quantum electrodynamics.

cond-mat.mes-hall↗

arXiv2023

Cubic Double Perovskites Host Noncoplanar Spin Textures

Magnetic materials with noncoplanar magnetic structures can show unusual physical properties driven by nontrivial topology. Topologically-active states are often multi-q structures, which are challenging to stabilize in models and to identify in materials. Here, we use inelastic neutron-scattering experiments to show that the insulating double perovskites Ba2YRuO6 and Ba2LuRuO6 host a noncoplanar 3-q structure on the face-centered cubic lattice. Quantitative analysis of our neutron-scattering data reveals that these 3-q states are stabilized by biquadratic interactions. Our study identifies double perovskites as a highly promising class of materials to realize topological magnetism, elucidates the stabilization mechanism of the 3-q state in these materials, and establishes neutron spectroscopy on powder samples as a valuable technique to distinguish multi-q from single-q states, facilitating the discovery of topologically-nontrivial magnetic materials.

cond-mat.str-el↗

arXiv2023

A Method For Eliminating Contour Errors In Self-Encoder Reconstructed Images

In this paper, we propose a self-supervised twin network approach based on this a priori. The method of generating the approximate10 edge information of an image and then differentially eliminating the edge errors11 in the reconstructed image with a dilate algorithm. This is used to improve the12 accuracy of the reconstructed image and to separate foreign matter and noise from13 the original image, so that it can be visualized in a more practical scene

cs.CV↗

arXiv2023

Multiplication between elements in Martingale Hardy spaces and their duals

In this paper, we establish continuous bilinear decompositions that arise in the study of products between elements in martingale Hardy spaces $ H^p\ (0<p\leqslant 1) $ and functions in their dual spaces. Our decompositions are based on martingale paraproducts. As a consequence of our work, we also obtain analogous results for dyadic martingales on spaces of homogeneous type equipped with a doubling measure.

math.FA↗

arXiv2023

A Monolithic Graphene-Functionalized Microlaser for Multispecies Gas Detection

Optical microcavity enhanced light-matter interaction offers a powerful tool to develop fast and precise sensing techniques, spurring applications in the detection of biochemical targets ranging from cells, nanoparticles, and large molecules. However, the intrinsic inertness of such pristine microresonators limits their spread in new fields such as gas detection. Here, a functionalized microlaser sensor is realized by depositing graphene in an erbium-doped over-modal microsphere. By using a 980 nm pump, multiple laser lines excited in different mode families of the microresonator are co-generated in a single device. The interference between these splitting mode lasers produce beat notes in the electrical domain (0.2-1.1 MHz) with sub-kHz accuracy, thanks to the graphene-induced intracavity backward scattering. This allows for multispecies gas identification from a mixture, and ultrasensitive gas detection down to individual molecule.

physics.optics↗

arXiv2023

See, Think, Confirm: Interactive Prompting Between Vision and Language Models for Knowledge-based Visual Reasoning

Large pre-trained vision and language models have demonstrated remarkable capacities for various tasks. However, solving the knowledge-based visual reasoning tasks remains challenging, which requires a model to comprehensively understand image content, connect the external world knowledge, and perform step-by-step reasoning to answer the questions correctly. To this end, we propose a novel framework named Interactive Prompting Visual Reasoner (IPVR) for few-shot knowledge-based visual reasoning. IPVR contains three stages, see, think and confirm. The see stage scans the image and grounds the visual concept candidates with a visual perception model. The think stage adopts a pre-trained large language model (LLM) to attend to the key concepts from candidates adaptively. It then transforms them into text context for prompting with a visual captioning model and adopts the LLM to generate the answer. The confirm stage further uses the LLM to generate the supporting rationale to the answer, verify the generated rationale with a cross-modality classifier and ensure that the rationale can infer the predicted output consistently. We conduct experiments on a range of knowledge-based visual reasoning datasets. We found our IPVR enjoys several benefits, 1). it achieves better performance than the previous few-shot learning baselines; 2). it enjoys the total transparency and trustworthiness of the whole reasoning process by providing rationales for each reasoning step; 3). it is computation-efficient compared with other fine-tuning baselines.

cs.CV↗