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Jie Cheng

Publications and source records attributed to Jie Cheng.

At least 55 records · Page 3Linked to original sources

Ada-K Routing: Boosting the Efficiency of MoE-based LLMs

In the era of Large Language Models (LLMs), Mixture-of-Experts (MoE) architectures offer a promising approach to managing computational costs while scaling up model parameters. Conventional MoE-based LLMs typically employ static Top-K routing, which activates a fixed and equal number of experts for each token regardless of their significance within the context. In this paper, we propose a novel Ada-K routing strategy that dynamically adjusts the number of activated experts for each token, thereby improving the balance between computational efficiency and model performance. Specifically, our strategy incorporates learnable and lightweight allocator modules that decide customized expert resource allocation tailored to the contextual needs for each token. These allocators are designed to be fully pluggable, making it broadly applicable across all mainstream MoE-based LLMs. We leverage the Proximal Policy Optimization (PPO) algorithm to facilitate an end-to-end learning process for this non-differentiable decision-making framework. Extensive evaluations on four popular baseline models demonstrate that our Ada-K routing method significantly outperforms conventional Top-K routing. Compared to Top-K, our method achieves over 25% reduction in FLOPs and more than 20% inference speedup while still improving performance across various benchmarks. Moreover, the training of Ada-K is highly efficient. Even for Mixtral-8x22B, a MoE-based LLM with more than 140B parameters, the training time is limited to 8 hours. Detailed analysis shows that harder tasks, middle layers, and content words tend to activate more experts, providing valuable insights for future adaptive MoE system designs. Both the training code and model checkpoints will be publicly available.

cs.CL↗

RiskMap: A Unified Driving Context Representation for Autonomous Motion Planning in Urban Driving Environment

Motion planning is a complicated task that requires the combination of perception, map information integration and prediction, particularly when driving in heavy traffic. Developing an extensible and efficient representation that visualizes sensor noise and provides basis to real-time planning tasks is desirable. We aim to develop an interpretable map representation, which offers prior of driving cost in planning tasks. In this way, we can simplify the planning process for dealing with complex driving scenarios and visualize sensor noise. Specifically, we propose a unified context representation empowered by deep neural networks. The unified representation is a differentiable risk field, which is an analytical representation of statistical cognition regarding traffic participants for downstream planning tasks. This representation method is nominated as RiskMap. A sampling-based planner is adopted to train and compare RiskMap generation methods. In this paper, the RiskMap generation tools and model structures are explored, the results illustrate that our method can improve driving safety and smoothness, and the limitation of our method is also discussed.

cs.RO↗

Velocity Field: An Informative Traveling Cost Representation for Trajectory Planning

Trajectory planning involves generating a series of space points to be followed in the near future. However, due to the complex and uncertain nature of the driving environment, it is impractical for autonomous vehicles~(AVs) to exhaustively design planning rules for optimizing future trajectories. To address this issue, we propose a local map representation method called Velocity Field. This approach provides heading and velocity priors for trajectory planning tasks, simplifying the planning process in complex urban driving. The heading and velocity priors can be learned from demonstrations of human drivers using our proposed loss. Additionally, we developed an iterative sampling-based planner to train and compare the differences between local map representations. We investigated local map representation forms for planning performance on a real-world dataset. Compared to learned rasterized cost maps, our method demonstrated greater reliability and computational efficiency.

cs.RO↗

A Generic Trajectory Planning Method for Constrained All-Wheel-Steering Robots

This paper presents a generic trajectory planning method for wheeled robots with fixed steering axes while the steering angle of each wheel is constrained. In the existing literatures, All-Wheel-Steering (AWS) robots, incorporating modes such as rotation-free translation maneuvers, in-situ rotational maneuvers, and proportional steering, exhibit inefficient performance due to time-consuming mode switches. This inefficiency arises from wheel rotation constraints and inter-wheel cooperation requirements. The direct application of a holonomic moving strategy can lead to significant slip angles or even structural failure. Additionally, the limited steering range of AWS wheeled robots exacerbates non-linearity characteristics, thereby complicating control processes. To address these challenges, we developed a novel planning method termed Constrained AWS (C-AWS), which integrates second-order discrete search with predictive control techniques. Experimental results demonstrate that our method adeptly generates feasible and smooth trajectories for C-AWS while adhering to steering angle constraints.

cs.RO↗

Accurate and Efficient Event-based Semantic Segmentation Using Adaptive Spiking Encoder-Decoder Network

Spiking neural networks (SNNs), known for their low-power, event-driven computation and intrinsic temporal dynamics, are emerging as promising solutions for processing dynamic, asynchronous signals from event-based sensors. Despite their potential, SNNs face challenges in training and architectural design, resulting in limited performance in challenging event-based dense prediction tasks compared to artificial neural networks (ANNs). In this work, we develop an efficient spiking encoder-decoder network (SpikingEDN) for large-scale event-based semantic segmentation tasks. To enhance the learning efficiency from dynamic event streams, we harness the adaptive threshold which improves network accuracy, sparsity and robustness in streaming inference. Moreover, we develop a dual-path Spiking Spatially-Adaptive Modulation module, which is specifically tailored to enhance the representation of sparse events and multi-modal inputs, thereby considerably improving network performance. Our SpikingEDN attains a mean intersection over union (MIoU) of 72.57\% on the DDD17 dataset and 58.32\% on the larger DSEC-Semantic dataset, showing competitive results to the state-of-the-art ANNs while requiring substantially fewer computational resources. Our results shed light on the untapped potential of SNNs in event-based vision applications. The source code will be made publicly available.

cs.CV↗

Superconductive Sodalite-like Clathrate Hydrides MXH$_{12}$ with Critical Temperatures of near 300 K under Pressures

We designed and investigated a series of ternary hydride compounds MXH$_{12}$ crystallizing in the cubic $Pm\overline{3}m$ structure as potential rare-earth and alkaline-earth superconductors. First-principles calculations were performed on these prospective superconductors across the pressure range of 50-200 GPa, revealing their electronic band structures, phonon dispersions, electron-phonon interactions, and superconducting properties. Several compounds were identified as dynamically stable, with ScYbH$_{12}$ and LuYbH$_{12}$ remaining stable at 70 GPa, and ScLuH$_{12}$ at 100 GPa. Notably, Eliashberg theory and electron-phonon coupling calculations predict CaLuH$_{12}$ to exhibit a remarkable $T_{c}$ of up to 294 K at 180 GPa. These findings unveil ternary hydrides as a promising class of high-temperature superconductors and provide insights for achieving superconductivity at lower or ambient pressures through material design and exploration.

cond-mat.supr-con↗

Multipath Identification and Mitigation with FDA-MIMO Radar

In smart city development, the automatic detection of structures and vehicles within urban or suburban areas via array radar (airborne or vehicle platforms) becomes crucial. However, the inescapable multipath effect adversely affects the radar's capability to detect and track targets. Frequency Diversity Array (FDA)-MIMO radar offers innovative solutions in mitigating multipath due to its frequency flexibility and waveform diversity traits amongst array elements. Hence, utilizing FDA-MIMO radar, this research proposes a multipath discrimination and suppression strategy to augment target detection and suppress false alarms. The primary advancement is the transformation of conventional multipath suppression into a multipath recognition issue, thereby enabling multipath components from single-frame echo data to be separated without prior knowledge. By offsetting the distance steering vectors of different objects to be detected, the accurate spectral information corresponding to the current distance unit can be extracted during spatial spectrum estimation. The direct and multipath components are differentiated depending on whether the transmitting and receiving angles match. Additionally, to mitigate high-order multipath, the echo intensity of multipath components is reduced via joint optimization of array transmit weighting and frequency increment. The numerical results show that the proposed algorithm can identify multipath at different distances in both single-target and multi-target scenarios, which is superior to the general MIMO radar.

eess.SP↗

Toward Motion Robustness: A masked attention regularization framework in remote photoplethysmography

There has been growing interest in facial video-based remote photoplethysmography (rPPG) measurement recently, with a focus on assessing various vital signs such as heart rate and heart rate variability. Despite previous efforts on static datasets, their approaches have been hindered by inaccurate region of interest (ROI) localization and motion issues, and have shown limited generalization in real-world scenarios. To address these challenges, we propose a novel masked attention regularization (MAR-rPPG) framework that mitigates the impact of ROI localization and complex motion artifacts. Specifically, our approach first integrates a masked attention regularization mechanism into the rPPG field to capture the visual semantic consistency of facial clips, while it also employs a masking technique to prevent the model from overfitting on inaccurate ROIs and subsequently degrading its performance. Furthermore, we propose an enhanced rPPG expert aggregation (EREA) network as the backbone to obtain rPPG signals and attention maps simultaneously. Our EREA network is capable of discriminating divergent attentions from different facial areas and retaining the consistency of spatiotemporal attention maps. For motion robustness, a simple open source detector MediaPipe for data preprocessing is sufficient for our framework due to its superior capability of rPPG signal extraction and attention regularization. Exhaustive experiments on three benchmark datasets (UBFC-rPPG, PURE, and MMPD) substantiate the superiority of our proposed method, outperforming recent state-of-the-art works by a considerable margin.

cs.CV↗

Superconductivity near 70 K in boron-carbon clathrates MB$_2$C$_8$ (M = Na, K, Rb, Cs) at ambient pressure

Inspired by the first boron-carbon (B-C) clathrate SrB$_3$C$_3$ and the ternary borohydride KB$_2$H$_8$ [Miao et al., Phys. Rev. B 104 L100504 (2021)], we have performed first-principles density functional theory calculations of the electronic and phonon band structures for B-C compounds MB$_2$C$_8$ (M = Na, K, Rb, Cs). Our calculations reveal that these materials are dynamically stable and can potentially exhibit superconductivity at ambient pressure. However, only the K, Rb, and Cs compounds exhibit thermodynamic stability below 50 GPa, while NaB$_2$C$_8$ remains thermodynamically unstable at all pressures considered. Based on the Allen and Dynes modified McMillan equation, we predict the superconducting transition temperature $T_c$ of these compounds to be over 65 K at ambient pressure, with $T_c$ decreasing under higher pressures. Remarkably, we find CsB$_2$C$_8$ possesses the highest predicted $T_c$ of 68.76 K. Our findings demonstrate the possibility of high temperature superconductivity in cubic MB$_2$C$_8$ at ambient pressure, expanding the B-C clathrate superconductor family. These results provide valuable insights to guide the identification of new atmospheric pressure superconductors.

cond-mat.supr-con↗

PLUTO: Pushing the Limit of Imitation Learning-based Planning for Autonomous Driving

We present PLUTO, a powerful framework that pushes the limit of imitation learning-based planning for autonomous driving. Our improvements stem from three pivotal aspects: a longitudinal-lateral aware model architecture that enables flexible and diverse driving behaviors; An innovative auxiliary loss computation method that is broadly applicable and efficient for batch-wise calculation; A novel training framework that leverages contrastive learning, augmented by a suite of new data augmentations to regulate driving behaviors and facilitate the understanding of underlying interactions. We assessed our framework using the large-scale real-world nuPlan dataset and its associated standardized planning benchmark. Impressively, PLUTO achieves state-of-the-art closed-loop performance, beating other competing learning-based methods and surpassing the current top-performed rule-based planner for the first time. Results and code are available at https://jchengai.github.io/pluto.

cs.RO↗

Pulse shape discrimination technique for diffuse supernova neutrino background search with JUNO

Pulse shape discrimination (PSD) is widely used in particle and nuclear physics. Specifically in liquid scintillator detectors, PSD facilitates the classification of different particle types based on their energy deposition patterns. This technique is particularly valuable for studies of the Diffuse Supernova Neutrino Background (DSNB), nucleon decay, and dark matter searches. This paper presents a detailed investigation of the PSD technique, applied in the DSNB search performed with the Jiangmen Underground Neutrino Observatory (JUNO). Instead of using conventional cut-and-count methods, we employ methods based on Boosted Decision Trees and Neural Networks and compare their capability to distinguish the DSNB signals from the atmospheric neutrino neutral-current background events. The two methods demonstrate comparable performance, resulting in a 50\% to 80\% improvement in signal efficiency compared to a previous study performed for JUNO~\cite{JUNO:2015zny}. Moreover, we study the dependence of the PSD performance on the visible energy and final state composition of the events and find a significant dependence on the presence/absence of $^{11}$C. Finally, we evaluate the impact of the detector effects (photon propagation, PMT dark noise, and waveform reconstruction) on the PSD performance.

hep-ex↗

Generation of optical toroidal vortex with circular asymmetric gratings

Toroidal vortex, a topological structure commonly observed in nature, exist in various types such as bubbles produced by dolphins and the air flow surrounding a flying dandelion. A toroidal vortex corresponds to a spatiotemporal wave packet in the shape of a donut that propagates in the direction perpendicular to the plane of the ring. In this work, we propose a circular asymmetric grating to generate vortex rings. A cylindrical vector wave packet is transformed by the device into a transmitted toroidal vortex pulse. Such a compact toroidal vortex generator may find applications in optical topology research and high-dimensional optical communications.

physics.optics↗

Improving Autonomous Driving Safety with POP: A Framework for Accurate Partially Observed Trajectory Predictions

Accurate trajectory prediction is crucial for safe and efficient autonomous driving, but handling partial observations presents significant challenges. To address this, we propose a novel trajectory prediction framework called Partial Observations Prediction (POP) for congested urban road scenarios. The framework consists of two key stages: self-supervised learning (SSL) and feature distillation. POP first employs SLL to help the model learn to reconstruct history representations, and then utilizes feature distillation as the fine-tuning task to transfer knowledge from the teacher model, which has been pre-trained with complete observations, to the student model, which has only few observations. POP achieves comparable results to top-performing methods in open-loop experiments and outperforms the baseline method in closed-loop simulations, including safety metrics. Qualitative results illustrate the superiority of POP in providing reasonable and safe trajectory predictions.

cs.RO↗

SC-Tune: Unleashing Self-Consistent Referential Comprehension in Large Vision Language Models

Recent trends in Large Vision Language Models (LVLMs) research have been increasingly focusing on advancing beyond general image understanding towards more nuanced, object-level referential comprehension. In this paper, we present and delve into the self-consistency capability of LVLMs, a crucial aspect that reflects the models' ability to both generate informative captions for specific objects and subsequently utilize these captions to accurately re-identify the objects in a closed-loop process. This capability significantly mirrors the precision and reliability of fine-grained visual-language understanding. Our findings reveal that the self-consistency level of existing LVLMs falls short of expectations, posing limitations on their practical applicability and potential. To address this gap, we introduce a novel fine-tuning paradigm named Self-Consistency Tuning (SC-Tune). It features the synergistic learning of a cyclic describer-locator system. This paradigm is not only data-efficient but also exhibits generalizability across multiple LVLMs. Through extensive experiments, we demonstrate that SC-Tune significantly elevates performance across a spectrum of object-level vision-language benchmarks and maintains competitive or improved performance on image-level vision-language benchmarks. Both our model and code will be publicly available at https://github.com/ivattyue/SC-Tune.

cs.CV↗

Efficient Global Navigational Planning in 3D Structures based on Point Cloud Tomography

Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic understanding of the environment to navigate ground robots in multi-layer structures. Our approach generates tomogram slices using the point cloud map to encode the geometric structure as ground and ceiling elevations. Then it evaluates the scene traversability considering the robot's motion capabilities. Both the tomogram construction and the scene evaluation are accelerated through parallel computation. Our approach further alleviates the trajectory generation complexity compared with planning in 3D spaces directly. It generates 3D trajectories by searching through multiple tomogram slices and separately adjusts the robot height to avoid overhangs. We evaluate our framework in various simulation scenarios and further test it in the real world on a quadrupedal robot. Our approach reduces the scene evaluation time by 3 orders of magnitude and improves the path planning speed by 3 times compared with existing approaches, demonstrating highly efficient global navigation in various complex 3D environments. The code is available at: https://github.com/byangw/PCT_planner.

cs.RO↗

Model Independent Approach of the JUNO $^8$B Solar Neutrino Program

The physics potential of detecting $^8$B solar neutrinos will be exploited at the Jiangmen Underground Neutrino Observatory (JUNO), in a model independent manner by using three distinct channels of the charged-current (CC), neutral-current (NC) and elastic scattering (ES) interactions. Due to the largest-ever mass of $^{13}$C nuclei in the liquid-scintillator detectors and the {expected} low background level, $^8$B solar neutrinos would be observable in the CC and NC interactions on $^{13}$C for the first time. By virtue of optimized event selections and muon veto strategies, backgrounds from the accidental coincidence, muon-induced isotopes, and external backgrounds can be greatly suppressed. Excellent signal-to-background ratios can be achieved in the CC, NC and ES channels to guarantee the $^8$B solar neutrino observation. From the sensitivity studies performed in this work, we show that JUNO, with ten years of data, can reach the {1$σ$} precision levels of 5%, 8% and 20% for the $^8$B neutrino flux, $\sin^2θ_{12}$, and $Δm^2_{21}$, respectively. It would be unique and helpful to probe the details of both solar physics and neutrino physics. In addition, when combined with SNO, the world-best precision of 3% is expected for the $^8$B neutrino flux measurement.

hep-ex↗

IR-STP: Enhancing Autonomous Driving with Interaction Reasoning in Spatio-Temporal Planning

Considerable research efforts have been devoted to the development of motion planning algorithms, which form a cornerstone of the autonomous driving system (ADS). Nonetheless, acquiring an interactive and secure trajectory for the ADS remains challenging due to the complex nature of interaction modeling in planning. Modern planning methods still employ a uniform treatment of prediction outcomes and solely rely on collision-avoidance strategies, leading to suboptimal planning performance. To address this limitation, this paper presents a novel prediction-based interactive planning framework for autonomous driving. Our method incorporates interaction reasoning into spatio-temporal (s-t) planning by defining interaction conditions and constraints. Specifically, it records and continually updates interaction relations for each planned state throughout the forward search. We assess the performance of our approach alongside state-of-the-art methods in the CommonRoad environment. Our experiments include a total of 232 scenarios, with variations in the accuracy of prediction outcomes, modality, and degrees of planner aggressiveness. The experimental findings demonstrate the effectiveness and robustness of our method. It leads to a reduction of collision times by approximately 17.6% in 3-modal scenarios, along with improvements of nearly 7.6% in distance completeness and 31.7% in the fail rate in single-modal scenarios. For the community's reference, our code is accessible at https://github.com/ChenYingbing/IR-STP-Planner.

cs.RO↗

Enhancing Campus Mobility: Achievements and Challenges of Autonomous Shuttle "Snow Lion''

The rapid evolution of autonomous vehicles (AVs) has significantly influenced global transportation systems. In this context, we present ``Snow Lion'', an autonomous shuttle meticulously designed to revolutionize on-campus transportation, offering a safer and more efficient mobility solution for students, faculty, and visitors. The primary objective of this research is to enhance campus mobility by providing a reliable, efficient, and eco-friendly transportation solution that seamlessly integrates with existing infrastructure and meets the diverse needs of a university setting. To achieve this goal, we delve into the intricacies of the system design, encompassing sensing, perception, localization, planning, and control aspects. We evaluate the autonomous shuttle's performance in real-world scenarios, involving a 1146-kilometer road haul and the transportation of 442 passengers over a two-month period. These experiments demonstrate the effectiveness of our system and offer valuable insights into the intricate process of integrating an autonomous vehicle within campus shuttle operations. Furthermore, a thorough analysis of the lessons derived from this experience furnishes a valuable real-world case study, accompanied by recommendations for future research and development in the field of autonomous driving.

cs.RO↗