arXiv subjects

Jia Zeng

Publications and source records attributed to Jia Zeng.

At least 55 records · Page 3Linked to original sources

arXiv2024

Open-sourced Data Ecosystem in Autonomous Driving: the Present and Future

With the continuous maturation and application of autonomous driving technology, a systematic examination of open-source autonomous driving datasets becomes instrumental in fostering the robust evolution of the industry ecosystem. Current autonomous driving datasets can broadly be categorized into two generations. The first-generation autonomous driving datasets are characterized by relatively simpler sensor modalities, smaller data scale, and is limited to perception-level tasks. KITTI, introduced in 2012, serves as a prominent representative of this initial wave. In contrast, the second-generation datasets exhibit heightened complexity in sensor modalities, greater data scale and diversity, and an expansion of tasks from perception to encompass prediction and control. Leading examples of the second generation include nuScenes and Waymo, introduced around 2019. This comprehensive review, conducted in collaboration with esteemed colleagues from both academia and industry, systematically assesses over seventy open-source autonomous driving datasets from domestic and international sources. It offers insights into various aspects, such as the principles underlying the creation of high-quality datasets, the pivotal role of data engine systems, and the utilization of generative foundation models to facilitate scalable data generation. Furthermore, this review undertakes an exhaustive analysis and discourse regarding the characteristics and data scales that future third-generation autonomous driving datasets should possess. It also delves into the scientific and technical challenges that warrant resolution. These endeavors are pivotal in advancing autonomous innovation and fostering technological enhancement in critical domains. For further details, please refer to https://github.com/OpenDriveLab/DriveAGI.

cs.CV↗

arXiv2024

Embodied Understanding of Driving Scenarios

Embodied scene understanding serves as the cornerstone for autonomous agents to perceive, interpret, and respond to open driving scenarios. Such understanding is typically founded upon Vision-Language Models (VLMs). Nevertheless, existing VLMs are restricted to the 2D domain, devoid of spatial awareness and long-horizon extrapolation proficiencies. We revisit the key aspects of autonomous driving and formulate appropriate rubrics. Hereby, we introduce the Embodied Language Model (ELM), a comprehensive framework tailored for agents' understanding of driving scenes with large spatial and temporal spans. ELM incorporates space-aware pre-training to endow the agent with robust spatial localization capabilities. Besides, the model employs time-aware token selection to accurately inquire about temporal cues. We instantiate ELM on the reformulated multi-faced benchmark, and it surpasses previous state-of-the-art approaches in all aspects. All code, data, and models will be publicly shared.

cs.CV↗

arXiv2024

Machine Learning Insides OptVerse AI Solver: Design Principles and Applications

In an era of digital ubiquity, efficient resource management and decision-making are paramount across numerous industries. To this end, we present a comprehensive study on the integration of machine learning (ML) techniques into Huawei Cloud's OptVerse AI Solver, which aims to mitigate the scarcity of real-world mathematical programming instances, and to surpass the capabilities of traditional optimization techniques. We showcase our methods for generating complex SAT and MILP instances utilizing generative models that mirror multifaceted structures of real-world problem. Furthermore, we introduce a training framework leveraging augmentation policies to maintain solvers' utility in dynamic environments. Besides the data generation and augmentation, our proposed approaches also include novel ML-driven policies for personalized solver strategies, with an emphasis on applications like graph convolutional networks for initial basis selection and reinforcement learning for advanced presolving and cut selection. Additionally, we detail the incorporation of state-of-the-art parameter tuning algorithms which markedly elevate solver performance. Compared with traditional solvers such as Cplex and SCIP, our ML-augmented OptVerse AI Solver demonstrates superior speed and precision across both established benchmarks and real-world scenarios, reinforcing the practical imperative and effectiveness of machine learning techniques in mathematical programming solvers.

cs.AI↗

arXiv2023

Accelerate Presolve in Large-Scale Linear Programming via Reinforcement Learning

Large-scale LP problems from industry usually contain much redundancy that severely hurts the efficiency and reliability of solving LPs, making presolve (i.e., the problem simplification module) one of the most critical components in modern LP solvers. However, how to design high-quality presolve routines -- that is, the program determining (P1) which presolvers to select, (P2) in what order to execute, and (P3) when to stop -- remains a highly challenging task due to the extensive requirements on expert knowledge and the large search space. Due to the sequential decision property of the task and the lack of expert demonstrations, we propose a simple and efficient reinforcement learning (RL) framework -- namely, reinforcement learning for presolve (RL4Presolve) -- to tackle (P1)-(P3) simultaneously. Specifically, we formulate the routine design task as a Markov decision process and propose an RL framework with adaptive action sequences to generate high-quality presolve routines efficiently. Note that adaptive action sequences help learn complex behaviors efficiently and adapt to various benchmarks. Experiments on two solvers (open-source and commercial) and eight benchmarks (real-world and synthetic) demonstrate that RL4Presolve significantly and consistently improves the efficiency of solving large-scale LPs, especially on benchmarks from industry. Furthermore, we optimize the hard-coded presolve routines in LP solvers by extracting rules from learned policies for simple and efficient deployment to Huawei's supply chain. The results show encouraging economic and academic potential for incorporating machine learning to modern solvers.

cs.LG↗

arXiv2023

Delving into the Devils of Bird's-eye-view Perception: A Review, Evaluation and Recipe

Learning powerful representations in bird's-eye-view (BEV) for perception tasks is trending and drawing extensive attention both from industry and academia. Conventional approaches for most autonomous driving algorithms perform detection, segmentation, tracking, etc., in a front or perspective view. As sensor configurations get more complex, integrating multi-source information from different sensors and representing features in a unified view come of vital importance. BEV perception inherits several advantages, as representing surrounding scenes in BEV is intuitive and fusion-friendly; and representing objects in BEV is most desirable for subsequent modules as in planning and/or control. The core problems for BEV perception lie in (a) how to reconstruct the lost 3D information via view transformation from perspective view to BEV; (b) how to acquire ground truth annotations in BEV grid; (c) how to formulate the pipeline to incorporate features from different sources and views; and (d) how to adapt and generalize algorithms as sensor configurations vary across different scenarios. In this survey, we review the most recent works on BEV perception and provide an in-depth analysis of different solutions. Moreover, several systematic designs of BEV approach from the industry are depicted as well. Furthermore, we introduce a full suite of practical guidebook to improve the performance of BEV perception tasks, including camera, LiDAR and fusion inputs. At last, we point out the future research directions in this area. We hope this report will shed some light on the community and encourage more research effort on BEV perception. We keep an active repository to collect the most recent work and provide a toolbox for bag of tricks at https://github.com/OpenDriveLab/Birds-eye-view-Perception

cs.CV↗

arXiv2023

Geometric-aware Pretraining for Vision-centric 3D Object Detection

Multi-camera 3D object detection for autonomous driving is a challenging problem that has garnered notable attention from both academia and industry. An obstacle encountered in vision-based techniques involves the precise extraction of geometry-conscious features from RGB images. Recent approaches have utilized geometric-aware image backbones pretrained on depth-relevant tasks to acquire spatial information. However, these approaches overlook the critical aspect of view transformation, resulting in inadequate performance due to the misalignment of spatial knowledge between the image backbone and view transformation. To address this issue, we propose a novel geometric-aware pretraining framework called GAPretrain. Our approach incorporates spatial and structural cues to camera networks by employing the geometric-rich modality as guidance during the pretraining phase. The transference of modal-specific attributes across different modalities is non-trivial, but we bridge this gap by using a unified bird's-eye-view (BEV) representation and structural hints derived from LiDAR point clouds to facilitate the pretraining process. GAPretrain serves as a plug-and-play solution that can be flexibly applied to multiple state-of-the-art detectors. Our experiments demonstrate the effectiveness and generalization ability of the proposed method. We achieve 46.2 mAP and 55.5 NDS on the nuScenes val set using the BEVFormer method, with a gain of 2.7 and 2.1 points, respectively. We also conduct experiments on various image backbones and view transformations to validate the efficacy of our approach. Code will be released at https://github.com/OpenDriveLab/BEVPerception-Survey-Recipe.

cs.CV↗

arXiv2023

Learning Cut Selection for Mixed-Integer Linear Programming via Hierarchical Sequence Model

Cutting planes (cuts) are important for solving mixed-integer linear programs (MILPs), which formulate a wide range of important real-world applications. Cut selection -- which aims to select a proper subset of the candidate cuts to improve the efficiency of solving MILPs -- heavily depends on (P1) which cuts should be preferred, and (P2) how many cuts should be selected. Although many modern MILP solvers tackle (P1)-(P2) by manually designed heuristics, machine learning offers a promising approach to learn more effective heuristics from MILPs collected from specific applications. However, many existing learning-based methods focus on learning which cuts should be preferred, neglecting the importance of learning the number of cuts that should be selected. Moreover, we observe from extensive empirical results that (P3) what order of selected cuts should be preferred has a significant impact on the efficiency of solving MILPs as well. To address this challenge, we propose a novel hierarchical sequence model (HEM) to learn cut selection policies via reinforcement learning. Specifically, HEM consists of a two-level model: (1) a higher-level model to learn the number of cuts that should be selected, (2) and a lower-level model -- that formulates the cut selection task as a sequence to sequence learning problem -- to learn policies selecting an ordered subset with the size determined by the higher-level model. To the best of our knowledge, HEM is the first method that can tackle (P1)-(P3) in cut selection simultaneously from a data-driven perspective. Experiments show that HEM significantly improves the efficiency of solving MILPs compared to human-designed and learning-based baselines on both synthetic and large-scale real-world MILPs, including MIPLIB 2017. Moreover, experiments demonstrate that HEM well generalizes to MILPs that are significantly larger than those seen during training.

cs.LG↗

arXiv2022

A propagation of chaos result for weakly interacting nonlinear Snell envelopes

In this article, we establish a propagation of chaos result for weakly interacting nonlinear Snell envelopes which converge to a class of mean-field reflected backward stochastic differential equations (BSDEs) with jumps and right-continuous and left-limited obstacle, where the mean-field interaction in terms of the distribution of the $Y$-component of the solution enters both the driver and the lower obstacle. Under mild Lipschitz and integrability conditions on the coefficients, we prove existence and uniqueness of the solution to both the mean-field reflected BSDEs with jumps and the corresponding system of weakly interacting particles and provide a propagation of chaos result for the whole solution $(Y,Z,U,K)$, which requires new technical results due to the dependence of the obstacle on the solution and the presence of jumps.

math.PR↗

arXiv2022

Learning to Optimize DAG Scheduling in Heterogeneous Environment

Scheduling job flows efficiently and rapidly on distributed computing clusters is one of huge challenges for daily operation of data centers. In a practical scenario, a single job consists of numerous stages with complex dependency relation represented as a Directed Acyclic Graph (DAG) structure. Nowadays a data center usually equips with a cluster of heterogeneous computing servers which are different in the hardware/software configuration. From both the cost saving and environmental friendliness, the data centers could benefit a lot from optimizing the job scheduling problems in the heterogeneous environment. Thus the problem has attracted more and more attention from both the industry and academy. In this paper, we propose a task-duplication based learning algorithm, namely \lachesis \footnote{The second of the Three Fates in ancient Greek mythology, who determines destiny.}, aiming to optimize the problem. In the proposed approach, it first perceives the topological dependencies between jobs using a reinforcement learning framework and a specially designed graph neural network (GNN) to select the most promising task to be executed. Then the task is assigned to a specific executor with the consideration of duplicating all its precedent tasks according to an expert-designed rules. We have conducted extensive experiments over standard workloads to evaluate the proposed solution. The experimental results suggest that \lachesisquad can achieve at most 26.7\% reduction of makespan and 35.2\% improvement of speedup ratio over seven strong baseline algorithms, including the state-of-the-art heuristics methods and a variety of deep reinforcement learning based algorithms.

cs.DC↗

arXiv2022

An Improved Reinforcement Learning Algorithm for Learning to Branch

Most combinatorial optimization problems can be formulated as mixed integer linear programming (MILP), in which branch-and-bound (B\&B) is a general and widely used method. Recently, learning to branch has become a hot research topic in the intersection of machine learning and combinatorial optimization. In this paper, we propose a novel reinforcement learning-based B\&B algorithm. Similar to offline reinforcement learning, we initially train on the demonstration data to accelerate learning massively. With the improvement of the training effect, the agent starts to interact with the environment with its learned policy gradually. It is critical to improve the performance of the algorithm by determining the mixing ratio between demonstration and self-generated data. Thus, we propose a prioritized storage mechanism to control this ratio automatically. In order to improve the robustness of the training process, a superior network is additionally introduced based on Double DQN, which always serves as a Q-network with competitive performance. We evaluate the performance of the proposed algorithm over three public research benchmarks and compare it against strong baselines, including three classical heuristics and one state-of-the-art imitation learning-based branching algorithm. The results show that the proposed algorithm achieves the best performance among compared algorithms and possesses the potential to improve B\&B algorithm performance continuously.

cs.LG↗

arXiv2022

Learning to Reformulate for Linear Programming

It has been verified that the linear programming (LP) is able to formulate many real-life optimization problems, which can obtain the optimum by resorting to corresponding solvers such as OptVerse, Gurobi and CPLEX. In the past decades, a serial of traditional operation research algorithms have been proposed to obtain the optimum of a given LP in a fewer solving time. Recently, there is a trend of using machine learning (ML) techniques to improve the performance of above solvers. However, almost no previous work takes advantage of ML techniques to improve the performance of solver from the front end, i.e., the modeling (or formulation). In this paper, we are the first to propose a reinforcement learning-based reformulation method for LP to improve the performance of solving process. Using an open-source solver COIN-OR LP (CLP) as an environment, we implement the proposed method over two public research LP datasets and one large-scale LP dataset collected from practical production planning scenario. The evaluation results suggest that the proposed method can effectively reduce both the solving iteration number ($25\%\downarrow$) and the solving time ($15\%\downarrow$) over above datasets in average, compared to directly solving the original LP instances.

math.OC↗

arXiv2021

Context-aware Telco Outdoor Localization

Recent years have witnessed the fast growth in telecommunication (Telco) techniques from 2G to upcoming 5G. Precise outdoor localization is important for Telco operators to manage, operate and optimize Telco networks. Differing from GPS, Telco localization is a technique employed by Telco operators to localize outdoor mobile devices by using measurement report (MR) data. When given MR samples containing noisy signals (e.g., caused by Telco signal interference and attenuation), Telco localization often suffers from high errors. To this end, the main focus of this paper is how to improve Telco localization accuracy via the algorithms to detect and repair outlier positions with high errors. Specifically, we propose a context-aware Telco localization technique, namely RLoc, which consists of three main components: a machine-learning-based localization algorithm, a detection algorithm to find flawed samples, and a repair algorithm to replace outlier localization results by better ones (ideally ground truth positions). Unlike most existing works to detect and repair every flawed MR sample independently, we instead take into account spatio-temporal locality of MR locations and exploit trajectory context to detect and repair flawed positions. Our experiments on the real MR data sets from 2G GSM and 4G LTE Telco networks verify that our work RLoc can greatly improve Telco location accuracy. For example, RLoc on a large 4G MR data set can achieve 32.2 meters of median errors, around 17.4% better than state-of-the-art.

cs.NI↗

arXiv2021

Grassland: A Rapid Algebraic Modeling System for Million-variable Optimization

An algebraic modeling system (AMS) is a type of mathematical software for optimization problems, which allows users to define symbolic mathematical models in a specific language, instantiate them with given source of data, and solve them with the aid of external solver engines. With the bursting scale of business models and increasing need for timeliness, traditional AMSs are not sufficient to meet the following industry needs: 1) million-variable models need to be instantiated from raw data very efficiently; 2) Strictly feasible solution of million-variable models need to be delivered in a rapid manner to make up-to-date decisions against highly dynamic environments. Grassland is a rapid AMS that provides an end-to-end solution to tackle these emerged new challenges. It integrates a parallelized instantiation scheme for large-scale linear constraints, and a sequential decomposition method that accelerates model solving exponentially with an acceptable loss of optimality. Extensive benchmarks on both classical models and real enterprise scenario demonstrate 6 ~ 10x speedup of Grassland over state-of-the-art solutions on model instantiation. Our proposed system has been deployed in the large-scale real production planning scenario of Huawei. With the aid of our decomposition method, Grassland successfully accelerated Huawei's million-variable production planning simulation pipeline from hours to 3 ~ 5 minutes, supporting near-real-time production plan decision making against highly dynamic supply-demand environment.

cs.MS↗

arXiv2021

Learning-Aided Heuristics Design for Storage System

Computer systems such as storage systems normally require transparent white-box algorithms that are interpretable for human experts. In this work, we propose a learning-aided heuristic design method, which automatically generates human-readable strategies from Deep Reinforcement Learning (DRL) agents. This method benefits from the power of deep learning but avoids the shortcoming of its black-box property. Besides the white-box advantage, experiments in our storage productions resource allocation scenario also show that this solution outperforms the systems default settings and the elaborately handcrafted strategy by human experts.

cs.AI↗

arXiv2021

Learning to Optimize Industry-Scale Dynamic Pickup and Delivery Problems

The Dynamic Pickup and Delivery Problem (DPDP) is aimed at dynamically scheduling vehicles among multiple sites in order to minimize the cost when delivery orders are not known a priori. Although DPDP plays an important role in modern logistics and supply chain management, state-of-the-art DPDP algorithms are still limited on their solution quality and efficiency. In practice, they fail to provide a scalable solution as the numbers of vehicles and sites become large. In this paper, we propose a data-driven approach, Spatial-Temporal Aided Double Deep Graph Network (ST-DDGN), to solve industry-scale DPDP. In our method, the delivery demands are first forecast using spatial-temporal prediction method, which guides the neural network to perceive spatial-temporal distribution of delivery demand when dispatching vehicles. Besides, the relationships of individuals such as vehicles are modelled by establishing a graph-based value function. ST-DDGN incorporates attention-based graph embedding with Double DQN (DDQN). As such, it can make the inference across vehicles more efficiently compared with traditional methods. Our method is entirely data driven and thus adaptive, i.e., the relational representation of adjacent vehicles can be learned and corrected by ST-DDGN from data periodically. We have conducted extensive experiments over real-world data to evaluate our solution. The results show that ST-DDGN reduces 11.27% number of the used vehicles and decreases 13.12% total transportation cost on average over the strong baselines, including the heuristic algorithm deployed in our UAT (User Acceptance Test) environment and a variety of vanilla DRL methods. We are due to fully deploy our solution into our online logistics system and it is estimated that millions of USD logistics cost can be saved per year.

cs.AI↗

arXiv2021

MFG model with a long-lived penalty at random jump times: application to demand side management for electricity contracts

We consider an energy system with $n$ consumers who are linked by a Demand Side Management (DSM) contract, i.e. they agreed to diminish, at random times, their aggregated power consumption by a predefined volume during a predefined duration. Their failure to deliver the service is penalised via the difference between the sum of the $n$ power consumptions and the contracted target. We are led to analyse a non-zero sum stochastic game with $n$ players, where the interaction takes place through a cost which involves a delay induced by the duration included in the DSM contract. When $n \to \infty$, we obtain a Mean-Field Game (MFG) with random jump time penalty and interaction on the control. We prove a stochastic maximum principle in this context, which allows to compare the MFG solution to the optimal strategy of a central planner. In a linear quadratic setting we obtain an semi-explicit solution through a system of decoupled forward-backward stochastic differential equations with jumps, involving a Riccati Backward SDE with jumps. We show that it provides an approximate Nash equilibrium for the original $n$-player game for $n$ large. Finally, we propose a numerical algorithm to compute the MFG equilibrium and present several numerical experiments.

math.OC↗

arXiv2020

Bilevel Learning Model Towards Industrial Scheduling

Automatic industrial scheduling, aiming at optimizing the sequence of jobs over limited resources, is widely needed in manufacturing industries. However, existing scheduling systems heavily rely on heuristic algorithms, which either generate ineffective solutions or compute inefficiently when job scale increases. Thus, it is of great importance to develop new large-scale algorithms that are not only efficient and effective, but also capable of satisfying complex constraints in practice. In this paper, we propose a Bilevel Deep reinforcement learning Scheduler, \textit{BDS}, in which the higher level is responsible for exploring an initial global sequence, whereas the lower level is aiming at exploitation for partial sequence refinements, and the two levels are connected by a sliding-window sampling mechanism. In the implementation, a Double Deep Q Network (DDQN) is used in the upper level and Graph Pointer Network (GPN) lies within the lower level. After the theoretical guarantee for the convergence of BDS, we evaluate it in an industrial automatic warehouse scenario, with job number up to $5000$ in each production line. It is shown that our proposed BDS significantly outperforms two most used heuristics, three strong deep networks, and another bilevel baseline approach. In particular, compared with the most used greedy-based heuristic algorithm in real world which takes nearly an hour, our BDS can decrease the makespan by 27.5\%, 28.6\% and 22.1\% for 3 largest datasets respectively, with computational time less than 200 seconds.

cs.AI↗

arXiv2020

A Review on Deep Learning Techniques for the Diagnosis of Novel Coronavirus (COVID-19)

Novel coronavirus (COVID-19) outbreak, has raised a calamitous situation all over the world and has become one of the most acute and severe ailments in the past hundred years. The prevalence rate of COVID-19 is rapidly rising every day throughout the globe. Although no vaccines for this pandemic have been discovered yet, deep learning techniques proved themselves to be a powerful tool in the arsenal used by clinicians for the automatic diagnosis of COVID-19. This paper aims to overview the recently developed systems based on deep learning techniques using different medical imaging modalities like Computer Tomography (CT) and X-ray. This review specifically discusses the systems developed for COVID-19 diagnosis using deep learning techniques and provides insights on well-known data sets used to train these networks. It also highlights the data partitioning techniques and various performance measures developed by researchers in this field. A taxonomy is drawn to categorize the recent works for proper insight. Finally, we conclude by addressing the challenges associated with the use of deep learning methods for COVID-19 detection and probable future trends in this research area. This paper is intended to provide experts (medical or otherwise) and technicians with new insights into the ways deep learning techniques are used in this regard and how they potentially further works in combatting the outbreak of COVID-19.

eess.IV↗