arXiv subjects

Haotian Li

Publications and source records attributed to Haotian Li.

At least 91 records · Page 5Linked to original sources

arXiv2023

AdaVis: Adaptive and Explainable Visualization Recommendation for Tabular Data

Automated visualization recommendation facilitates the rapid creation of effective visualizations, which is especially beneficial for users with limited time and limited knowledge of data visualization. There is an increasing trend in leveraging machine learning (ML) techniques to achieve an end-to-end visualization recommendation. However, existing ML-based approaches implicitly assume that there is only one appropriate visualization for a specific dataset, which is often not true for real applications. Also, they often work like a black box, and are difficult for users to understand the reasons for recommending specific visualizations. To fill the research gap, we propose AdaVis, an adaptive and explainable approach to recommend one or multiple appropriate visualizations for a tabular dataset. It leverages a box embedding-based knowledge graph to well model the possible one-to-many mapping relations among different entities (i.e., data features, dataset columns, datasets, and visualization choices). The embeddings of the entities and relations can be learned from dataset-visualization pairs. Also, AdaVis incorporates the attention mechanism into the inference framework. Attention can indicate the relative importance of data features for a dataset and provide fine-grained explainability. Our extensive evaluations through quantitative metric evaluations, case studies, and user interviews demonstrate the effectiveness of AdaVis.

cs.HC↗

arXiv2023

Swashplateless-elevon Actuation for a Dual-rotor Tail-sitter VTOL UAV

In this paper, we propose a novel swashplateless-elevon actuation (SEA) for dual-rotor tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs). In contrast to the conventional elevon actuation (CEA) which controls both pitch and yaw using elevons, the SEA adopts swashplateless mechanisms to generate an extra moment through motor speed modulation to control pitch and uses elevons solely for controlling yaw, without requiring additional actuators. This decoupled control strategy mitigates the saturation of elevons' deflection needed for large pitch and yaw control actions, thus improving the UAV's control performance on trajectory tracking and disturbance rejection performance in the presence of large external disturbances. Furthermore, the SEA overcomes the actuation degradation issues experienced by the CEA when the UAV is in close proximity to the ground, leading to a smoother and more stable take-off process. We validate and compare the performances of the SEA and the CEA in various real-world flight conditions, including take-off, trajectory tracking, and hover flight and position steps under external disturbance. Experimental results demonstrate that the SEA has better performances than the CEA. Moreover, we verify the SEA's feasibility in the attitude transition process and fixed-wing-mode flight of the VTOL UAV. The results indicate that the SEA can accurately control pitch in the presence of high-speed incoming airflow and maintain a stable attitude during fixed-wing mode flight. Video of all experiments can be found in youtube.com/watch?v=Sx9Rk4Zf7sQ

cs.RO↗

arXiv2023

Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment

This paper introduces a novel targetless method for joint intrinsic and extrinsic calibration of LiDAR-camera systems using plane-constrained bundle adjustment (BA). Our method leverages LiDAR point cloud measurements from planes in the scene, alongside visual points derived from those planes. The core novelty of our method lies in the integration of visual BA with the registration between visual points and LiDAR point cloud planes, which is formulated as a unified optimization problem. This formulation achieves concurrent intrinsic and extrinsic calibration, while also imparting depth constraints to the visual points to enhance the accuracy of intrinsic calibration. Experiments are conducted on both public data sequences and self-collected dataset. The results showcase that our approach not only surpasses other state-of-the-art (SOTA) methods but also maintains remarkable calibration accuracy even within challenging environments. For the benefits of the robotics community, we have open sourced our codes.

cs.RO↗

arXiv2023

InkSight: Leveraging Sketch Interaction for Documenting Chart Findings in Computational Notebooks

Computational notebooks have become increasingly popular for exploratory data analysis due to their ability to support data exploration and explanation within a single document. Effective documentation for explaining chart findings during the exploration process is essential as it helps recall and share data analysis. However, documenting chart findings remains a challenge due to its time-consuming and tedious nature. While existing automatic methods alleviate some of the burden on users, they often fail to cater to users' specific interests. In response to these limitations, we present InkSight, a mixed-initiative computational notebook plugin that generates finding documentation based on the user's intent. InkSight allows users to express their intent in specific data subsets through sketching atop visualizations intuitively. To facilitate this, we designed two types of sketches, i.e., open-path and closed-path sketch. Upon receiving a user's sketch, InkSight identifies the sketch type and corresponding selected data items. Subsequently, it filters data fact types based on the sketch and selected data items before employing existing automatic data fact recommendation algorithms to infer data facts. Using large language models (GPT-3.5), InkSight converts data facts into effective natural language documentation. Users can conveniently fine-tune the generated documentation within InkSight. A user study with 12 participants demonstrated the usability and effectiveness of InkSight in expressing user intent and facilitating chart finding documentation.

cs.HC↗

arXiv2023

Perch a quadrotor on planes by the ceiling effect

Perching is a promising solution for a small unmanned aerial vehicle (UAV) to save energy and extend operation time. This paper proposes a quadrotor that can perch on planar structures using the ceiling effect. Compared with the existing work, this perching method does not require any claws, hooks, or adhesive pads, leading to a simpler system design. This method does not limit the perching by surface angle or material either. The design of the quadrotor that only uses its propeller guards for surface contact is presented in this paper. We also discussed the automatic perching strategy including trajectory generation and power management. Experiments are conducted to verify that the approach is practical and the UAV can perch on planes with different angles. Energy consumption in the perching state is assessed, showing that more than 30% of power can be saved. Meanwhile, the quadrotor exhibits improved stability while perching compared to when it is hovering.

cs.RO↗

arXiv2023

DegreEmbed: incorporating entity embedding into logic rule learning for knowledge graph reasoning

Knowledge graphs (KGs), as structured representations of real world facts, are intelligent databases incorporating human knowledge that can help machine imitate the way of human problem solving. However, KGs are usually huge and there are inevitably missing facts in KGs, thus undermining applications such as question answering and recommender systems that are based on knowledge graph reasoning. Link prediction for knowledge graphs is the task aiming to complete missing facts by reasoning based on the existing knowledge. Two main streams of research are widely studied: one learns low-dimensional embeddings for entities and relations that can explore latent patterns, and the other gains good interpretability by mining logical rules. Unfortunately, the heterogeneity of modern KGs that involve entities and relations of various types is not well considered in the previous studies. In this paper, we propose DegreEmbed, a model that combines embedding-based learning and logic rule mining for inferring on KGs. Specifically, we study the problem of predicting missing links in heterogeneous KGs from the perspective of the degree of nodes. Experimentally, we demonstrate that our DegreEmbed model outperforms the state-of-the-art methods on real world datasets and the rules mined by our model are of high quality and interpretability.

cs.LG↗

arXiv2023

Stochastic spin-orbit-torque device as the STDP synapse for spiking neural networks

Neuromorphic hardware as a non-Von Neumann architecture has better energy efficiency and parallelism than the conventional computer. Here, with numerical modeling spin-orbit torque (SOT) device using current-induced SOT and Joule heating effects, we acquire its magnetization switching probability as a function of the input current pulses and use it to mimic the spike-timing-dependent plasticity learning behavior like actual brain working. We further demonstrate that the artificial spiking neural network (SNN) built by this SOT device can perform unsupervised handwritten digit recognition with the accuracy of 80% and logic operation learning. Our work provides a new clue to achieving SNN-based neuromorphic hardware using high-energy efficiency and nonvolatile spintronics nanodevices

physics.app-ph↗

arXiv2023

Efficient characteristics of exchange coupling and spin-flop transition in Py/Gd bilayer using anisotropic magnetoresistance

The interlayer antiferromagnetic coupling rare-earth/transition-metal bilayer ferrimagnet systems have attracted much attention because they present variously unusual temperature-and field-dependent nontrivial magnetic states and dynamics. These properties and the implementation of their applications in spintronics highly depend on the significant temperature dependence of the magnetic exchange stiffness constant A. Here, we quantitatively determine the temperature dependence of magnetic exchange stiffness A_{Py-Gd} and A_{Gd} in the artificially layered ferrimagnet consisting of a Py/Gd bilayer, using a measurement of anisotropic magnetoresistance (AMR) of the bilayer thin film at different temperatures and magnetic fields. The obtained temperature dependence of A_{Py-Gd} and A_{Gd} exhibit a scaling power law with the magnetization of Gd. The critical field of spin-flop transition and its temperature dependence can also be directly obtained by this method. Additionally, the experimental results are well reproduced by micromagnetic simulations with the obtained parameters A_{Py-Gd} and A_{Gd}, which further confirms the reliability of this easily accessible technique.

cond-mat.mes-hall↗

arXiv2023

Notable: On-the-fly Assistant for Data Storytelling in Computational Notebooks

Computational notebooks are widely used for data analysis. Their interleaved displays of code and execution results (e.g., visualizations) are welcomed since they enable iterative analysis and preserve the exploration process. However, the communication of data findings remains challenging in computational notebooks. Users have to carefully identify useful findings from useless ones, document them with texts and visual embellishments, and then organize them in different tools. Such workflow greatly increases their workload, according to our interviews with practitioners. To address the challenge, we designed Notable to offer on-the-fly assistance for data storytelling in computational notebooks. It provides intelligent support to minimize the work of documenting and organizing data findings and diminishes the cost of switching between data exploration and storytelling. To evaluate Notable, we conducted a user study with 12 data workers. The feedback from user study participants verifies its effectiveness and usability.

cs.HC↗

arXiv2023

DMiner: Dashboard Design Mining and Recommendation

Dashboards, which comprise multiple views on a single display, help analyze and communicate multiple perspectives of data simultaneously. However, creating effective and elegant dashboards is challenging since it requires careful and logical arrangement and coordination of multiple visualizations. To solve the problem, we propose a data-driven approach for mining design rules from dashboards and automating dashboard organization. Specifically, we focus on two prominent aspects of the organization: arrangement, which describes the position, size, and layout of each view in the display space; and coordination, which indicates the interaction between pairwise views. We build a new dataset containing 854 dashboards crawled online, and develop feature engineering methods for describing the single views and view-wise relationships in terms of data, encoding, layout, and interactions. Further, we identify design rules among those features and develop a recommender for dashboard design. We demonstrate the usefulness of DMiner through an expert study and a user study. The expert study shows that our extracted design rules are reasonable and conform to the design practice of experts. Moreover, a comparative user study shows that our recommender could help automate dashboard organization and reach human-level performance. In summary, our work offers a promising starting point for design mining visualizations to build recommenders.

cs.HC↗

arXiv2022

Temperature- and field angular-dependent helical spin period characterized by magnetic dynamics in a chiral helimagnet $MnNb_3S_6$

The chiral magnets with topological spin textures provide a rare platform to explore topology and magnetism for potential application implementation. Here, we study the magnetic dynamics of several spin configurations on the monoaxial chiral magnetic crystal $MnNb_3S_6$ via broadband ferromagnetic resonance (FMR) technique at cryogenic temperature. In the high-field forced ferromagnetic state (FFM) regime, the obtained frequency f vs. resonance field Hres dispersion curve follows the well-known Kittel formula for a single FFM, while in the low-field chiral magnetic soliton lattice (CSL) regime, the dependence of Hres on magnetic field angle can be well-described by our modified Kittel formula including the mixture of a helical spin segment and the FFM phase. Furthermore, compared to the sophisticated Lorentz micrograph technique, the observed magnetic dynamics corresponding to different spin configurations allow us to obtain temperature- and field-dependent proportion of helical spin texture and helical spin period ratio L(H)/L(0) via our modified Kittel formula. Our results demonstrated that field- and temperature-dependent nontrivial magnetic structures and corresponding distinct spin dynamics in chiral magnets can be an alternative and efficient approach to uncovering and controlling nontrivial topological magnetic dynamics.

cond-mat.str-el↗

arXiv2022

Current-driven magnetization dynamics and their correlation with magnetization configurations in perpendicularly magnetized tunnel junctions

We study spin-transfer-torque driven magnetization dynamics of a perpendicular magnetic tunnel junction (MTJ) nanopillar. Based on the combination of spin-torque ferromagnetic resonance and microwave spectroscopy techniques, we demonstrate that the free layer (FL) and the weak pinned reference layer (RL) exhibit distinct dynamic behaviors with opposite frequency vs. field dispersion relations. The FL can support a single coherent spin-wave (SW) mode for both parallel and antiparallel configurations, while the RL exhibits spin-wave excitation only for the antiparallel state. These two SW modes corresponding to the FL and RL coexist at an antiparallel state and exhibit a crossover phenomenon of oscillation frequency with increasing the external magnetic field, which could be helpful in the mutual synchronization of auto-oscillations for SW-based neuromorphic computing.

cond-mat.mes-hall↗

arXiv2022

Enhancement of spin-orbit torque efficiency by tailoring interfacial spin-orbit coupling in Pt-based magnetic multilayers

We study inserting Co layer thickness-dependent spin transport and spin-orbit torques (SOTs) in the Pt/Co/Py trilayers by spin-torque ferromagnetic resonance. The interfacial perpendicular magnetic anisotropy energy density ($K_s = 2.7~erg/cm^2$), which is dominated by interfacial spin-orbit coupling (ISOC) in the Pt/Co interface, total effective spin-mixing conductance ($G_{eff,tot} = 0.42 {\times} 10^{15}~Ω^{-1} m^{-2}$) and two-magnon scattering ($β_{TMS} = 0.46~nm^2$) are first characterized, and the damping-like torque ($ξ_{DL}$ = 0.103) and field-like torque ($ξ_{FL}$ = -0.017) efficiencies are also calculated quantitatively by varying the thickness of the inserting Co layer. The significant enhancement of $ξ_{DL}$ and $ξ_{FL}$ in Pt/Co/Py than Pt/Py bilayer system originates from the interfacial Rashba-Edelstein effect due to the strong ISOC between Co-3d and Pt-5d orbitals at the Pt/Co interface. Additionally, we find a considerable out-of-plane spin polarization SOT, which is ascribed to the spin anomalous Hall effect and possible spin precession effect due to IPMA-induced perpendicular magnetization at the Pt/Co interface. Our results demonstrate that the ISOC of the Pt/Co interface plays a vital role in spin transport and SOTs-generation. Our finds offer an alternative approach to improve the conventional SOTs efficiencies and generate unconventional SOTs with out-of-plane spin polarization to develop low power Pt-based spintronic via tailoring the Pt/FM interface.

cond-mat.mes-hall↗

arXiv2022

An original model for multi-target learning of logical rules for knowledge graph reasoning

Large-scale knowledge graphs provide structured representations of human knowledge. However, as it is impossible to collect all knowledge, knowledge graphs are usually incomplete. Reasoning based on existing facts paves a way to discover missing facts. In this paper, we study the problem of learning logical rules for reasoning on knowledge graphs for completing missing factual triplets. Learning logical rules equips a model with strong interpretability as well as the ability to generalize to similar tasks. We propose a model able to fully use training data which also considers multi-target scenarios. In addition, considering the deficiency in evaluating the performance of models and the quality of mined rules, we further propose two novel indicators to help with the problem. Experimental results empirically demonstrate that our model outperforms state-of-the-art methods on five benchmark datasets. The results also prove the effectiveness of the indicators.

cs.AI↗

arXiv2022

A microstructure estimation Transformer inspired by sparse representation for diffusion MRI

Diffusion magnetic resonance imaging (dMRI) is an important tool in characterizing tissue microstructure based on biophysical models, which are complex and highly non-linear. Resolving microstructures with optimization techniques is prone to estimation errors and requires dense sampling in the q-space. Deep learning based approaches have been proposed to overcome these limitations. Motivated by the superior performance of the Transformer, in this work, we present a learning-based framework based on Transformer, namely, a Microstructure Estimation Transformer with Sparse Coding (METSC) for dMRI-based microstructure estimation with downsampled q-space data. To take advantage of the Transformer while addressing its limitation in large training data requirements, we explicitly introduce an inductive bias - model bias into the Transformer using a sparse coding technique to facilitate the training process. Thus, the METSC is composed with three stages, an embedding stage, a sparse representation stage, and a mapping stage. The embedding stage is a Transformer-based structure that encodes the signal to ensure the voxel is represented effectively. In the sparse representation stage, a dictionary is constructed by solving a sparse reconstruction problem that unfolds the Iterative Hard Thresholding (IHT) process. The mapping stage is essentially a decoder that computes the microstructural parameters from the output of the second stage, based on the weighted sum of normalized dictionary coefficients where the weights are also learned. We tested our framework on two dMRI models with downsampled q-space data, including the intravoxel incoherent motion (IVIM) model and the neurite orientation dispersion and density imaging (NODDI) model. The proposed method achieved up to 11.25 folds of acceleration in scan time and outperformed the other state-of-the-art learning-based methods.

eess.SP↗

arXiv2022

Who Will Support My Project? Interactive Search of Potential Crowdfunding Investors Through InSearch

Crowdfunding provides project founders with a convenient way to reach online investors. However, it is challenging for founders to find the most potential investors and successfully raise money for their projects on crowdfunding platforms. A few machine learning based methods have been proposed to recommend investors' interest in a specific crowdfunding project, but they fail to provide project founders with explanations in detail for these recommendations, thereby leading to an erosion of trust in predicted investors. To help crowdfunding founders find truly interested investors, we conducted semi-structured interviews with four crowdfunding experts and presents inSearch, a visual analytic system. inSearch allows founders to search for investors interactively on crowdfunding platforms. It supports an effective overview of potential investors by leveraging a Graph Neural Network to model investor preferences. Besides, it enables interactive exploration and comparison of the temporal evolution of different investors' investment details.

cs.HC↗

arXiv2022

ComputableViz: Mathematical Operators as a Formalism for Visualization Processing and Analysis

Data visualizations are created and shared on the web at an unprecedented speed, raising new needs and questions for processing and analyzing visualizations after they have been generated and digitized. However, existing formalisms focus on operating on a single visualization instead of multiple visualizations, making it challenging to perform analysis tasks such as sorting and clustering visualizations. Through a systematic analysis of previous work, we abstract visualization-related tasks into mathematical operators such as union and propose a design space of visualization operations. We realize the design by developing ComputableViz, a library that supports operations on multiple visualization specifications. To demonstrate its usefulness and extensibility, we present multiple usage scenarios concerning processing and analyzing visualization, such as generating visualization embeddings and automatically making visualizations accessible. We conclude by discussing research opportunities and challenges for managing and exploiting the massive visualizations on the web.

cs.HC↗

arXiv2022

Structure-aware Visualization Retrieval

With the wide usage of data visualizations, a huge number of Scalable Vector Graphic (SVG)-based visualizations have been created and shared online. Accordingly, there has been an increasing interest in exploring how to retrieve perceptually similar visualizations from a large corpus, since it can benefit various downstream applications such as visualization recommendation. Existing methods mainly focus on the visual appearance of visualizations by regarding them as bitmap images. However, the structural information intrinsically existing in SVG-based visualizations is ignored. Such structural information can delineate the spatial and hierarchical relationship among visual elements, and characterize visualizations thoroughly from a new perspective. This paper presents a structure-aware method to advance the performance of visualization retrieval by collectively considering both the visual and structural information. We extensively evaluated our approach through quantitative comparisons, a user study and case studies. The results demonstrate the effectiveness of our approach and its advantages over existing methods.

cs.HC↗