arXiv subjects

Jun Liu

Publications and source records attributed to Jun Liu.

At least 595 records · Page 33Linked to original sources

arXiv2022

Cluster Head Detection for Hierarchical UAV Swarm With Graph Self-supervised Learning

In this paper, we study the cluster head detection problem of a two-level unmanned aerial vehicle (UAV) swarm network (USNET) with multiple UAV clusters, where the inherent follow strategy (IFS) of low-level follower UAVs (FUAVs) with respect to high-level cluster head UAVs (HUAVs) is unknown. We first propose a graph attention self-supervised learning algorithm (GASSL) to detect the HUAVs of a single UAV cluster, where the GASSL can fit the IFS at the same time. Then, to detect the HUAVs in the USNET with multiple UAV clusters, we develop a multi-cluster graph attention self-supervised learning algorithm (MC-GASSL) based on the GASSL. The MC-GASSL clusters the USNET with a gated recurrent unit (GRU)-based metric learning scheme and finds the HUAVs in each cluster with GASSL. Numerical results show that the GASSL can detect the HUAVs in single UAV clusters obeying various kinds of IFSs with over 98% average accuracy. The simulation results also show that the clustering purity of the USNET with MC-GASSL exceeds that with traditional clustering algorithms by at least 10% average. Furthermore, the MC-GASSL can efficiently detect all the HUAVs in USNETs with various IFSs and cluster numbers with low detection redundancies.

cs.LG↗

arXiv2022

Bridging the Source-to-target Gap for Cross-domain Person Re-Identification with Intermediate Domains

Cross-domain person re-identification (re-ID), such as unsupervised domain adaptive (UDA) re-ID, aims to transfer the identity-discriminative knowledge from the source to the target domain. Existing methods commonly consider the source and target domains are isolated from each other, i.e., no intermediate status is modeled between both domains. Directly transferring the knowledge between two isolated domains can be very difficult, especially when the domain gap is large. From a novel perspective, we assume these two domains are not completely isolated, but can be connected through intermediate domains. Instead of directly aligning the source and target domains against each other, we propose to align the source and target domains against their intermediate domains for a smooth knowledge transfer. To discover and utilize these intermediate domains, we propose an Intermediate Domain Module (IDM) and a Mirrors Generation Module (MGM). IDM has two functions: 1) it generates multiple intermediate domains by mixing the hidden-layer features from source and target domains and 2) it dynamically reduces the domain gap between the source / target domain features and the intermediate domain features. While IDM achieves good domain alignment, it introduces a side effect, i.e., the mix-up operation may mix the identities into a new identity and lose the original identities. To compensate this, MGM is introduced by mapping the features into the IDM-generated intermediate domains without changing their original identity. It allows to focus on minimizing domain variations to promote the alignment between the source / target domain and intermediate domains, which reinforces IDM into IDM++. We extensively evaluate our method under both the UDA and domain generalization (DG) scenarios and observe that IDM++ yields consistent performance improvement for cross-domain re-ID, achieving new state of the art.

cs.CV↗

arXiv2022

A well-conditioned direct PinT algorithm for first-and second-order evolutionary equations

In this paper, we propose a direct parallel-in-time (PinT) algorithm for time-dependent problems with first- or second-order derivative. We use a second-order boundary value method as the time integrator that leads to a tridiagonal time discretization matrix. Instead of solving the corresponding all-at-once system iteratively, we diagonalize the time discretization matrix, which yields a direct parallel implementation across all time levels. A crucial issue on this methodology is how the condition number of the eigenvector matrix $V$ grows as $n$ is increased, where $n$ is the number of time levels. A large condition number leads to large roundoff error in the diagonalization procedure, which could seriously pollute the numerical accuracy. Based on a novel connection between the characteristic equation and the Chebyshev polynomials, we present explicit formulas for computing $V$ and $V^{-1}$, by which we prove that $\mathrm{Cond}_2(V)=\mathcal{O}(n^{2})$. This implies that the diagonalization process is well-conditioned and the roundoff error only increases moderately as $n$ grows and thus, compared to other direct PinT algorithms, a much larger $n$ can be used to yield satisfactory parallelism. Numerical results on parallel machine are given to support our findings, where over 60 times speedup is achieved with 256 cores.

math.NA↗

arXiv2022

Opening the Black Box of Deep Neural Networks in Physical Layer Communication

Deep Neural Network (DNN)-based physical layer techniques are attracting considerable interest due to their potential to enhance communication systems. However, most studies in the physical layer have tended to focus on the application of DNN models to wireless communication problems but not to theoretically understand how does a DNN work in a communication system. In this paper, we aim to quantitatively analyze why DNNs can achieve comparable performance in the physical layer comparing with traditional techniques and their cost in terms of computational complexity. We further investigate and also experimentally validate how information is flown in a DNN-based communication system under the information theoretic concepts.

eess.SP↗

arXiv2022

A Boundary Regression Model for Nested Named Entity Recognition

Recognizing named entities (NEs) is commonly conducted as a classification problem that predicts a class tag for a word or a NE candidate in a sentence. In shallow structures, categorized features are weighted to support the prediction. Recent developments in neural networks have adopted deep structures that map categorized features into continuous representations. This approach unfolds a dense space saturated with high-order abstract semantic information, where the prediction is based on distributed feature representations. In this paper, positions of NEs in a sentence are represented as continuous values. Then, a regression operation is introduced to regress boundaries of NEs in a sentence. Based on boundary regression, we design a boundary regression model to support nested NE recognition. It is a multiobjective learning framework, which simultaneously predicts the classification score of a NE candidate and refine its spatial location in a sentence. It has the advantage to resolve nested NEs and support boundary regression for locating NEs in a sntence. By sharing parameters for predicting and locating, this model enables more potent nonlinear function approximators to enhance model discriminability. Experiments demonstrate state-of-the-art performance for nested NE recognition\footnote{Our codes to implement the BR model are available at: \url{https://github.com/wuyuefei3/BR}.}.

cs.CL↗

arXiv2022

Diffraction properties of lights with transverse orbital angular momentum

Spatiotemporal optical vortex (STOV) is a unique optical vortex with phase singularity in the space-time domain and the photons in a STOV can carry transverse orbital angular momentum (OAM). The STOV shows many fantastic properties which are worth exploring. Here, we theoretically and experimentally study the diffraction property of STOV, which is a fundamental wave phenomenon. The diffraction behaviors of STOVs are obviously affected by the transverse OAM. The diffraction patterns of STOV pulses diffracted by a grating show multi-lobe structure with each gap corresponding to 1 topological charge. The diffraction properties of lights with transverse OAM are demonstrated clearly and help us understanding the physical properties of STOV, which will be of special applications, such as the realization of fast detection of STOVs with different topological charges, which may pay the way for STOV based optical communication.

physics.optics↗

arXiv2022

Topmetal-M: a novel pixel sensor for compact tracking applications

The Topmetal-M is a large area pixel sensor (18 mm * 23 mm) prototype fabricated in a new 130 nm high-resistivity CMOS process in 2019. It contains 400 rows * 512 columns square pixels with the pitch of 40 μm. In Topmetal-M, a novel charge collection method combing the Monolithic Active Pixel Sensor (MAPS) and the Topmetal sensor has been proposed for the first time. Both the ionized charge deposited by the particle in the sensor and along the track over the sensor can be collected. The in-pixel circuit mainly consists of a low-noise charge sensitive amplifier to establish the signal for the energy reconstruction, and a discriminator with a Time-to-Amplitude Converter (TAC) for the Time of Arrival (TOA) measurement. With this mechanism, the trajectory, particle hit position, energy and arrival time of the particle can be measured. The analog signal from each pixel is accessible through time-shared multiplexing over the entire pixel array. This paper will discuss the design and preliminary test results of the Topmetal-M sensor.

physics.ins-det↗

arXiv2022

Multistep pulse compressor based on single-pass single-grating-pair main compressor

A multistage smoothing multistep pulse compressor (MPC) based on a single-pass single-grating-pair (SSGP) main compressor is proposed to simplify the entire petawatt (PW) compressor. Only one grating pair with relatively long distance is used to generate the same amount of spectral dispersion in the main compressor compared with a four-grating main compressor. As the SSGP induces the largest spatial dispersion, it can introduce the best beam-smoothing effect to the laser beam on the last grating. When considering the diffraction loss of only two gratings, the total compression efficiency of the SSGP main compressor is even larger than that of a four-grating main compressor. Furthermore, the spatiotemporal aberration induced by single-grating-pair can be compensated effectively by using deformable mirrors, however it is difficult or complicated to be well compensated in a four-grating compressor. Approximately 50-100 PW laser pulses can be obtained using this SSGP-based multistage smoothing MPC with a single laser beam

physics.optics↗

arXiv2022

Observation of short-period helical spin order and magnetic transition in a non-chiral centrosymmetric helimagnet

The search for materials exhibiting nanoscale spiral order continues to be fuelled by the promise of emergent inductors. Although such spin textures have been reported in many materials, most of them exhibit long periods or are limited to operate far below room temperature. Here, we present the real-space observation of an ordered helical spin order with a period of 3.2 nm in a non-chiral centrosymmetric helimagnet MnCoSi at room temperature via multi-angle and multi-azimuth approach of Lorentz transmission electron microscopy (TEM). A magnetic transition from the ordered helical spin order to a cycloidal spin order below 228 K is clearly revealed by in situ neutron powder diffraction and Lorentz TEM, which is closely correlated with temperature-induced variation in magneto-crystalline anisotropy. These results reveal the origin of spiral ordered spin textures in non-chiral centrosymmetric helimagnet, which can serve as a new strategy for searching materials with nanoscale spin order with potential applications in emergent electromagnetism.

cond-mat.mtrl-sci↗

arXiv2022

Multistage smoothing based multistep pulse compressor for ultrahigh peak power lasers

Ultrahigh peak power lasers are important scientific tools for frontier laser-physics researches, in which both the peak power improvement and operating safety are very important meanwhile limited by the damage threshold and size of compression gratings currently. Based on a recent reported method "multistep pulse compressor (MPC)", a multistage smoothing based MPC (MS-MPC) is proposed here to further improve the running safety, operating convenience, and simplify the whole setup of the MPC. In this optimized design, the beam smoothing is not simply executed in the pre-compressor or main-compressor, but separated into multistage. Then, it can protect important optics in every stage directly and reduce the executing difficult of typical MPC at the same time. The prism pair based pre-compressor will induce suitable spatial dispersion which is easier to be achieved and enough to protect the first grating directly. At the same time, the asymmetric four-grating compressor (AFGC) will also induce spatial dispersion to further smooth the laser beam which helps to protect the last grating directly. In this way, 10s-100s PW lasers can be compressed by using current available optics with improved operating safety owing to remove random spatial intensity modulations. Furthermore, an additional beam smoothing stage can be added before the main amplifier to protect the biggest amplification crystal away from damage. This MS-MPC optical design can be easily extended to be used in all exist PW laser facilities to improve their potential compressed pulse energy and running safety.

physics.optics↗

arXiv2022

A Direct Parallel-in-Time Quasi-Boundary Value Method for Inverse Space-Dependent Source Problems

Inverse source problems arise often in real-world applications, such as localizing unknown groundwater contaminant sources. Being different from Tikhonov regularization, the quasi-boundary value method has been proposed and analyzed as an effective way for regularizing such inverse source problems, which was shown to achieve an optimal order convergence rate under suitable assumptions. However, fast direct or iterative solvers for the resulting all-at-once large-scale linear systems have been rarely studied in the literature. In this work, we first proposed and analyzed a modified quasi-boundary value method, and then developed a diagonalization-based parallel-in-time (PinT) direct solver, which can achieve a dramatic speedup in CPU times when compared with MATLAB's sparse direct solver. In particular, the time-discretization matrix $B$ is shown to be diagonalizable, and the condition number of its eigenvector matrix $V$ is proven to exhibit quadratic growth, which guarantees the roundoff errors due to diagonalization is well controlled. Several 1D and 2D examples are presented to demonstrate the very promising computational efficiency of our proposed method, where the CPU times in 2D cases can be speedup by three orders of magnitude.

math.NA↗

arXiv2022

A special cross-tie domain wall in helimagnet

A special cross-tie (SCT) domain wall was discovered in the helimagnet MnCoSi alloy via the magnetic vector field tomography in Lorentz transmission electron microscopy (LTEM). Different to the traditional cross-tie (TCT) domain wall where the convergent/divergent magnetic moment configuration line up one by one, the relative large Bloch type sub-walls emerge in this brand-new SCT domain wall and two mutually perpendicular rotation axes coexist in this special feature. The straight magnetic stripes accompanied with the unraveled domain walls hint the complex mechanism to form this SCT structure. Interestingly, different orientation of this domain wall in LTEM can easily exhibit various magnetic features, including meron/antimeron chains or bimeron strings.

cond-mat.mtrl-sci↗

arXiv2022

Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments

Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level locomotion decisions and achieving complex maneuvering behaviors with correctness guarantees. This study takes a first step toward formally devising an architecture composed of task planning and control of whole-body dynamic locomotion behaviors in constrained and dynamically changing environments. At the high level, we formulate a two-player temporal logic game between the multi-limb locomotion planner and its dynamic environment to synthesize a winning strategy that delivers symbolic locomotion actions. These locomotion actions satisfy the desired high-level task specifications expressed in a fragment of temporal logic. Those actions are sent to a robust finite transition system that synthesizes a locomotion controller that fulfills state reachability constraints. This controller is further executed via a low-level motion planner that generates feasible locomotion trajectories. We construct a set of dynamic locomotion models for legged robots to serve as a template library for handling diverse environmental events. We devise a replanning strategy that takes into consideration sudden environmental changes or large state disturbances to increase the robustness of the resulting locomotion behaviors. We formally prove the correctness of the layered locomotion framework guaranteeing a robust implementation by the motion planning layer. Simulations of reactive locomotion behaviors in diverse environments indicate that our framework has the potential to serve as a theoretical foundation for intelligent locomotion behaviors.

cs.RO↗

arXiv2021

Smooth Converse Lyapunov-Barrier Theorems for Asymptotic Stability with Safety Constraints and Reach-Avoid-Stay Specifications

Stability and safety are two important aspects in safety-critical control of dynamical systems. It has been a well established fact in control theory that stability properties can be characterized by Lyapunov functions. Reachability properties can also be naturally captured by Lyapunov functions for finite-time stability. Motivated by safety-critical control applications, such as in autonomous systems and robotics, there has been a recent surge of interests in characterizing safety properties using barrier functions. Lyapunov and barrier functions conditions, however, are sometimes viewed as competing objectives. In this paper, we provide a unified theoretical treatment of Lyapunov and barrier functions in terms of converse theorems for stability properties with safety guarantees and reach-avoid-stay type specifications. We show that if a system (modeled as a dynamical system with measurable perturbations) possesses a stability with safety property, then there exists a smooth Lyapunov function to certify such a property. This Lyapunov function is shown to be defined on the entire set of initial conditions from which solutions satisfy this property. A similar but slightly weaker statement is made for reach-avoid-stay specifications. We show by a simple example that the latter statement cannot be strengthened without additional assumptions. We further extend the results for systems with control inputs and prove existence of converse Lyapunov-barrier functions for reach-and-avoid specifications. While the converse Lyapunov-barrier theorems are not constructive, as with classical converse Lyapunov theorems, we believe that the unified necessary and sufficient conditions with a single Lyapunov-barrier function are of theoretical interest and can hopefully shed some light on computational approaches.

eess.SY↗

arXiv2021

DeepSSM: Deep State-Space Model for 3D Human Motion Prediction

Predicting future human motion plays a significant role in human-machine interactions for various real-life applications. A unified formulation and multi-order modeling are two critical perspectives for analyzing and representing human motion. In contrast to prior works, we improve the multi-order modeling ability of human motion systems for more accurate predictions by building a deep state-space model (DeepSSM). The DeepSSM utilizes the advantages of both the state-space theory and the deep network. Specifically, we formulate the human motion system as the state-space model of a dynamic system and model the motion system by the state-space theory, offering a unified formulation for diverse human motion systems. Moreover, a novel deep network is designed to parameterize this system, which jointly models the state-state transition and state-observation transition processes. In this way, the state of a system is updated by the multi-order information of a time-varying human motion sequence. Multiple future poses are recursively predicted via the state-observation transition. To further improve the model ability of the system, a novel loss, WT-MPJPE (Weighted Temporal Mean Per Joint Position Error), is introduced to optimize the model. The proposed loss encourages the system to achieve more accurate predictions by increasing weights to the early time steps. The experiments on two benchmark datasets (i.e., Human3.6M and 3DPW) confirm that our method achieves state-of-the-art performance with improved accuracy of at least 2.2mm per joint. The code will be available at: \url{https://github.com/lily2lab/DeepSSM.git}.

cs.CV↗

arXiv2021

3D Skeleton-based Few-shot Action Recognition with JEANIE is not so Naïve

In this paper, we propose a Few-shot Learning pipeline for 3D skeleton-based action recognition by Joint tEmporal and cAmera viewpoiNt alIgnmEnt (JEANIE). To factor out misalignment between query and support sequences of 3D body joints, we propose an advanced variant of Dynamic Time Warping which jointly models each smooth path between the query and support frames to achieve simultaneously the best alignment in the temporal and simulated camera viewpoint spaces for end-to-end learning under the limited few-shot training data. Sequences are encoded with a temporal block encoder based on Simple Spectral Graph Convolution, a lightweight linear Graph Neural Network backbone (we also include a setting with a transformer). Finally, we propose a similarity-based loss which encourages the alignment of sequences of the same class while preventing the alignment of unrelated sequences. We demonstrate state-of-the-art results on NTU-60, NTU-120, Kinetics-skeleton and UWA3D Multiview Activity II.

cs.CV↗

arXiv2021

Fourier Transform of Anisotropic Mixed-norm Hardy Spaces with Applications to Hardy-Littlewood Inequalities

Let $\vec{p}\in(0,1]^n$ be a $n$-dimensional vector and $A$ a dilation. Let $H_A^{\vec{p}}(\mathbb{R}^n)$ denote the anisotropic mixed-norm Hardy space defined via the radial maximal function. Using the known atomic characterization of $H_{A}^{\vec{p}}(\mathbb{R}^n)$ and establishing a uniform estimate for corresponding atoms, the authors prove that the Fourier transform of $f\in H_A^{\vec{p}}(\mathbb{R}^n)$ coincides with a continuous function $F$ on $\mathbb{R}^n$ in the sense of tempered distributions. Moreover, the function $F$ can be controlled pointwisely by the product of the Hardy space norm of $f$ and a step function with respect to the transpose matrix of $A$. As applications, the authors obtain a higher order of convergence for the function $F$ at the origin, and an analogue of Hardy--Littlewood inequalities in the present setting of $H_A^{\vec{p}}(\mathbb{R}^n)$.

math.CA↗

arXiv2021

Intermittent Deployment for Large-Scale Multi-Robot Forage Perception: Data Synthesis, Prediction, and Planning

Monitoring the health and vigor of grasslands is vital for informing management decisions to optimize rotational grazing in agriculture applications. To take advantage of forage resources and improve land productivity, we require knowledge of pastureland growth patterns that is simply unavailable at state of the art. In this paper, we propose to deploy a team of robots to monitor the evolution of an unknown pastureland environment to fulfill the above goal. To monitor such an environment, which usually evolves slowly, we need to design a strategy for rapid assessment of the environment over large areas at a low cost. Thus, we propose an integrated pipeline comprising of data synthesis, deep neural network training and prediction along with a multi-robot deployment algorithm that monitors pasturelands intermittently. Specifically, using expert-informed agricultural data coupled with novel data synthesis in ROS Gazebo, we first propose a new neural network architecture to learn the spatiotemporal dynamics of the environment. Such predictions help us to understand pastureland growth patterns on large scales and make appropriate monitoring decisions for the future. Based on our predictions, we then design an intermittent multi-robot deployment policy for low-cost monitoring. Finally, we compare the proposed pipeline with other methods, from data synthesis to prediction and planning, to corroborate our pipeline's performance.

cs.RO↗