arXiv subjects

Jiawei Wang

Publications and source records attributed to Jiawei Wang.

At least 163 records · Page 9Linked to original sources

arXiv2023

Distributed data-driven predictive control for cooperatively smoothing mixed traffic flow

Cooperative control of connected and automated vehicles (CAVs) promises smoother traffic flow. In mixed traffic, where human-driven vehicles with unknown dynamics coexist, data-driven predictive control techniques allow for CAV safe and optimal control with measurable traffic data. However, the centralized control setting in most existing strategies limits their scalability for large-scale mixed traffic flow. To address this problem, this paper proposes a cooperative DeeP-LCC (Data-EnablEd Predictive Leading Cruise Control) formulation and its distributed implementation algorithm. In cooperative DeeP-LCC, the traffic system is naturally partitioned into multiple subsystems with one single CAV, which collects local trajectory data for subsystem behavior predictions based on the Willems' fundamental lemma. Meanwhile, the cross-subsystem interaction is formulated as a coupling constraint. Then, we employ the Alternating Direction Method of Multipliers (ADMM) to design the distributed DeeP-LCC algorithm. This algorithm achieves both computation and communication efficiency, as well as trajectory data privacy, through parallel calculation. Our simulations on different traffic scales verify the real-time wave-dampening potential of distributed DeeP-LCC, which can reduce fuel consumption by over 31.84% in a large-scale traffic system of 100 vehicles with only 5%-20% CAVs.

eess.SY↗

arXiv2023

Towards Effective and Interpretable Human-Agent Collaboration in MOBA Games: A Communication Perspective

MOBA games, e.g., Dota2 and Honor of Kings, have been actively used as the testbed for the recent AI research on games, and various AI systems have been developed at the human level so far. However, these AI systems mainly focus on how to compete with humans, less on exploring how to collaborate with humans. To this end, this paper makes the first attempt to investigate human-agent collaboration in MOBA games. In this paper, we propose to enable humans and agents to collaborate through explicit communication by designing an efficient and interpretable Meta-Command Communication-based framework, dubbed MCC, for accomplishing effective human-agent collaboration in MOBA games. The MCC framework consists of two pivotal modules: 1) an interpretable communication protocol, i.e., the Meta-Command, to bridge the communication gap between humans and agents; 2) a meta-command value estimator, i.e., the Meta-Command Selector, to select a valuable meta-command for each agent to achieve effective human-agent collaboration. Experimental results in Honor of Kings demonstrate that MCC agents can collaborate reasonably well with human teammates and even generalize to collaborate with different levels and numbers of human teammates. Videos are available at https://sites.google.com/view/mcc-demo.

cs.AI↗

arXiv2023

Generation of Vortex N2+ Lasing

Harnessing structured light is fascinating for its multi-disciplinary applications, e.g., in remote driving microrobots, sensing, communications, and ultrahigh resolution imaging. Here we experimentally demonstrated the generation of a vortex N2+ lasing pumped by a wavefront structured near-infrared femtosecond pulse with an orbital angular momentum. The topological charge of the new-born N2+ lasing is measured to be twofold that of the pump beam. As compared to the case with pump beam of plane wavefront, the N2+ lasing generation efficiency is much higher for the vortex pump beam at high pumping energy which has a higher clamping intensity by reducing the on-axis plasma density. Our results herald a stirring marching into the territory of remote structured N2+ lasing.

physics.optics↗

arXiv2023

Write and Paint: Generative Vision-Language Models are Unified Modal Learners

Recent advances in vision-language pre-training have pushed the state-of-the-art on various vision-language tasks, making machines more capable of multi-modal writing (image-to-text generation) and painting (text-to-image generation). However, few studies investigate if these two essential capabilities can be learned together and boost each other, making a versatile and powerful multi-modal foundation model. In this work, we disclose the potential of symmetric generative vision-language pre-training in learning to write and paint concurrently, and propose a new unified modal model, named DaVinci, trained with prefix language modeling and prefix image modeling, a simple generative self-supervised objective on image-text pairs. Thanks to the proposed prefix multi-modal modeling framework, DaVinci is simple to train, scalable to huge data, adaptable to both writing and painting tasks, and also strong on other vision, text, and multi-modal understanding tasks. DaVinci achieves competitive performance on a wide range of 27 generation/understanding tasks and demonstrates the superiority of combining vision/language generative pre-training. Furthermore, we carefully benchmark the performance of different vision-language pre-training objectives on different scales of pre-training datasets on a heterogeneous and broad distribution coverage. Our results demonstrate the potential of exploiting self-supervision in both language and vision inputs, and establish new, stronger baselines for future comparisons at different data scales. The code and pre-trained models are available at https://github.com/shizhediao/DaVinci.

cs.CV↗

arXiv2023

DeeP-LCC: Data-EnablEd Predictive Leading Cruise Control in Mixed Traffic Flow

For the control of connected and autonomous vehicles (CAVs), most existing methods focus on model-based strategies. They require explicit knowledge of car-following dynamics of human-driven vehicles that are non-trivial to identify accurately. In this paper, instead of relying on a parametric car-following model, we introduce a data-driven non-parametric strategy, called DeeP-LCC (Data-EnablEd Predictive Leading Cruise Control), to achieve safe and optimal control of CAVs in mixed traffic. We first utilize Willems' fundamental lemma to obtain a data-centric representation of mixed traffic behavior. This is justified by rigorous analysis on controllability and observability properties of mixed traffic. We then employ a receding horizon strategy to solve a finite-horizon optimal control problem at each time step, in which input/output constraints are incorporated for collision-free guarantees. Numerical experiments validate the performance of DeeP-LCC compared to a standard predictive controller that requires an accurate model. Multiple nonlinear traffic simulations further confirm its great potential on improving traffic efficiency, driving safety, and fuel economy.

eess.SY↗

arXiv2022

Mixed Cloud Control Testbed: Validating Vehicle-Road-Cloud Integration via Mixed Digital Twin

Reliable and efficient validation technologies are critical for the recent development of multi-vehicle cooperation and vehicle-road-cloud integration. In this paper, we introduce our miniature experimental platform, Mixed Cloud Control Testbed (MCCT), developed based on a new notion of Mixed Digital Twin (mixedDT). Combining Mixed Reality with Digital Twin, mixedDT integrates the virtual and physical spaces into a mixed one, where physical entities coexist and interact with virtual entities via their digital counterparts. Under the framework of mixedDT, MCCT contains three major experimental platforms in the physical, virtual and mixed spaces respectively, and provides a unified access for various human-machine interfaces and external devices such as driving simulators. A cloud unit, where the mixed experimental platform is deployed, is responsible for fusing multi-platform information and assigning control instructions, contributing to synchronous operation and real-time cross-platform interaction. Particularly, MCCT allows for multi-vehicle coordination composed of different multi-source vehicles (\eg, physical vehicles, virtual vehicles and human-driven vehicles). Validations on vehicle platooning demonstrate the flexibility and scalability of MCCT.

cs.RO↗

arXiv2022

Implementation and Experimental Validation of Data-Driven Predictive Control for Dissipating Stop-and-Go Waves in Mixed Traffic

In this paper, we present the first experimental results of data-driven predictive control for connected and autonomous vehicles (CAVs) in dissipating traffic waves. In particular, we consider a recent strategy of Data-EnablEd Predicted Leading Cruise Control (DeeP-LCC), which bypasses the need of identifying the driving behaviors of surrounding vehicles and directly relies on measurable traffic data to achieve safe and optimal CAV control in mixed traffic. We present the implementation details of DeeP-LCC, including data collection, equilibrium estimation, and control execution. Based on a miniature experiment platform, we reproduce the phenomenon of stop-and-go waves in two typical traffic scenarios: 1) open straight-road scenario under external disturbances and 2) closed ring-road scenario with no bottlenecks. Our experiments clearly demonstrate that DeeP-LCC enables one or a few CAVs to dissipate the traffic waves in both traffic scenarios. These experimental findings validate the great potential of DeeP-LCC in smoothing practical traffic flow in the presence of noisy data, uncertain low-level vehicle dynamics, and communication and computation delays. The code and videos of our experimental results are available at https://github.com/soc-ucsd/DeeP-LCC.

eess.SY↗

arXiv2022

Linear Optical Modulators for Prospective Communications at the 2 μm Waveband

The 2 μm waveband is an area that could have significant technological consequences, with applications ranging from spectroscopy, LIDAR and free-space communications. The development of the thulium-doped fiber amplifier, hollow-core photonic bandgap fiber and 2 μm GaSb-based diode lasers has highlighted the ability of the waveband in alleviating the fiber capacity crisis in the incumbent communication infrastructure. The above has initiated vibrant development in the silicon photonic-space at 2 μm, where the area is capable of enabling highly-integrated photonic circuits, and potentially at low-cost and high-volumes. However, as of now, modulator linearity at 2 μm has not been addressed. The metric, as characterized by spurious free dynamic range is imperative for numerous applications such as RF photonic links for 5G and digital analog transmission in coherent communications. The development of linear optical modulators will be crucial in bringing these applications to the 2 μm. In view of that, this work is the first to address modulator linearity at the 2 μm, where the ring-assisted Mach-Zehnder modulator is developed, indicating spurious free dynamic range as high as 95 dB.Hz^2/3. It is found that that modulator spurious free dynamic range has a strong dependence on modulator bias voltage where it impacts the linearity of the transfer function in which the input RF signal is applied upon. The demonstrated modulator indicates favorable performance within silicon photonic modulators developed at 2 μm with bandwidth exceeding 17.5 GHz and modulation efficiency ranging from 0.70 to 1.25 V.cm.

physics.app-ph↗

arXiv2022

ArT: All-round Thinker for Unsupervised Commonsense Question-Answering

Without labeled question-answer pairs for necessary training, unsupervised commonsense question-answering (QA) appears to be extremely challenging due to its indispensable unique prerequisite on commonsense source like knowledge bases (KBs), which are usually highly resource consuming in construction. Recently pre-trained language models (PLMs) show effectiveness as an alternative for commonsense clues when they play a role of knowledge generator. However, existing work either relies on large-scale in-domain or out-of-domain labeled data, or fails to generate knowledge of high quality in a general way. Motivated by human thinking experience, we propose an approach of All-round Thinker (ArT) by fully taking association during knowledge generating. In detail, our model first focuses on key parts in the given context, and then generates highly related knowledge on such a basis in an association way like human thinking. Besides, for causal reasoning, a reverse thinking mechanism is especially added to further enhance bidirectional inferring between cause and effect. ArT is totally unsupervised and KBs-free. We evaluate it on three commonsense QA benchmarks: COPA, SocialIQA and SCT. On all scales of PLM backbones, ArT shows its brilliant performance and outperforms previous advanced unsupervised models. Our code is available at https://github.com/WangJW424/commonsenseQA-ArT.

cs.CL↗

arXiv2022

TSRFormer: Table Structure Recognition with Transformers

We present a new table structure recognition (TSR) approach, called TSRFormer, to robustly recognizing the structures of complex tables with geometrical distortions from various table images. Unlike previous methods, we formulate table separation line prediction as a line regression problem instead of an image segmentation problem and propose a new two-stage DETR based separator prediction approach, dubbed \textbf{Sep}arator \textbf{RE}gression \textbf{TR}ansformer (SepRETR), to predict separation lines from table images directly. To make the two-stage DETR framework work efficiently and effectively for the separation line prediction task, we propose two improvements: 1) A prior-enhanced matching strategy to solve the slow convergence issue of DETR; 2) A new cross attention module to sample features from a high-resolution convolutional feature map directly so that high localization accuracy is achieved with low computational cost. After separation line prediction, a simple relation network based cell merging module is used to recover spanning cells. With these new techniques, our TSRFormer achieves state-of-the-art performance on several benchmark datasets, including SciTSR, PubTabNet and WTW. Furthermore, we have validated the robustness of our approach to tables with complex structures, borderless cells, large blank spaces, empty or spanning cells as well as distorted or even curved shapes on a more challenging real-world in-house dataset.

cs.CV↗

arXiv2022

Silicon nitride stress-optic microresonator modulator for optical control applications

The silicon nitride integration platform has been successful at realizing extremely low waveguide losses across the visible to infrared and components including high performance lasers, filters, resonators, stabilization cavities, and optical frequency combs. Yet, progress towards implementing low loss, low power modulators in the silicon nitride platform, while maintaining the planar, wafer-scale process compatibility has been limited. Here we report a significant advance in integration of a piezo-electric (PZT) actuated micro-ring modulation in a fully-planar, wafer-scale silicon nitride platform, that maintains low optical loss (0.03 dB/cm in a 625 um resonator) at 1550 nm, with an order of magnitude increase in bandwidth (DC to 20 MHz 3-dB) and order of magnitude lower power consumption of 20 nW improvement over prior PZT modulators. The modulator provides a >14 dB ER and 7.1 million Q over the entire 4 GHz tuning range, a tuning efficiency of 200 MHz/V, and delivers the linearity required for control applications with 65.1 dBHz2/3 and 73.8 dBHz2/3 IMD3 SFDR at 1 MHz and 10 MHz respectively. We demonstrate two control applications, laser stabilization in a PDH lock loop, reducing laser frequency noise by 40 dB, and as a laser carrier tracking filter. This PZT modulator design can be extended to the visible in the ultra-low loss silicon nitride platform with minor waveguide design changes. This integration of PZT modulation in the ultra-low loss silicon nitride waveguide platform enables modulator control functions in a wide range of visible to IR applications such as atomic and molecular transition locking for cooling, controllable optical frequency combs, low-power external cavity tunable lasers, atomic clocks, and tunable ultra-low linewidth lasers and ultra-low phase noise microwave synthesizers.

physics.optics↗

arXiv2022

CODE-MVP: Learning to Represent Source Code from Multiple Views with Contrastive Pre-Training

Recent years have witnessed increasing interest in code representation learning, which aims to represent the semantics of source code into distributed vectors. Currently, various works have been proposed to represent the complex semantics of source code from different views, including plain text, Abstract Syntax Tree (AST), and several kinds of code graphs (e.g., Control/Data Flow Graph). However, most of them only consider a single view of source code independently, ignoring the correspondences among different views. In this paper, we propose to integrate different views with the natural-language description of source code into a unified framework with Multi-View contrastive Pre-training, and name our model as CODE-MVP. Specifically, we first extract multiple code views using compiler tools, and learn the complementary information among them under a contrastive learning framework. Inspired by the type checking in compilation, we also design a fine-grained type inference objective in the pre-training. Experiments on three downstream tasks over five datasets demonstrate the superiority of CODE-MVP when compared with several state-of-the-art baselines. For example, we achieve 2.4/2.3/1.1 gain in terms of MRR/MAP/Accuracy metrics on natural language code retrieval, code similarity, and code defect detection tasks, respectively.

cs.PL↗

arXiv2022

Conflict-free Cooperation Method for Connected and Automated Vehicles at Unsignalized Intersections: Graph-based Modeling and Optimality Analysis

Connected and automated vehicles have shown great potential in improving traffic mobility and reducing emissions, especially at unsignalized intersections. Previous research has shown that vehicle passing order is the key influencing factor in improving intersection traffic mobility. In this paper, we propose a graph-based cooperation method to formalize the conflict-free scheduling problem at an unsignalized intersection. Based on graphical analysis, a vehicle's trajectory conflict relationship is modeled as a conflict directed graph and a coexisting undirected graph. Then, two graph-based methods are proposed to find the vehicle passing order. The first is an improved depth-first spanning tree algorithm, which aims to find the local optimal passing order vehicle by vehicle. The other novel method is a minimum clique cover algorithm, which identifies the global optimal solution. Finally, a distributed control framework and communication topology are presented to realize the conflict-free cooperation of vehicles. Extensive numerical simulations are conducted for various numbers of vehicles and traffic volumes, and the simulation results prove the effectiveness of the proposed algorithms.

cs.RO↗

arXiv2022

Data-Driven Predictive Control for Connected and Autonomous Vehicles in Mixed Traffic

Cooperative control of Connected and Autonomous Vehicles (CAVs) promises great benefits for mixed traffic. Most existing research focuses on model-based control strategies, assuming that car-following dynamics of human-driven vehicles are explicitly known. In this paper, instead of relying on a parametric car-following model, we introduce a data-driven predictive control strategy to achieve safe and optimal control for CAVs in mixed traffic. We first present a linearized dynamical model for mixed traffic systems, and investigate its controllability and observability. Based on these control-theoretic properties, we then propose a novel DeeP-LCC (Data-EnablEd Predictive Leading Cruise Control) strategy for CAVs based on measurable driving data to smooth mixed traffic. Our method is implemented in a receding horizon manner, in which input/output constraints are incorporated to achieve collision-free guarantees. Nonlinear traffic simulations reveal its saving of up to 24.96% fuel consumption during a braking scenario of Extra-Urban Driving Cycle while ensuring safety.

eess.SY↗

arXiv2022

Scalpel: The Python Static Analysis Framework

Despite being the most popular programming language, Python has not yet received enough attention from the community. To the best of our knowledge, there is no general static analysis framework proposed to facilitate the implementation of dedicated Python static analyzers. To fill this gap, we design and implement such a framework (named Scalpel) and make it publicly available as an open-source project. The Scalpel framework has already integrated a number of fundamental static analysis functions (e.g., call graph constructions, control-flow graph constructions, alias analysis, etc.) that are ready to be reused by developers to implement client applications focusing on statically resolving dedicated Python problems such as detecting bugs or fixing vulnerabilities.

cs.SE↗

arXiv2022

Cooperative Formation of Autonomous Vehicles in Mixed Traffic Flow: Beyond Platooning

Cooperative formation and control of autonomous vehicles (AVs) promise increased efficiency and safety on public roads. In mixed traffic flow consisting of AVs and human-driven vehicles (HDVs), the prevailing platooning of multiple AVs is not the only choice for cooperative formation. In this paper, we investigate how different formations of AVs impact traffic performance from a set-function optimization perspective. We first reveal a stability invariance property and a diminishing improvement property of noncooperative formation when AVs adopt typical Adaptive Cruise Control (ACC) strategies. Then, we focus on the case of cooperative formation where the AV controllers are cooperatively designed %redesign the control strategies of AVs in different formations and investigate the optimal formation of multiple AVs using set-function optimization. Two predominant optimal formations, i.e., uniform distribution and platoon formation, emerge from extensive numerical experiments. Interestingly, platooning might have the least potential to improve traffic performance when HDVs have poor string stability behavior. These results suggest more opportunities for cooperative formation of AVs, beyond platooning, in practical mixed traffic flow.

eess.SY↗

arXiv2021

36 Hz integral linewidth laser based on a photonic integrated 4.0-meter coil resonator

Laser stabilization sits at the heart of many precision scientific experiments and applications, including quantum information science, metrology and atomic timekeeping. These systems narrow the laser linewidth and stabilize the carrier by use of Pound-Drever-Hall (PDH) locking to a table-scale, ultra-high quality factor (Q), vacuum spaced Fabry-Perot reference cavity. Integrating these cavities, to bring characteristics of PDH stabilization to the chip-scale, is critical to reduce their size, cost, and weight, and enable a wide range of portable and system-on-chip applications. We report a significant advance in integrated laser linewidth narrowing, stabilization and noise reduction, by use of a photonic integrated 4.0-meter-long coil resonator to stabilize a semiconductor laser. We achieve a 36 Hz 1/π-integral linewidth, an Allan deviation (ADEV) of 1.8x10^{-13} at 10 ms measurement time, and a 2.3 kHz/sec drift, to the best of our knowledge the lowest integral linewidth and highest stability demonstrated for an integrated reference cavity. Two coil designs, stabilizing lasers operating at 1550 nm and 1319 nm are demonstrated. The resonator is bus coupled to a 4.0-meter-long coil, with a 49 MHz free spectral range (FSR), a mode volume of 1.0x10^{10} μm^3 and a 142 million intrinsic Q, fabricated in a CMOS compatible, ultra-low loss silicon nitride waveguide platform. Our measurements and simulations show that the thermorefractive noise floor for this particular cavity is reached for frequencies down to 20 Hz in an ambient environment with simple passive vibration isolation and without vacuum or thermal isolation. The TRN limited performance is estimated to be an 8 Hz 1/π integral linewidth and ADEV of 5x10^{-14} at 10 ms, opening a stability regime that heretofore has only been available in fundamentally un-integrated systems.

physics.optics↗

arXiv2021

Experimental Validation of Multi-lane Formation Control for Connected and Automated Vehicles in Multiple Scenarios

Formation control methods of connected and automated vehicles have been proposed to smoothly switch the structure of vehicular formations in different scenarios. In the previous research, simulations are often conducted to verify the performance of formation control methods. This paper presents the experimental results of multi-lane formation control for connected and automated vehicles. The coordinated formation control framework and specific methods utilized for different scenarios are introduced. The details of experimental platform and vehicle control strategy is provided. Simulations and experiments are conducted in different scenarios, and the results indicate that the formation control method is applicable to multiple traffic scenarios and able to improve formation-structure-switching efficiency compared with benchmark methods.

eess.SY↗