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Jianping Wang

Publications and source records attributed to Jianping Wang.

At least 55 records · Page 3Linked to original sources
arXiv2024

A First Physical-World Trajectory Prediction Attack via LiDAR-induced Deceptions in Autonomous Driving

Trajectory prediction forecasts nearby agents' moves based on their historical trajectories. Accurate trajectory prediction is crucial for autonomous vehicles. Existing attacks compromise the prediction model of a victim AV by directly manipulating the historical trajectory of an attacker AV, which has limited real-world applicability. This paper, for the first time, explores an indirect attack approach that induces prediction errors via attacks against the perception module of a victim AV. Although it has been shown that physically realizable attacks against LiDAR-based perception are possible by placing a few objects at strategic locations, it is still an open challenge to find an object location from the vast search space in order to launch effective attacks against prediction under varying victim AV velocities. Through analysis, we observe that a prediction model is prone to an attack focusing on a single point in the scene. Consequently, we propose a novel two-stage attack framework to realize the single-point attack. The first stage of prediction-side attack efficiently identifies, guided by the distribution of detection results under object-based attacks against perception, the state perturbations for the prediction model that are effective and velocity-insensitive. In the second stage of location matching, we match the feasible object locations with the found state perturbations. Our evaluation using a public autonomous driving dataset shows that our attack causes a collision rate of up to 63% and various hazardous responses of the victim AV. The effectiveness of our attack is also demonstrated on a real testbed car. To the best of our knowledge, this study is the first security analysis spanning from LiDAR-based perception to prediction in autonomous driving, leading to a realistic attack on prediction. To counteract the proposed attack, potential defenses are discussed.

cs.CR↗
arXiv2024

Calibrated absolute optical contrast for high-throughput characterization of horizontally aligned carbon nanotube arrays

Horizontally aligned carbon nanotube (HACNT) arrays hold significant potential for various applications in nanoelectronics and material science. However, their high-throughput characterization remains challenging due to the lack of methods with both high efficiency and high accuracy. Here, we present a novel technique, Calibrated Absolute Optical Contrast (CAOC), achieved through the implementation of differential principles to filter out stray signals and high-resolution calibration to endow optical contrast with physical significance. CAOC offers major advantages over previous characterization techniques, providing consistent and reliable measurements of HACNT array density with high throughput and non-destructive assessment. To validate its utility, we demonstrate wafer-scale uniformity assessment by rapid density mapping. This technique not only facilitates the practical evaluation of HACNT arrays but also provides insights into balancing high throughput and high resolution in nanomaterial characterization.

physics.app-ph↗
arXiv2024

A Survey of Mix-based Data Augmentation: Taxonomy, Methods, Applications, and Explainability

Data augmentation (DA) is indispensable in modern machine learning and deep neural networks. The basic idea of DA is to construct new training data to improve the model's generalization by adding slightly disturbed versions of existing data or synthesizing new data. This survey comprehensively reviews a crucial subset of DA techniques, namely Mix-based Data Augmentation (MixDA), which generates novel samples by combining multiple examples. In contrast to traditional DA approaches that operate on single samples or entire datasets, MixDA stands out due to its effectiveness, simplicity, flexibility, computational efficiency, theoretical foundation, and broad applicability. We begin by introducing a novel taxonomy that categorizes MixDA into Mixup-based, Cutmix-based, and mixture approaches based on a hierarchical perspective of the data mixing operation. Subsequently, we provide an in-depth review of various MixDA techniques, focusing on their underlying motivations. Owing to its versatility, MixDA has penetrated a wide range of applications, which we also thoroughly investigate in this survey. Moreover, we delve into the underlying mechanisms of MixDA's effectiveness by examining its impact on model generalization and calibration while providing insights into the model's behavior by analyzing the inherent properties of MixDA. Finally, we recapitulate the critical findings and fundamental challenges of current MixDA studies while outlining the potential directions for future works. Different from previous related surveys that focus on DA approaches in specific domains (e.g., CV and NLP) or only review a limited subset of MixDA studies, we are the first to provide a systematical survey of MixDA, covering its taxonomy, methodology, application, and explainability. Furthermore, we provide promising directions for researchers interested in this exciting area.

cs.LG↗
arXiv2024

On the Existence of Gr-semistable Filtrations of Orthogonal/Symplectic $λ$-connections

In this paper, we study the existence of gr-semistable filtrations of orthogonal/symplectic $λ$-connections. It is known that gr-semistable filtrations always exist for flat bundles in arbitrary characteristic. However, we found a counterexample of orthogonal flat bundles of rank 5 in positive characteristic. The central new idea in this example is the notion of quasi gr-semistability for orthogonal/symplectic $λ$-connections. We establish the equivalence between gr-semistability and quasi gr-semistablity for an orthogonal/symplectic $λ$-connection. This provides a way to determine whether an orthogonal/symplectic $λ$-connection is gr-semistable. As an application, we obtain a characterization of gr-semistable orthogonal $λ$-connections of rank $\leq 6$.

math.AG↗
arXiv2023

Improving the Generalizability of Trajectory Prediction Models with Frenet-Based Domain Normalization

Predicting the future trajectories of nearby objects plays a pivotal role in Robotics and Automation such as autonomous driving. While learning-based trajectory prediction methods have achieved remarkable performance on public benchmarks, the generalization ability of these approaches remains questionable. The poor generalizability on unseen domains, a well-recognized defect of data-driven approaches, can potentially harm the real-world performance of trajectory prediction models. We are thus motivated to improve generalization ability of models instead of merely pursuing high accuracy on average. Due to the lack of benchmarks for quantifying the generalization ability of trajectory predictors, we first construct a new benchmark called argoverse-shift, where the data distributions of domains are significantly different. Using this benchmark for evaluation, we identify that the domain shift problem seriously hinders the generalization of trajectory predictors since state-of-the-art approaches suffer from severe performance degradation when facing those out-of-distribution scenes. To enhance the robustness of models against domain shift problems, we propose a plug-and-play strategy for domain normalization in trajectory prediction. Our strategy utilizes the Frenet coordinate frame for modeling and can effectively narrow the domain gap of different scenes caused by the variety of road geometry and topology. Experiments show that our strategy noticeably boosts the prediction performance of the state-of-the-art in domains that were previously unseen to the models, thereby improving the generalization ability of data-driven trajectory prediction methods.

cs.RO↗
arXiv2023

Recognizing Conditional Causal Relationships about Emotions and Their Corresponding Conditions

The study of causal relationships between emotions and causes in texts has recently received much attention. Most works focus on extracting causally related clauses from documents. However, none of these works has considered that the causal relationships among the extracted emotion and cause clauses can only be valid under some specific context clauses. To highlight the context in such special causal relationships, we propose a new task to determine whether or not an input pair of emotion and cause has a valid causal relationship under different contexts and extract the specific context clauses that participate in the causal relationship. Since the task is new for which no existing dataset is available, we conduct manual annotation on a benchmark dataset to obtain the labels for our tasks and the annotations of each context clause's type that can also be used in some other applications. We adopt negative sampling to construct the final dataset to balance the number of documents with and without causal relationships. Based on the constructed dataset, we propose an end-to-end multi-task framework, where we design two novel and general modules to handle the two goals of our task. Specifically, we propose a context masking module to extract the context clauses participating in the causal relationships. We propose a prediction aggregation module to fine-tune the prediction results according to whether the input emotion and causes depend on specific context clauses. Results of extensive comparative experiments and ablation studies demonstrate the effectiveness and generality of our proposed framework.

cs.CL↗
arXiv2023

Deep Learning Enables Large Depth-of-Field Images for Sub-Diffraction-Limit Scanning Superlens Microscopy

Scanning electron microscopy (SEM) is indispensable in diverse applications ranging from microelectronics to food processing because it provides large depth-of-field images with a resolution beyond the optical diffraction limit. However, the technology requires coating conductive films on insulator samples and a vacuum environment. We use deep learning to obtain the mapping relationship between optical super-resolution (OSR) images and SEM domain images, which enables the transformation of OSR images into SEM-like large depth-of-field images. Our custom-built scanning superlens microscopy (SSUM) system, which requires neither coating samples by conductive films nor a vacuum environment, is used to acquire the OSR images with features down to ~80 nm. The peak signal-to-noise ratio (PSNR) and structural similarity index measure values indicate that the deep learning method performs excellently in image-to-image translation, with a PSNR improvement of about 0.74 dB over the optical super-resolution images. The proposed method provides a high level of detail in the reconstructed results, indicating that it has broad applicability to chip-level defect detection, biological sample analysis, forensics, and various other fields.

physics.optics↗
arXiv2023

Investigation of flow field characteristics and performance of carbon-hydrogen/oxygen-rich air rotating detonation engine

Numerical simulations were conducted to investigate the flow field characteristics and performance of a carbon-hydrogen/oxygen-rich air rotating detonation engine (RDE). Three distinct flow field structures were observed in the gas-solid two-phase RDE. The results show that reducing the hydrogen equivalence ratio and particle diameter both contribute to the transition from gas-phase single-front detonation to gas-solid two-phase double-front detonation and further to gas-solid two-phase single-front detonation. The effects of solid fuel particle diameter and hydrogen equivalence ratio on the flow field characteristics and performance are revealed. The results show that reducing the particle diameter enhances the speed of the two-phase detonation wave, improves the pressure gain in the combustion chamber, and increases the specific impulse. Decreasing the hydrogen equivalence ratio reduces the detonation wave speed, enhances the stability of the detonation flow field, increases the pressure gain in the detonation wave and combustion chamber and boosts thrust. Furthermore, the selection of operational conditions to ensure stable operation and optimal performance of the RDE is discussed. In order to take into account the requirements of stability, pressure gain performance and propulsion performance, two-phase single-front detonation should be realized in gas-solid two-phase RDE, and smaller hydrogen equivalent ratio and appropriate particle diameter should be selected. According to the conclusion of this study, the particle diameter should be 0.5-1 μm. Under such conditions, the detonation flow field demonstrates good stability, allowing the RDE to achieve higher pressure gain and specific impulse while maintaining stable operation.

physics.flu-dyn↗
arXiv2023

Uncertainty-Encoded Multi-Modal Fusion for Robust Object Detection in Autonomous Driving

Multi-modal fusion has shown initial promising results for object detection of autonomous driving perception. However, many existing fusion schemes do not consider the quality of each fusion input and may suffer from adverse conditions on one or more sensors. While predictive uncertainty has been applied to characterize single-modal object detection performance at run time, incorporating uncertainties into the multi-modal fusion still lacks effective solutions due primarily to the uncertainty's cross-modal incomparability and distinct sensitivities to various adverse conditions. To fill this gap, this paper proposes Uncertainty-Encoded Mixture-of-Experts (UMoE) that explicitly incorporates single-modal uncertainties into LiDAR-camera fusion. UMoE uses individual expert network to process each sensor's detection result together with encoded uncertainty. Then, the expert networks' outputs are analyzed by a gating network to determine the fusion weights. The proposed UMoE module can be integrated into any proposal fusion pipeline. Evaluation shows that UMoE achieves a maximum of 10.67%, 3.17%, and 5.40% performance gain compared with the state-of-the-art proposal-level multi-modal object detectors under extreme weather, adversarial, and blinding attack scenarios.

cs.CV↗
arXiv2023

QCNeXt: A Next-Generation Framework For Joint Multi-Agent Trajectory Prediction

Estimating the joint distribution of on-road agents' future trajectories is essential for autonomous driving. In this technical report, we propose a next-generation framework for joint multi-agent trajectory prediction called QCNeXt. First, we adopt the query-centric encoding paradigm for the task of joint multi-agent trajectory prediction. Powered by this encoding scheme, our scene encoder is equipped with permutation equivariance on the set elements, roto-translation invariance in the space dimension, and translation invariance in the time dimension. These invariance properties not only enable accurate multi-agent forecasting fundamentally but also empower the encoder with the capability of streaming processing. Second, we propose a multi-agent DETR-like decoder, which facilitates joint multi-agent trajectory prediction by modeling agents' interactions at future time steps. For the first time, we show that a joint prediction model can outperform marginal prediction models even on the marginal metrics, which opens up new research opportunities in trajectory prediction. Our approach ranks 1st on the Argoverse 2 multi-agent motion forecasting benchmark, winning the championship of the Argoverse Challenge at the CVPR 2023 Workshop on Autonomous Driving.

cs.CV↗
arXiv2023

TOFG: A Unified and Fine-Grained Environment Representation in Autonomous Driving

In autonomous driving, an accurate understanding of environment, e.g., the vehicle-to-vehicle and vehicle-to-lane interactions, plays a critical role in many driving tasks such as trajectory prediction and motion planning. Environment information comes from high-definition (HD) map and historical trajectories of vehicles. Due to the heterogeneity of the map data and trajectory data, many data-driven models for trajectory prediction and motion planning extract vehicle-to-vehicle and vehicle-to-lane interactions in a separate and sequential manner. However, such a manner may capture biased interpretation of interactions, causing lower prediction and planning accuracy. Moreover, separate extraction leads to a complicated model structure and hence the overall efficiency and scalability are sacrificed. To address the above issues, we propose an environment representation, Temporal Occupancy Flow Graph (TOFG). Specifically, the occupancy flow-based representation unifies the map information and vehicle trajectories into a homogeneous data format and enables a consistent prediction. The temporal dependencies among vehicles can help capture the change of occupancy flow timely to further promote model performance. To demonstrate that TOFG is capable of simplifying the model architecture, we incorporate TOFG with a simple graph attention (GAT) based neural network and propose TOFG-GAT, which can be used for both trajectory prediction and motion planning. Experiment results show that TOFG-GAT achieves better or competitive performance than all the SOTA baselines with less training time.

cs.RO↗
arXiv2023

A torsion property of the zero of Kodaira-Spencer over $\mathbb{P}^1$ removing four points

We establish a torsion theorem to the effect that the unique zero of the Kodaira-Spencer map attached to a certain quasi-semistable family of complex projective varieties over the complex projective line is the image of a torsion point of an elliptic curve under the natural projection. The proof is a mod $p$ argument and requires a density one set of primes. There are three essential ingredients in the proof: a solution to the conjecture of Sun-Yang-Zuo, which constitutes the principal part of the paper, Pink's theorem, and Higgs periodicity theorem.

math.AG↗
arXiv2022

Jointly Attacking Graph Neural Network and its Explanations

Graph Neural Networks (GNNs) have boosted the performance for many graph-related tasks. Despite the great success, recent studies have shown that GNNs are highly vulnerable to adversarial attacks, where adversaries can mislead the GNNs' prediction by modifying graphs. On the other hand, the explanation of GNNs (GNNExplainer) provides a better understanding of a trained GNN model by generating a small subgraph and features that are most influential for its prediction. In this paper, we first perform empirical studies to validate that GNNExplainer can act as an inspection tool and have the potential to detect the adversarial perturbations for graphs. This finding motivates us to further initiate a new problem investigation: Whether a graph neural network and its explanations can be jointly attacked by modifying graphs with malicious desires? It is challenging to answer this question since the goals of adversarial attacks and bypassing the GNNExplainer essentially contradict each other. In this work, we give a confirmative answer to this question by proposing a novel attack framework (GEAttack), which can attack both a GNN model and its explanations by simultaneously exploiting their vulnerabilities. Extensive experiments on two explainers (GNNExplainer and PGExplainer) under various real-world datasets demonstrate the effectiveness of the proposed method.

cs.LG↗
arXiv2022

Generalized Matrix-Pencil Approach to Estimation of Complex Exponentials with Gapped Data

A generalized matrix-pencil approach is proposed for the estimation of complex exponential components with segmented signal samples, which is very efficient and provides super-resolution estimations. It is applicable to the signals sampled segmentally with the same sampling frequency and direction of arrival (DOA) estimation with distributed arrays within which array elements are placed uniformly with the same inter-element spacing.

eess.SP↗
arXiv2022

AoI-Constrained Bandit: Information Gathering over Unreliable Channels with Age Guarantees

Age-of-Information (AoI) is an application layer metric that has been widely adopted to quantify the information freshness of each information source. However, few works address the impact of probabilistic transmission failures on satisfying the harsh AoI requirement of each source, which is of critical importance in a great number of wireless-powered real-time applications. In this paper, we investigate the transmission scheduling problem of maximizing throughput over wireless channels under different time-average AoI requirements for heterogeneous information sources. When the channel reliability for each source is known as prior, the global optimal transmission scheduling policy is proposed. Moreover, when channel reliabilities are unknown, it is modeled as an AoI-constrained Multi-Armed Bandit (MAB) problem. Then a learning algorithm that meets the AoI requirement with probability 1 and incurs up to O(K\sqrt{T\log T}) accumulated regret is proposed, where K is the number of arms/information sources, and T is the time horizon. Numerical results show that the accumulated regret of our learning algorithm is strictly bounded by K\sqrt{T\log T} and outperforms the AoI-constraint-aware baseline, and the AoI requirement of every source is robustly satisfied.

cs.IT↗
arXiv2022

Attacking Black-box Recommendations via Copying Cross-domain User Profiles

Recently, recommender systems that aim to suggest personalized lists of items for users to interact with online have drawn a lot of attention. In fact, many of these state-of-the-art techniques have been deep learning based. Recent studies have shown that these deep learning models (in particular for recommendation systems) are vulnerable to attacks, such as data poisoning, which generates users to promote a selected set of items. However, more recently, defense strategies have been developed to detect these generated users with fake profiles. Thus, advanced injection attacks of creating more `realistic' user profiles to promote a set of items is still a key challenge in the domain of deep learning based recommender systems. In this work, we present our framework CopyAttack, which is a reinforcement learning based black-box attack method that harnesses real users from a source domain by copying their profiles into the target domain with the goal of promoting a subset of items. CopyAttack is constructed to both efficiently and effectively learn policy gradient networks that first select, and then further refine/craft, user profiles from the source domain to ultimately copy into the target domain. CopyAttack's goal is to maximize the hit ratio of the targeted items in the Top-$k$ recommendation list of the users in the target domain. We have conducted experiments on two real-world datasets and have empirically verified the effectiveness of our proposed framework and furthermore performed a thorough model analysis.

cs.IR↗
arXiv2022

Interference Mitigation for FMCW Radar With Sparse and Low-Rank Hankel Matrix Decomposition

In this paper, the interference mitigation for Frequency Modulated Continuous Wave (FMCW) radar system with a dechirping receiver is investigated. After dechirping operation, the scattered signals from targets result in beat signals, i.e., the sum of complex exponentials while the interferences lead to chirp-like short pulses. Taking advantage of these different time and frequency features between the useful signals and the interferences, the interference mitigation is formulated as an optimization problem: a sparse and low-rank decomposition of a Hankel matrix constructed by lifting the measurements. Then, an iterative optimization algorithm is proposed to tackle it by exploiting the Alternating Direction of Multipliers (ADMM) scheme. Compared to the existing methods, the proposed approach does not need to detect the interference and also improves the estimation accuracy of the separated useful signals. Both numerical simulations with point-like targets and experiment results with distributed targets (i.e., raindrops) are presented to demonstrate and verify its performance. The results show that the proposed approach is generally applicable for interference mitigation in both stationary and moving target scenarios.

eess.SP↗