arXiv subjects

Jianping Shi

Publications and source records attributed to Jianping Shi.

At least 19 recordsLinked to original sources

arXiv2026

One-Step Epitaxial Access to Rhombohedral Graphene Flat-Band States on Step-Bunched SiC

Rhombohedral graphene multilayers provide a moir\'e-free platform for correlated and topological flat-band physics, but direct, transfer-free epitaxial access to thickness-tunable multilayers remains limited. Here we report a one-step graphitization route on 4$^\circ$ off-axis 4H-SiC, in which high-temperature flash annealing simultaneously drives self-organized step bunching and multilayer graphene formation. Atomic-resolution cross-sectional scanning transmission electron microscopy identify local ABC registry and distinguish rhombohedral from Bernal stacking. The thickness is tuned from bilayer to more than twenty layers by varying single parameter, the annealing temperature. Angle-resolved photoemission spectroscopy directly tracks the thickness-dependent evolution from interface-dominated low-energy states toward pronounced near-Fermi-level flat-band spectral weight in thick multilayers. Low-temperature scanning tunneling microscopy and spectroscopy on a 17-layer film further reveal a 13.4 meV low-energy spectral reconstruction and a $\sqrt{3} \times \sqrt{3}$ Kekul\'e-like modulation, providing microscopic signatures consistent with an intervalley-mixed electronic texture. This one-step, transfer-free approach establishes step-bunched SiC as an epitaxial platform that links stacking engineering with moir\'e-free correlated flat-band electronic states.

cond-mat.mtrl-sci↗

arXiv2024

Anomalous Raman Response in 2D Magnetic FeTe under Uniaxial Strain: Tetragonal and Hexagonal Polymorphs

Two-dimensional (2D) Fe-chalcogenides have emerged with rich structures, magnetisms and superconductivities, which sparked the growing research interests in the torturous transition mechanism and tunable properties for their potential applications in nanoelectronics. Uniaxial strain can produce a lattice distortion to study symmetry breaking induced exotic properties in 2D magnets. Herein, the anomalous Raman spectrum of 2D tetragonal (t-) and hexagonal (h-) FeTe were systematically investigated via uniaxial strain engineering strategy. We found that both t- and h-FeTe keep the structural stability under different uniaxial tensile or compressive strain up to +/- 0.4%. Intriguingly, the lattice vibrations along both in-plane and out-of-plane directions exceptionally hardened (softened) under tensile (compressive) strain, distinguished from the behaviors of many conventional 2D systems. Furthermore, the difference in thickness-dependent strain effect can be well explained by their structural discrepancy between two polymorphs of FeTe. Our results could provide a unique platform to elaborate the vibrational properties of many novel 2D materials.

cond-mat.mtrl-sci↗

arXiv2023

Pressure-Modulated Structural and Magnetic Phase Transitions in Two-Dimensional FeTe: Tetragonal and Hexagonal Polymorphs

Two-dimensional (2D) Fe-chalcogenides with rich structures, magnetisms and superconductivities are highly desirable to reveal the torturous transition mechanism and explore their potential applications in spintronics and nanoelectronics. Hydrostatic pressure can effectively stimulate novel phase transitions between various ordered states and to plot the seductive phase diagram. Herein, the structural evolution and transport characteristics of 2D FeTe were systematically investigated under extreme conditions through comparing two distinct symmetries, i.e., tetragonal (t-) and hexagonal (h-) FeTe. We found that 2D t-FeTe presented the pressure-induced transition from antiferromagnetic to ferromagnetic states at ~ 3 GPa, corresponding to the tetragonal collapse of layered structure. Contrarily, ferromagnetic order of 2D h-FeTe was retained up to 15 GPa, evidently confirmed by electrical transport and Raman measurements. Furthermore, the detailed P-T phase diagrams of both 2D t-FeTe and h-FeTe were mapped out with the delicate critical conditions. We believe our results can provide a unique platform to elaborate the extraordinary physical properties of Fe-chalcogenides and further to develop their practical applications.

cond-mat.mtrl-sci↗

arXiv2023

Phase-Modulated Elastic Properties of Two-Dimensional Magnetic FeTe: Hexagonal and Tetragonal Polymorphs

Two-dimensional (2D) layered magnets, such as iron chalcogenides, have emerged these years as a new family of unconventional superconductor and provided the key insights to understand the phonon-electron interaction and pairing mechanism. Their mechanical properties are of strategic importance for the potential applications in spintronics and optoelectronics. However, there is still lack of efficient approach to tune the elastic modulus despite the extensive studies. Herein, we report the modulated elastic modulus of 2D magnetic FeTe and its thickness-dependence via phase engineering. The grown 2D FeTe by chemical vapor deposition can present various polymorphs, i.e. tetragonal FeTe (t-FeTe, antiferromagnetic) and hexagonal FeTe (h-FeTe, ferromagnetic). The measured Young's modulus of t-FeTe by nanoindentation method showed an obvious thickness-dependence, from 290.9+-9.2 to 113.0+-8.7 GPa when the thicknesses increased from 13.2 to 42.5 nm, respectively. In comparison, the elastic modulus of h-FeTe remains unchanged. Our results could shed light on the efficient modulation of mechanical properties of 2D magnetic materials and pave the avenues for their practical applications in nanodevices.

cond-mat.mtrl-sci↗

arXiv2022

PV-RCNN++: Point-Voxel Feature Set Abstraction With Local Vector Representation for 3D Object Detection

3D object detection is receiving increasing attention from both industry and academia thanks to its wide applications in various fields. In this paper, we propose Point-Voxel Region-based Convolution Neural Networks (PV-RCNNs) for 3D object detection on point clouds. First, we propose a novel 3D detector, PV-RCNN, which boosts the 3D detection performance by deeply integrating the feature learning of both point-based set abstraction and voxel-based sparse convolution through two novel steps, i.e., the voxel-to-keypoint scene encoding and the keypoint-to-grid RoI feature abstraction. Second, we propose an advanced framework, PV-RCNN++, for more efficient and accurate 3D object detection. It consists of two major improvements: sectorized proposal-centric sampling for efficiently producing more representative keypoints, and VectorPool aggregation for better aggregating local point features with much less resource consumption. With these two strategies, our PV-RCNN++ is about $3\times$ faster than PV-RCNN, while also achieving better performance. The experiments demonstrate that our proposed PV-RCNN++ framework achieves state-of-the-art 3D detection performance on the large-scale and highly-competitive Waymo Open Dataset with 10 FPS inference speed on the detection range of 150m * 150m.

cs.CV↗

arXiv2022

Fe-assisted epitaxial growth of 4-inch single-crystal transition-metal dichalcogenides on c-plane sapphire without miscut angle

Epitaxial growth and controllable doping of wafer-scale single-crystal transition-metal dichalcogenides (TMDCs) are two central tasks for extending Moore's law beyond silicon. However, despite considerable efforts, addressing such crucial issues simultaneously under two-dimensional (2D) confinement is yet to be realized. Here we design an ingenious epitaxial strategy to synthesize record-breaking 4-inch single-crystal Fe-doped TMDCs monolayers on industry-compatible c-plane sapphire without miscut angle. In-depth characterizations and theoretical calculations reveal that the introduction of Fe significantly decreases the formation energy of parallel steps on sapphire surfaces and contributes to the edge-nucleation of unidirectional TMDCs domains (>99%). The ultrahigh electron mobility (~86 cm2 V -1 s-1) and remarkable on/off current ratio (~108) are discovered on 4-inch single-crystal Fe-MoS2 monolayers due to the ultralow contact resistance and perfect Ohmic contact with metal electrodes. This work represents a substantial leap in terms of bridging the synthesis and doping of wafer-scale single-crystal 2D semiconductors without the need for substrate miscut, which should promote the further device downscaling and extension of Moore's law.

physics.app-ph↗

arXiv2022

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↗

arXiv2022

Context-Aware Mixup for Domain Adaptive Semantic Segmentation

Unsupervised domain adaptation (UDA) aims to adapt a model of the labeled source domain to an unlabeled target domain. Existing UDA-based semantic segmentation approaches always reduce the domain shifts in pixel level, feature level, and output level. However, almost all of them largely neglect the contextual dependency, which is generally shared across different domains, leading to less-desired performance. In this paper, we propose a novel Context-Aware Mixup (CAMix) framework for domain adaptive semantic segmentation, which exploits this important clue of context-dependency as explicit prior knowledge in a fully end-to-end trainable manner for enhancing the adaptability toward the target domain. Firstly, we present a contextual mask generation strategy by leveraging the accumulated spatial distributions and prior contextual relationships. The generated contextual mask is critical in this work and will guide the context-aware domain mixup on three different levels. Besides, provided the context knowledge, we introduce a significance-reweighted consistency loss to penalize the inconsistency between the mixed student prediction and the mixed teacher prediction, which alleviates the negative transfer of the adaptation, e.g., early performance degradation. Extensive experiments and analysis demonstrate the effectiveness of our method against the state-of-the-art approaches on widely-used UDA benchmarks.

cs.CV↗

arXiv2022

PersFormer: 3D Lane Detection via Perspective Transformer and the OpenLane Benchmark

Methods for 3D lane detection have been recently proposed to address the issue of inaccurate lane layouts in many autonomous driving scenarios (uphill/downhill, bump, etc.). Previous work struggled in complex cases due to their simple designs of the spatial transformation between front view and bird's eye view (BEV) and the lack of a realistic dataset. Towards these issues, we present PersFormer: an end-to-end monocular 3D lane detector with a novel Transformer-based spatial feature transformation module. Our model generates BEV features by attending to related front-view local regions with camera parameters as a reference. PersFormer adopts a unified 2D/3D anchor design and an auxiliary task to detect 2D/3D lanes simultaneously, enhancing the feature consistency and sharing the benefits of multi-task learning. Moreover, we release one of the first large-scale real-world 3D lane datasets: OpenLane, with high-quality annotation and scenario diversity. OpenLane contains 200,000 frames, over 880,000 instance-level lanes, 14 lane categories, along with scene tags and the closed-in-path object annotations to encourage the development of lane detection and more industrial-related autonomous driving methods. We show that PersFormer significantly outperforms competitive baselines in the 3D lane detection task on our new OpenLane dataset as well as Apollo 3D Lane Synthetic dataset, and is also on par with state-of-the-art algorithms in the 2D task on OpenLane. The project page is available at https://github.com/OpenPerceptionX/PersFormer_3DLane and OpenLane dataset is provided at https://github.com/OpenPerceptionX/OpenLane.

cs.CV↗

arXiv2022

Level 2 Autonomous Driving on a Single Device: Diving into the Devils of Openpilot

Equipped with a wide span of sensors, predominant autonomous driving solutions are becoming more modular-oriented for safe system design. Though these sensors have laid a solid foundation, most massive-production solutions up to date still fall into L2 phase. Among these, Comma.ai comes to our sight, claiming one $999 aftermarket device mounted with a single camera and board inside owns the ability to handle L2 scenarios. Together with open-sourced software of the entire system released by Comma.ai, the project is named Openpilot. Is it possible? If so, how is it made possible? With curiosity in mind, we deep-dive into Openpilot and conclude that its key to success is the end-to-end system design instead of a conventional modular framework. The model is briefed as Supercombo, and it can predict the ego vehicle's future trajectory and other road semantics on the fly from monocular input. Unfortunately, the training process and massive amount of data to make all these work are not publicly available. To achieve an intensive investigation, we try to reimplement the training details and test the pipeline on public benchmarks. The refactored network proposed in this work is referred to as OP-Deepdive. For a fair comparison of our version to the original Supercombo, we introduce a dual-model deployment scheme to test the driving performance in the real world. Experimental results on nuScenes, Comma2k19, CARLA, and in-house realistic scenarios verify that a low-cost device can indeed achieve most L2 functionalities and be on par with the original Supercombo model. In this report, we would like to share our latest findings, shed some light on the new perspective of end-to-end autonomous driving from an industrial product-level side, and potentially inspire the community to continue improving the performance. Our code, benchmarks are at https://github.com/OpenPerceptionX/Openpilot-Deepdive.

cs.CV↗

arXiv2022

DMT: Dynamic Mutual Training for Semi-Supervised Learning

Recent semi-supervised learning methods use pseudo supervision as core idea, especially self-training methods that generate pseudo labels. However, pseudo labels are unreliable. Self-training methods usually rely on single model prediction confidence to filter low-confidence pseudo labels, thus remaining high-confidence errors and wasting many low-confidence correct labels. In this paper, we point out it is difficult for a model to counter its own errors. Instead, leveraging inter-model disagreement between different models is a key to locate pseudo label errors. With this new viewpoint, we propose mutual training between two different models by a dynamically re-weighted loss function, called Dynamic Mutual Training (DMT). We quantify inter-model disagreement by comparing predictions from two different models to dynamically re-weight loss in training, where a larger disagreement indicates a possible error and corresponds to a lower loss value. Extensive experiments show that DMT achieves state-of-the-art performance in both image classification and semantic segmentation. Our codes are released at https://github.com/voldemortX/DST-CBC .

cs.CV↗

arXiv2022

Robust Self-Supervised LiDAR Odometry via Representative Structure Discovery and 3D Inherent Error Modeling

The correct ego-motion estimation basically relies on the understanding of correspondences between adjacent LiDAR scans. However, given the complex scenarios and the low-resolution LiDAR, finding reliable structures for identifying correspondences can be challenging. In this paper, we delve into structure reliability for accurate self-supervised ego-motion estimation and aim to alleviate the influence of unreliable structures in training, inference and mapping phases. We improve the self-supervised LiDAR odometry substantially from three aspects: 1) A two-stage odometry estimation network is developed, where we obtain the ego-motion by estimating a set of sub-region transformations and averaging them with a motion voting mechanism, to encourage the network focusing on representative structures. 2) The inherent alignment errors, which cannot be eliminated via ego-motion optimization, are down-weighted in losses based on the 3D point covariance estimations. 3) The discovered representative structures and learned point covariances are incorporated in the mapping module to improve the robustness of map construction. Our two-frame odometry outperforms the previous state of the arts by 16%/12% in terms of translational/rotational errors on the KITTI dataset and performs consistently well on the Apollo-Southbay datasets. We can even rival the fully supervised counterparts with our mapping module and more unlabeled training data.

cs.CV↗

arXiv2022

SelfVoxeLO: Self-supervised LiDAR Odometry with Voxel-based Deep Neural Networks

Recent learning-based LiDAR odometry methods have demonstrated their competitiveness. However, most methods still face two substantial challenges: 1) the 2D projection representation of LiDAR data cannot effectively encode 3D structures from the point clouds; 2) the needs for a large amount of labeled data for training limit the application scope of these methods. In this paper, we propose a self-supervised LiDAR odometry method, dubbed SelfVoxeLO, to tackle these two difficulties. Specifically, we propose a 3D convolution network to process the raw LiDAR data directly, which extracts features that better encode the 3D geometric patterns. To suit our network to self-supervised learning, we design several novel loss functions that utilize the inherent properties of LiDAR point clouds. Moreover, an uncertainty-aware mechanism is incorporated in the loss functions to alleviate the interference of moving objects/noises. We evaluate our method's performances on two large-scale datasets, i.e., KITTI and Apollo-SouthBay. Our method outperforms state-of-the-art unsupervised methods by 27%/32% in terms of translational/rotational errors on the KITTI dataset and also performs well on the Apollo-SouthBay dataset. By including more unlabelled training data, our method can further improve performance comparable to the supervised methods.

cs.CV↗

arXiv2021

Enhanced Boundary Learning for Glass-like Object Segmentation

Glass-like objects such as windows, bottles, and mirrors exist widely in the real world. Sensing these objects has many applications, including robot navigation and grasping. However, this task is very challenging due to the arbitrary scenes behind glass-like objects. This paper aims to solve the glass-like object segmentation problem via enhanced boundary learning. In particular, we first propose a novel refined differential module that outputs finer boundary cues. We then introduce an edge-aware point-based graph convolution network module to model the global shape along the boundary. We use these two modules to design a decoder that generates accurate and clean segmentation results, especially on the object contours. Both modules are lightweight and effective: they can be embedded into various segmentation models. In extensive experiments on three recent glass-like object segmentation datasets, including Trans10k, MSD, and GDD, our approach establishes new state-of-the-art results. We also illustrate the strong generalization properties of our method on three generic segmentation datasets, including Cityscapes, BDD, and COCO Stuff. Code and models is available at \url{https://github.com/hehao13/EBLNet}.

cs.CV↗

arXiv2021

AdaStereo: An Efficient Domain-Adaptive Stereo Matching Approach

Recently, records on stereo matching benchmarks are constantly broken by end-to-end disparity networks. However, the domain adaptation ability of these deep models is quite limited. Addressing such problem, we present a novel domain-adaptive approach called AdaStereo that aims to align multi-level representations for deep stereo matching networks. Compared to previous methods, our AdaStereo realizes a more standard, complete and effective domain adaptation pipeline. Firstly, we propose a non-adversarial progressive color transfer algorithm for input image-level alignment. Secondly, we design an efficient parameter-free cost normalization layer for internal feature-level alignment. Lastly, a highly related auxiliary task, self-supervised occlusion-aware reconstruction is presented to narrow the gaps in output space. We perform intensive ablation studies and break-down comparisons to validate the effectiveness of each proposed module. With no extra inference overhead and only a slight increase in training complexity, our AdaStereo models achieve state-of-the-art cross-domain performance on multiple benchmarks, including KITTI, Middlebury, ETH3D and DrivingStereo, even outperforming some state-of-the-art disparity networks finetuned with target-domain ground-truths. Moreover, based on two additional evaluation metrics, the superiority of our domain-adaptive stereo matching pipeline is further uncovered from more perspectives. Finally, we demonstrate that our method is robust to various domain adaptation settings, and can be easily integrated into quick adaptation application scenarios and real-world deployments.

cs.CV↗

arXiv2021

Universal Non-Volatile Resistive Switching Behavior in 2D Metal Dichalcogenides Featuring Unique Conductive-Point Random Access Memory Effect

Two-dimensional materials have been discovered to exhibit non-volatile resistive switching (NVRS) phenomenon. In our work, we reported the universal NVRS behavior in a dozen metal dichalcogenides, featuring low switching voltage, large on/off ratio, fast switching speed and forming free characteristics. A unique conductive-point random access memory (CPRAM) effect is used to explain the switching mechanisms, supported by experimental results from current-sweep measurements.

cond-mat.mes-hall↗

arXiv2021

Towards Balanced Learning for Instance Recognition

Instance recognition is rapidly advanced along with the developments of various deep convolutional neural networks. Compared to the architectures of networks, the training process, which is also crucial to the success of detectors, has received relatively less attention. In this work, we carefully revisit the standard training practice of detectors, and find that the detection performance is often limited by the imbalance during the training process, which generally consists in three levels - sample level, feature level, and objective level. To mitigate the adverse effects caused thereby, we propose Libra R-CNN, a simple yet effective framework towards balanced learning for instance recognition. It integrates IoU-balanced sampling, balanced feature pyramid, and objective re-weighting, respectively for reducing the imbalance at sample, feature, and objective level. Extensive experiments conducted on MS COCO, LVIS and Pascal VOC datasets prove the effectiveness of the overall balanced design.

cs.CV↗

arXiv2021

Uncertainty-Aware Consistency Regularization for Cross-Domain Semantic Segmentation

Unsupervised domain adaptation (UDA) aims to adapt existing models of the source domain to a new target domain with only unlabeled data. Most existing methods suffer from noticeable negative transfer resulting from either the error-prone discriminator network or the unreasonable teacher model. Besides, the local regional consistency in UDA has been largely neglected, and only extracting the global-level pattern information is not powerful enough for feature alignment due to the abuse use of contexts. To this end, we propose an uncertainty-aware consistency regularization method for cross-domain semantic segmentation. Firstly, we introduce an uncertainty-guided consistency loss with a dynamic weighting scheme by exploiting the latent uncertainty information of the target samples. As such, more meaningful and reliable knowledge from the teacher model can be transferred to the student model. We further reveal the reason why the current consistency regularization is often unstable in minimizing the domain discrepancy. Besides, we design a ClassDrop mask generation algorithm to produce strong class-wise perturbations. Guided by this mask, we propose a ClassOut strategy to realize effective regional consistency in a fine-grained manner. Experiments demonstrate that our method outperforms the state-of-the-art methods on four domain adaptation benchmarks, i.e., GTAV $\rightarrow $ Cityscapes and SYNTHIA $\rightarrow $ Cityscapes, Virtual KITTI $\rightarrow$ KITTI and Cityscapes $\rightarrow$ KITTI.

cs.CV↗