arXiv subjects

Jiayu Chen

Publications and source records attributed to Jiayu Chen.

121 records · Page 7Linked to original sources

arXiv2023

Scale-Aware Modulation Meet Transformer

This paper presents a new vision Transformer, Scale-Aware Modulation Transformer (SMT), that can handle various downstream tasks efficiently by combining the convolutional network and vision Transformer. The proposed Scale-Aware Modulation (SAM) in the SMT includes two primary novel designs. Firstly, we introduce the Multi-Head Mixed Convolution (MHMC) module, which can capture multi-scale features and expand the receptive field. Secondly, we propose the Scale-Aware Aggregation (SAA) module, which is lightweight but effective, enabling information fusion across different heads. By leveraging these two modules, convolutional modulation is further enhanced. Furthermore, in contrast to prior works that utilized modulations throughout all stages to build an attention-free network, we propose an Evolutionary Hybrid Network (EHN), which can effectively simulate the shift from capturing local to global dependencies as the network becomes deeper, resulting in superior performance. Extensive experiments demonstrate that SMT significantly outperforms existing state-of-the-art models across a wide range of visual tasks. Specifically, SMT with 11.5M / 2.4GFLOPs and 32M / 7.7GFLOPs can achieve 82.2% and 84.3% top-1 accuracy on ImageNet-1K, respectively. After pretrained on ImageNet-22K in 224^2 resolution, it attains 87.1% and 88.1% top-1 accuracy when finetuned with resolution 224^2 and 384^2, respectively. For object detection with Mask R-CNN, the SMT base trained with 1x and 3x schedule outperforms the Swin Transformer counterpart by 4.2 and 1.3 mAP on COCO, respectively. For semantic segmentation with UPerNet, the SMT base test at single- and multi-scale surpasses Swin by 2.0 and 1.1 mIoU respectively on the ADE20K.

cs.CV↗

arXiv2023

Learning Multi-agent Skills for Tabular Reinforcement Learning using Factor Graphs

Covering skill (a.k.a., option) discovery has been developed to improve the exploration of reinforcement learning in single-agent scenarios with sparse reward signals, through connecting the most distant states in the embedding space provided by the Fiedler vector of the state transition graph. However, these option discovery methods cannot be directly extended to multi-agent scenarios, since the joint state space grows exponentially with the number of agents in the system. Thus, existing researches on adopting options in multi-agent scenarios still rely on single-agent option discovery and fail to directly discover the joint options that can improve the connectivity of the joint state space of agents. In this paper, we show that it is indeed possible to directly compute multi-agent options with collaborative exploratory behaviors among the agents, while still enjoying the ease of decomposition. Our key idea is to approximate the joint state space as a Kronecker graph -- the Kronecker product of individual agents' state transition graphs, based on which we can directly estimate the Fiedler vector of the joint state space using the Laplacian spectrum of individual agents' transition graphs. This decomposition enables us to efficiently construct multi-agent joint options by encouraging agents to connect the sub-goal joint states which are corresponding to the minimum or maximum values of the estimated joint Fiedler vector. The evaluation based on multi-agent collaborative tasks shows that the proposed algorithm can successfully identify multi-agent options, and significantly outperforms prior works using single-agent options or no options, in terms of both faster exploration and higher cumulative rewards.

cs.MA↗

arXiv2023

Multi-task Hierarchical Adversarial Inverse Reinforcement Learning

Multi-task Imitation Learning (MIL) aims to train a policy capable of performing a distribution of tasks based on multi-task expert demonstrations, which is essential for general-purpose robots. Existing MIL algorithms suffer from low data efficiency and poor performance on complex long-horizontal tasks. We develop Multi-task Hierarchical Adversarial Inverse Reinforcement Learning (MH-AIRL) to learn hierarchically-structured multi-task policies, which is more beneficial for compositional tasks with long horizons and has higher expert data efficiency through identifying and transferring reusable basic skills across tasks. To realize this, MH-AIRL effectively synthesizes context-based multi-task learning, AIRL (an IL approach), and hierarchical policy learning. Further, MH-AIRL can be adopted to demonstrations without the task or skill annotations (i.e., state-action pairs only) which are more accessible in practice. Theoretical justifications are provided for each module of MH-AIRL, and evaluations on challenging multi-task settings demonstrate superior performance and transferability of the multi-task policies learned with MH-AIRL as compared to SOTA MIL baselines.

cs.LG↗

arXiv2023

Controlled alignment of supermoiré lattice in double-aligned graphene heterostructures

The supermoiré lattice, built by stacking two moiré patterns, provides a platform for creating flat mini-bands and studying electron correlations. An ultimate challenge in assembling a graphene supermoiré lattice is in the deterministic control of its rotational alignment, which is made highly aleatory due to the random nature of the edge chirality and crystal symmetry of each component layer. Employing the so-called golden rule of three, here we present an experimental strategy to overcome this challenge and realize the controlled alignment of double-aligned hBN/graphene/hBN supermoiré lattice, where graphene is precisely aligned with both top hBN and bottom hBN. Remarkably, we find that the crystallographic edge of neighboring graphite can be used to better guide the stacking alignment, as demonstrated by the controlled production of 20 moiré samples with an accuracy better than 0.2 degree. Finally, we extend our technique to other strongly correlated electron systems, such as low-angle twisted bilayer graphene and ABC-stacked trilayer graphene, providing a strategy for flat-band engineering in these moiré materials.

cond-mat.mes-hall↗

arXiv2023

Option-Aware Adversarial Inverse Reinforcement Learning for Robotic Control

Hierarchical Imitation Learning (HIL) has been proposed to recover highly-complex behaviors in long-horizon tasks from expert demonstrations by modeling the task hierarchy with the option framework. Existing methods either overlook the causal relationship between the subtask and its corresponding policy or cannot learn the policy in an end-to-end fashion, which leads to suboptimality. In this work, we develop a novel HIL algorithm based on Adversarial Inverse Reinforcement Learning and adapt it with the Expectation-Maximization algorithm in order to directly recover a hierarchical policy from the unannotated demonstrations. Further, we introduce a directed information term to the objective function to enhance the causality and propose a Variational Autoencoder framework for learning with our objectives in an end-to-end fashion. Theoretical justifications and evaluations on challenging robotic control tasks are provided to show the superiority of our algorithm. The codes are available at https://github.com/LucasCJYSDL/HierAIRL.

cs.LG↗

arXiv2023

DeepFreight: Integrating Deep Reinforcement Learning and Mixed Integer Programming for Multi-transfer Truck Freight Delivery

With the freight delivery demands and shipping costs increasing rapidly, intelligent control of fleets to enable efficient and cost-conscious solutions becomes an important problem. In this paper, we propose DeepFreight, a model-free deep-reinforcement-learning-based algorithm for multi-transfer freight delivery, which includes two closely-collaborative components: truck-dispatch and package-matching. Specifically, a deep multi-agent reinforcement learning framework called QMIX is leveraged to learn a dispatch policy, with which we can obtain the multi-step joint vehicle dispatch decisions for the fleet with respect to the delivery requests. Then an efficient multi-transfer matching algorithm is executed to assign the delivery requests to the trucks. Also, DeepFreight is integrated with a Mixed-Integer Linear Programming optimizer for further optimization. The evaluation results show that the proposed system is highly scalable and ensures a 100\% delivery success while maintaining low delivery-time and fuel consumption. The codes are available at https://github.com/LucasCJYSDL/DeepFreight.

cs.LG↗

arXiv2023

Asynchronous Multi-Agent Reinforcement Learning for Efficient Real-Time Multi-Robot Cooperative Exploration

We consider the problem of cooperative exploration where multiple robots need to cooperatively explore an unknown region as fast as possible. Multi-agent reinforcement learning (MARL) has recently become a trending paradigm for solving this challenge. However, existing MARL-based methods adopt action-making steps as the metric for exploration efficiency by assuming all the agents are acting in a fully synchronous manner: i.e., every single agent produces an action simultaneously and every single action is executed instantaneously at each time step. Despite its mathematical simplicity, such a synchronous MARL formulation can be problematic for real-world robotic applications. It can be typical that different robots may take slightly different wall-clock times to accomplish an atomic action or even periodically get lost due to hardware issues. Simply waiting for every robot being ready for the next action can be particularly time-inefficient. Therefore, we propose an asynchronous MARL solution, Asynchronous Coordination Explorer (ACE), to tackle this real-world challenge. We first extend a classical MARL algorithm, multi-agent PPO (MAPPO), to the asynchronous setting and additionally apply action-delay randomization to enforce the learned policy to generalize better to varying action delays in the real world. Moreover, each navigation agent is represented as a team-size-invariant CNN-based policy, which greatly benefits real-robot deployment by handling possible robot lost and allows bandwidth-efficient intra-agent communication through low-dimensional CNN features. We first validate our approach in a grid-based scenario. Both simulation and real-robot results show that ACE reduces over 10% actual exploration time compared with classical approaches. We also apply our framework to a high-fidelity visual-based environment, Habitat, achieving 28% improvement in exploration efficiency.

cs.RO↗

arXiv2023

Detection Transformer with Stable Matching

This paper is concerned with the matching stability problem across different decoder layers in DEtection TRansformers (DETR). We point out that the unstable matching in DETR is caused by a multi-optimization path problem, which is highlighted by the one-to-one matching design in DETR. To address this problem, we show that the most important design is to use and only use positional metrics (like IOU) to supervise classification scores of positive examples. Under the principle, we propose two simple yet effective modifications by integrating positional metrics to DETR's classification loss and matching cost, named position-supervised loss and position-modulated cost. We verify our methods on several DETR variants. Our methods show consistent improvements over baselines. By integrating our methods with DINO, we achieve 50.4 and 51.5 AP on the COCO detection benchmark using ResNet-50 backbones under 12 epochs and 24 epochs training settings, achieving a new record under the same setting. We achieve 63.8 AP on COCO detection test-dev with a Swin-Large backbone. Our code will be made available at https://github.com/IDEA-Research/Stable-DINO.

cs.CV↗

arXiv2023

Magnetic proximity effect at the interface of two-dimensional materials and magnetic oxide insulators

Two-dimensional (2D) materials provide a platform for developing novel spintronic devices and circuits for low-power electronics. In particular, inducing magnetism and injecting spins in graphene have promised the emerging field of graphene spintronics. This review focuses on the magnetic proximity effect at the interface of 2D materials and magnetic oxide insulators. We highlight the unique spin-related phenomena arising from magnetic exchange interaction and spin-orbital coupling in 2D materials coupled with magnetic oxides. We also describe the fabrication of multifunctional hybrid devices based on spin transport. We conclude with a perspective of the field and highlight challenges for the design and fabrication of 2D spintronic devices and their potential applications in information storage and logic devices.

cond-mat.mtrl-sci↗

arXiv2023

Prediction of Gender from Longitudinal MRI data via Deep Learning on Adolescent Data Reveals Unique Patterns Associated with Brain Structure and Change over a Two-year Period

Deep learning algorithms for predicting neuroimaging data have shown considerable promise in various applications. Prior work has demonstrated that deep learning models that take advantage of the data's 3D structure can outperform standard machine learning on several learning tasks. However, most prior research in this area has focused on neuroimaging data from adults. Within the Adolescent Brain and Cognitive Development (ABCD) dataset, a large longitudinal development study, we examine structural MRI data to predict gender and identify gender-related changes in brain structure. Results demonstrate that gender prediction accuracy is exceptionally high (>97%) with training epochs >200 and that this accuracy increases with age. Brain regions identified as the most discriminative in the task under study include predominantly frontal areas and the temporal lobe. When evaluating gender predictive changes specific to a two-year increase in age, a broader set of visual, cingulate, and insular regions are revealed. Our findings show a robust gender-related structural brain change pattern, even over a small age range. This suggests that it might be possible to study how the brain changes during adolescence by looking at how these changes are related to different behavioral and environmental factors.

eess.IV↗

arXiv2021

Variational Automatic Curriculum Learning for Sparse-Reward Cooperative Multi-Agent Problems

We introduce a curriculum learning algorithm, Variational Automatic Curriculum Learning (VACL), for solving challenging goal-conditioned cooperative multi-agent reinforcement learning problems. We motivate our paradigm through a variational perspective, where the learning objective can be decomposed into two terms: task learning on the current task distribution, and curriculum update to a new task distribution. Local optimization over the second term suggests that the curriculum should gradually expand the training tasks from easy to hard. Our VACL algorithm implements this variational paradigm with two practical components, task expansion and entity progression, which produces training curricula over both the task configurations as well as the number of entities in the task. Experiment results show that VACL solves a collection of sparse-reward problems with a large number of agents. Particularly, using a single desktop machine, VACL achieves 98% coverage rate with 100 agents in the simple-spread benchmark and reproduces the ramp-use behavior originally shown in OpenAI's hide-and-seek project. Our project website is at https://sites.google.com/view/vacl-neurips-2021.

cs.LG↗

arXiv2021

Scalable Polyhedral Verification of Recurrent Neural Networks

We present a scalable and precise verifier for recurrent neural networks, called Prover based on two novel ideas: (i) a method to compute a set of polyhedral abstractions for the non-convex and nonlinear recurrent update functions by combining sampling, optimization, and Fermat's theorem, and (ii) a gradient descent based algorithm for abstraction refinement guided by the certification problem that combines multiple abstractions for each neuron. Using Prover, we present the first study of certifying a non-trivial use case of recurrent neural networks, namely speech classification. To achieve this, we additionally develop custom abstractions for the non-linear speech preprocessing pipeline. Our evaluation shows that Prover successfully verifies several challenging recurrent models in computer vision, speech, and motion sensor data classification beyond the reach of prior work.

cs.LG↗

arXiv2021

Decision Making for Autonomous Driving via Augmented Adversarial Inverse Reinforcement Learning

Making decisions in complex driving environments is a challenging task for autonomous agents. Imitation learning methods have great potentials for achieving such a goal. Adversarial Inverse Reinforcement Learning (AIRL) is one of the state-of-art imitation learning methods that can learn both a behavioral policy and a reward function simultaneously, yet it is only demonstrated in simple and static environments where no interactions are introduced. In this paper, we improve and stabilize AIRL's performance by augmenting it with semantic rewards in the learning framework. Additionally, we adapt the augmented AIRL to a more practical and challenging decision-making task in a highly interactive environment in autonomous driving. The proposed method is compared with four baselines and evaluated by four performance metrics. Simulation results show that the augmented AIRL outperforms all the baseline methods, and its performance is comparable with that of the experts on all of the four metrics.

cs.AI↗