arXiv subjects

Jie Yin

Publications and source records attributed to Jie Yin.

At least 37 records · Page 2Linked to original sources

arXiv2025

Towards Robust Sensor-Fusion Ground SLAM: A Comprehensive Benchmark and A Resilient Framework

Considerable advancements have been achieved in SLAM methods tailored for structured environments, yet their robustness under challenging corner cases remains a critical limitation. Although multi-sensor fusion approaches integrating diverse sensors have shown promising performance improvements, the research community faces two key barriers: On one hand, the lack of standardized and configurable benchmarks that systematically evaluate SLAM algorithms under diverse degradation scenarios hinders comprehensive performance assessment. While on the other hand, existing SLAM frameworks primarily focus on fusing a limited set of sensor types, without effectively addressing adaptive sensor selection strategies for varying environmental conditions. To bridge these gaps, we make three key contributions: First, we introduce M3DGR dataset: a sensor-rich benchmark with systematically induced degradation patterns including visual challenge, LiDAR degeneracy, wheel slippage and GNSS denial. Second, we conduct a comprehensive evaluation of forty SLAM systems on M3DGR, providing critical insights into their robustness and limitations under challenging real-world conditions. Third, we develop a resilient modular multi-sensor fusion framework named Ground-Fusion++, which demonstrates robust performance by coupling GNSS, RGB-D, LiDAR, IMU (Inertial Measurement Unit) and wheel odometry. Codes and datasets are publicly available.

cs.RO↗

arXiv2025

Combating Confirmation Bias: A Unified Pseudo-Labeling Framework for Entity Alignment

Entity alignment (EA) aims at identifying equivalent entity pairs across different knowledge graphs (KGs) that refer to the same real-world identity. To circumvent the shortage of seed alignments provided for training, recent EA models utilize pseudo-labeling strategies to iteratively add unaligned entity pairs predicted with high confidence to the seed alignments for model training. However, the adverse impact of confirmation bias during pseudo-labeling has been largely overlooked, thus hindering entity alignment performance. To systematically combat confirmation bias for pseudo-labeling-based entity alignment, we propose a Unified Pseudo-Labeling framework for Entity Alignment (UPL-EA) that explicitly eliminates pseudo-labeling errors to boost the accuracy of entity alignment. UPL-EA consists of two complementary components: (1) Optimal Transport (OT)-based pseudo-labeling uses discrete OT modeling as an effective means to determine entity correspondences and reduce erroneous matches across two KGs. An effective criterion is derived to infer pseudo-labeled alignments that satisfy one-to-one correspondences; (2) Parallel pseudo-label ensembling refines pseudo-labeled alignments by combining predictions over multiple models independently trained in parallel. The ensembled pseudo-labeled alignments are thereafter used to augment seed alignments to reinforce subsequent model training for alignment inference. The effectiveness of UPL-EA in eliminating pseudo-labeling errors is both theoretically supported and experimentally validated. Our extensive results and in-depth analyses demonstrate the superiority of UPL-EA over 15 competitive baselines and its utility as a general pseudo-labeling framework for entity alignment.

cs.AI↗

arXiv2025

Hierarchical Relational Learning for Few-Shot Knowledge Graph Completion

Knowledge graphs (KGs) are powerful in terms of their inference abilities, but are also notorious for their incompleteness and long-tail distribution of relations. To address these challenges and expand the coverage of KGs, few-shot KG completion aims to make predictions for triplets involving novel relations when only a few training triplets are provided as reference. Previous methods have focused on designing local neighbor aggregators to learn entity-level information and/or imposing a potentially invalid sequential dependency assumption at the triplet level to learn meta relation information. However, pairwise triplet-level interactions and context-level relational information have been largely overlooked for learning meta representations of few-shot relations. In this paper, we propose a hierarchical relational learning method (HiRe) for few-shot KG completion. By jointly capturing three levels of relational information (entity-level, triplet-level and context-level), HiRe can effectively learn and refine meta representations of few-shot relations, and thus generalize well to new unseen relations. Extensive experiments on benchmark datasets validate the superiority of HiRe over state-of-the-art methods. The code can be found in https://github.com/alexhw15/HiRe.git.

cs.LG↗

arXiv2025

Conflict-Aware Pseudo Labeling via Optimal Transport for Entity Alignment

Entity alignment aims to discover unique equivalent entity pairs with the same meaning across different knowledge graphs (KGs). Existing models have focused on projecting KGs into a latent embedding space so that inherent semantics between entities can be captured for entity alignment. However, the adverse impacts of alignment conflicts have been largely overlooked during training, thereby limiting the entity alignment performance. To address this issue, we propose a novel Conflict-aware Pseudo Labeling via Optimal Transport model (CPL-OT) for entity alignment. The key idea is to iteratively pseudo-label alignment pairs empowered with conflict-aware optimal transport (OT) modeling to boost the precision of entity alignment. CPL-OT is composed of two key components -- entity embedding learning with global-local aggregation and iterative conflict-aware pseudo labeling -- that mutually reinforce each other. To mitigate alignment conflicts during pseudo labeling, we propose to use optimal transport as an effective means to warrant one-to-one entity alignment between two KGs with the minimal overall transport cost. Extensive experiments on benchmark datasets validate the superiority of CPL-OT over state-of-the-art baselines under both settings with and without prior alignment seeds.

cs.LG↗

arXiv2025

Multi-Granular Attention based Heterogeneous Hypergraph Neural Network

Heterogeneous graph neural networks (HeteGNNs) have demonstrated strong abilities to learn node representations by effectively extracting complex structural and semantic information in heterogeneous graphs. Most of the prevailing HeteGNNs follow the neighborhood aggregation paradigm, leveraging meta-path based message passing to learn latent node representations. However, due to the pairwise nature of meta-paths, these models fail to capture high-order relations among nodes, resulting in suboptimal performance. Additionally, the challenge of ``over-squashing'', where long-range message passing in HeteGNNs leads to severe information distortion, further limits the efficacy of these models. To address these limitations, this paper proposes MGA-HHN, a Multi-Granular Attention based Heterogeneous Hypergraph Neural Network for heterogeneous graph representation learning. MGA-HHN introduces two key innovations: (1) a novel approach for constructing meta-path based heterogeneous hypergraphs that explicitly models higher-order semantic information in heterogeneous graphs through multiple views, and (2) a multi-granular attention mechanism that operates at both the node and hyperedge levels. This mechanism enables the model to capture fine-grained interactions among nodes sharing the same semantic context within a hyperedge type, while preserving the diversity of semantics across different hyperedge types. As such, MGA-HHN effectively mitigates long-range message distortion and generates more expressive node representations. Extensive experiments on real-world benchmark datasets demonstrate that MGA-HHN outperforms state-of-the-art models, showcasing its effectiveness in node classification, node clustering and visualization tasks.

cs.LG↗

arXiv2024

An Attack Traffic Identification Method Based on Temporal Spectrum

To address the issues of insufficient robustness, unstable features, and data noise interference in existing network attack detection and identification models, this paper proposes an attack traffic detection and identification method based on temporal spectrum. First, traffic data is segmented by a sliding window to construct a feature sequence and a corresponding label sequence for network traffic. Next, the proposed spectral label generation methods, SSPE and COAP, are applied to transform the label sequence into spectral labels and the feature sequence into temporal features. Spectral labels and temporal features are used to capture and represent behavioral patterns of attacks. Finally, the constructed temporal features and spectral labels are used to train models, which subsequently detects and identifies network attack behaviors. Experimental results demonstrate that compared to traditional methods, models trained with the SSPE or COAP method improve identification accuracy by 10%, and exhibit strong robustness, particularly in noisy environments.

cs.AI↗

arXiv2024

Results of the Big ANN: NeurIPS'23 competition

The 2023 Big ANN Challenge, held at NeurIPS 2023, focused on advancing the state-of-the-art in indexing data structures and search algorithms for practical variants of Approximate Nearest Neighbor (ANN) search that reflect the growing complexity and diversity of workloads. Unlike prior challenges that emphasized scaling up classical ANN search ~\cite{DBLP:conf/nips/SimhadriWADBBCH21}, this competition addressed filtered search, out-of-distribution data, sparse and streaming variants of ANNS. Participants developed and submitted innovative solutions that were evaluated on new standard datasets with constrained computational resources. The results showcased significant improvements in search accuracy and efficiency over industry-standard baselines, with notable contributions from both academic and industrial teams. This paper summarizes the competition tracks, datasets, evaluation metrics, and the innovative approaches of the top-performing submissions, providing insights into the current advancements and future directions in the field of approximate nearest neighbor search.

cs.IR↗

arXiv2024

Quasi-Framelets: Robust Graph Neural Networks via Adaptive Framelet Convolution

This paper aims to provide a novel design of a multiscale framelet convolution for spectral graph neural networks (GNNs). While current spectral methods excel in various graph learning tasks, they often lack the flexibility to adapt to noisy, incomplete, or perturbed graph signals, making them fragile in such conditions. Our newly proposed framelet convolution addresses these limitations by decomposing graph data into low-pass and high-pass spectra through a finely-tuned multiscale approach. Our approach directly designs filtering functions within the spectral domain, allowing for precise control over the spectral components. The proposed design excels in filtering out unwanted spectral information and significantly reduces the adverse effects of noisy graph signals. Our approach not only enhances the robustness of GNNs but also preserves crucial graph features and structures. Through extensive experiments on diverse, real-world graph datasets, we demonstrate that our framelet convolution achieves superior performance in node classification tasks. It exhibits remarkable resilience to noisy data and adversarial attacks, highlighting its potential as a robust solution for real-world graph applications. This advancement opens new avenues for more adaptive and reliable spectral GNN architectures.

cs.LG↗

arXiv2024

Disentangled Acoustic Fields For Multimodal Physical Scene Understanding

We study the problem of multimodal physical scene understanding, where an embodied agent needs to find fallen objects by inferring object properties, direction, and distance of an impact sound source. Previous works adopt feed-forward neural networks to directly regress the variables from sound, leading to poor generalization and domain adaptation issues. In this paper, we illustrate that learning a disentangled model of acoustic formation, referred to as disentangled acoustic field (DAF), to capture the sound generation and propagation process, enables the embodied agent to construct a spatial uncertainty map over where the objects may have fallen. We demonstrate that our analysis-by-synthesis framework can jointly infer sound properties by explicitly decomposing and factorizing the latent space of the disentangled model. We further show that the spatial uncertainty map can significantly improve the success rate for the localization of fallen objects by proposing multiple plausible exploration locations.

cs.RO↗

arXiv2024

Implicit Event-RGBD Neural SLAM

Implicit neural SLAM has achieved remarkable progress recently. Nevertheless, existing methods face significant challenges in non-ideal scenarios, such as motion blur or lighting variation, which often leads to issues like convergence failures, localization drifts, and distorted mapping. To address these challenges, we propose EN-SLAM, the first event-RGBD implicit neural SLAM framework, which effectively leverages the high rate and high dynamic range advantages of event data for tracking and mapping. Specifically, EN-SLAM proposes a differentiable CRF (Camera Response Function) rendering technique to generate distinct RGB and event camera data via a shared radiance field, which is optimized by learning a unified implicit representation with the captured event and RGBD supervision. Moreover, based on the temporal difference property of events, we propose a temporal aggregating optimization strategy for the event joint tracking and global bundle adjustment, capitalizing on the consecutive difference constraints of events, significantly enhancing tracking accuracy and robustness. Finally, we construct the simulated dataset DEV-Indoors and real captured dataset DEV-Reals containing 6 scenes, 17 sequences with practical motion blur and lighting changes for evaluations. Experimental results show that our method outperforms the SOTA methods in both tracking ATE and mapping ACC with a real-time 17 FPS in various challenging environments. Project page: https://delinqu.github.io/EN-SLAM.

cs.CV↗

arXiv2024

Reprogrammable and reconfigurable mechanical computing metastructures with stable and high-density memory

Previous mechanical meta-structures used for mechanical memory storage, computing and information processing are severely constrained by low information density and/or non-robust structural stiffness to stably protect the maintained information. To address these challenges, we proposed a novel reprogrammable multifunctional mechanical metastructure made by an unprecedented building block based on kinematic mechanism. The proposed meta-structure can achieve all abovementioned functionalities accompanying with high information density and promising structural stability. We attribute all these merits to the intrinsic kinematic bifurcations of structural units, which enable the periodic meta-structure with additional and independently deformable bi-stable structural segments, and multi-layered deformed configurations to significantly enlarge the available information bits. We validate the stable information storage are originated from the compatible deformations of local structural segments before and after bifurcations. We illustrated the stored information can be feasibly reprogrammed by magnetic poles. Our design strategy paves new way for creating novel functional mechanical metastuctures.

physics.app-ph↗

arXiv2024

Ground-Fusion: A Low-cost Ground SLAM System Robust to Corner Cases

We introduce Ground-Fusion, a low-cost sensor fusion simultaneous localization and mapping (SLAM) system for ground vehicles. Our system features efficient initialization, effective sensor anomaly detection and handling, real-time dense color mapping, and robust localization in diverse environments. We tightly integrate RGB-D images, inertial measurements, wheel odometer and GNSS signals within a factor graph to achieve accurate and reliable localization both indoors and outdoors. To ensure successful initialization, we propose an efficient strategy that comprises three different methods: stationary, visual, and dynamic, tailored to handle diverse cases. Furthermore, we develop mechanisms to detect sensor anomalies and degradation, handling them adeptly to maintain system accuracy. Our experimental results on both public and self-collected datasets demonstrate that Ground-Fusion outperforms existing low-cost SLAM systems in corner cases. We release the code and datasets at https://github.com/SJTU-ViSYS/Ground-Fusion.

cs.RO↗

arXiv2023

Adaptive Hierarchical Origami Metastructures

Shape-morphing capabilities are crucial for enabling multifunctionality in both biological and artificial systems. Various strategies for shape morphing have been proposed for applications in metamaterials and robotics. However, few of these approaches have achieved the ability to seamlessly transform into a multitude of volumetric shapes post-fabrication using a relatively simple actuation and control mechanism. Taking inspiration from thick origami and hierarchies in nature, we present a new hierarchical construction method based on polyhedrons to create an extensive library of compact origami metastructures. We show that a single hierarchical origami structure can autonomously adapt to over 103 versatile architectural configurations, achieved with the utilization of fewer than 3 actuation degrees of freedom and employing simple transition kinematics. We uncover the fundamental principles governing theses shape transformation through theoretical models. Furthermore, we also demonstrate the wide-ranging potential applications of these transformable hierarchical structures. These include their uses as untethered and autonomous robotic transformers capable of various gait-shifting and multidirectional locomotion, as well as rapidly self-deployable and self-reconfigurable architecture, exemplifying its scalability up to the meter scale. Lastly, we introduce the concept of multitask reconfigurable and deployable space robots and habitats, showcasing the adaptability and versatility of these metastructures.

cs.RO↗

arXiv2023

Ground-Challenge: A Multi-sensor SLAM Dataset Focusing on Corner Cases for Ground Robots

High-quality datasets can speed up breakthroughs and reveal potential developing directions in SLAM research. To support the research on corner cases of visual SLAM systems, this paper presents Ground-Challenge: a challenging dataset comprising 36 trajectories with diverse corner cases such as aggressive motion, severe occlusion, changing illumination, few textures, pure rotation, motion blur, wheel suspension, etc. The dataset was collected by a ground robot with multiple sensors including an RGB-D camera, an inertial measurement unit (IMU), a wheel odometer and a 3D LiDAR. All of these sensors were well-calibrated and synchronized, and their data were recorded simultaneously. To evaluate the performance of cutting-edge SLAM systems, we tested them on our dataset and demonstrated that these systems are prone to drift and fail on specific sequences. We will release the full dataset and relevant materials upon paper publication to benefit the research community. For more information, visit our project website at https://github.com/sjtuyinjie/Ground-Challenge.

cs.RO↗

arXiv2023

Sky-GVINS: a Sky-segmentation Aided GNSS-Visual-Inertial System for Robust Navigation in Urban Canyons

Integrating Global Navigation Satellite Systems (GNSS) in Simultaneous Localization and Mapping (SLAM) systems draws increasing attention to a global and continuous localization solution. Nonetheless, in dense urban environments, GNSS-based SLAM systems will suffer from the Non-Line-Of-Sight (NLOS) measurements, which might lead to a sharp deterioration in localization results. In this paper, we propose to detect the sky area from the up-looking camera to improve GNSS measurement reliability for more accurate position estimation. We present Sky-GVINS: a sky-aware GNSS-Visual-Inertial system based on a recent work called GVINS. Specifically, we adopt a global threshold method to segment the sky regions and non-sky regions in the fish-eye sky-pointing image and then project satellites to the image using the geometric relationship between satellites and the camera. After that, we reject satellites in non-sky regions to eliminate NLOS signals. We investigated various segmentation algorithms for sky detection and found that the Otsu algorithm reported the highest classification rate and computational efficiency, despite the algorithm's simplicity and ease of implementation. To evaluate the effectiveness of Sky-GVINS, we built a ground robot and conducted extensive real-world experiments on campus. Experimental results show that our method improves localization accuracy in both open areas and dense urban environments compared to the baseline method. Finally, we also conduct a detailed analysis and point out possible further directions for future research. For detailed information, visit our project website at https://github.com/SJTU-ViSYS/Sky-GVINS.

cs.RO↗

arXiv2022

Search Efficient Binary Network Embedding

Traditional network embedding primarily focuses on learning a continuous vector representation for each node, preserving network structure and/or node content information, such that off-the-shelf machine learning algorithms can be easily applied to the vector-format node representations for network analysis. However, the learned continuous vector representations are inefficient for large-scale similarity search, which often involves finding nearest neighbors measured by distance or similarity in a continuous vector space. In this paper, we propose a search efficient binary network embedding algorithm called BinaryNE to learn a binary code for each node, by simultaneously modeling node context relations and node attribute relations through a three-layer neural network. BinaryNE learns binary node representations through a stochastic gradient descent based online learning algorithm. The learned binary encoding not only reduces memory usage to represent each node, but also allows fast bit-wise comparisons to support faster node similarity search than using Euclidean distance or other distance measures. Extensive experiments and comparisons demonstrate that BinaryNE not only delivers more than 25 times faster search speed, but also provides comparable or better search quality than traditional continuous vector based network embedding methods. The binary codes learned by BinaryNE also render competitive performance on node classification and node clustering tasks. The source code of this paper is available at https://github.com/daokunzhang/BinaryNE.

cs.SI↗

arXiv2022

Link Prediction with Contextualized Self-Supervision

Link prediction aims to infer the link existence between pairs of nodes in networks/graphs. Despite their wide application, the success of traditional link prediction algorithms is hindered by three major challenges -- link sparsity, node attribute noise and dynamic changes -- that are faced by many real-world networks. To address these challenges, we propose a Contextualized Self-Supervised Learning (CSSL) framework that fully exploits structural context prediction for link prediction. The proposed CSSL framework learns a link encoder to infer the link existence probability from paired node embeddings, which are constructed via a transformation on node attributes. To generate informative node embeddings for link prediction, structural context prediction is leveraged as a self-supervised learning task to boost the link prediction performance. Two types of structural context are investigated, i.e., context nodes collected from random walks vs. context subgraphs. The CSSL framework can be trained in an end-to-end manner, with the learning of model parameters supervised by both the link prediction and self-supervised learning tasks. The proposed CSSL is a generic and flexible framework in the sense that it can handle both attributed and non-attributed networks, and operate under both transductive and inductive link prediction settings. Extensive experiments and ablation studies on seven real-world benchmark networks demonstrate the superior performance of the proposed self-supervision based link prediction algorithm over state-of-the-art baselines, on different types of networks under both transductive and inductive settings. The proposed CSSL also yields competitive performance in terms of its robustness to node attribute noise and scalability over large-scale networks.

cs.SI↗

arXiv2022

LADDER: Latent Boundary-guided Adversarial Training

Deep Neural Networks (DNNs) have recently achieved great success in many classification tasks. Unfortunately, they are vulnerable to adversarial attacks that generate adversarial examples with a small perturbation to fool DNN models, especially in model sharing scenarios. Adversarial training is proved to be the most effective strategy that injects adversarial examples into model training to improve the robustness of DNN models against adversarial attacks. However, adversarial training based on the existing adversarial examples fails to generalize well to standard, unperturbed test data. To achieve a better trade-off between standard accuracy and adversarial robustness, we propose a novel adversarial training framework called LAtent bounDary-guided aDvErsarial tRaining (LADDER) that adversarially trains DNN models on latent boundary-guided adversarial examples. As opposed to most of the existing methods that generate adversarial examples in the input space, LADDER generates a myriad of high-quality adversarial examples through adding perturbations to latent features. The perturbations are made along the normal of the decision boundary constructed by an SVM with an attention mechanism. We analyze the merits of our generated boundary-guided adversarial examples from a boundary field perspective and visualization view. Extensive experiments and detailed analysis on MNIST, SVHN, CelebA, and CIFAR-10 validate the effectiveness of LADDER in achieving a better trade-off between standard accuracy and adversarial robustness as compared with vanilla DNNs and competitive baselines.

cs.LG↗