arXiv subjects

Kai Yin

Publications and source records attributed to Kai Yin.

36 records · Page 2Linked to original sources

arXiv2024

Rethinking Urban Flood Risk Assessment By Adapting Health Domain Perspective

Inspired by ideas from health risk assessment, this paper presents a new perspective for flood risk assessment. The proposed perspective focuses on three pillars for examining flood risk: (1) inherent susceptibility, (2) mitigation strategies, and (3) external stressors. These pillars collectively encompass the physical and environmental characteristics of urban areas, the effectiveness of human-intervention measures, and the influence of uncontrollable external factors, offering a fresh point of view for decoding flood risks. For each pillar, we delineate its individual contributions to flood risk and illustrate their interactive and overall impact. The three-pillars model embodies a shift in focus from the quest to precisely model and quantify flood risk to evaluating pathways to high flood risk. The shift in perspective is intended to alleviate the quest for quantifying and predicting flood risk at fine resolutions as a panacea for enhanced flood risk management. The decomposition of flood risk pathways into the three intertwined pillars (i.e., inherent factors, mitigation factors, and external factors) enables evaluation of changes in factors within each pillar enhance and exacerbate flood risk, creating a platform from which to inform plans, decisions, and actions. Building on this foundation, we argue that a flood risk pathway analysis approach, which examines the individual and collective impacts of inherent factors, mitigation strategies, and external stressors, is essential for a nuanced evaluation of flood risk. Accordingly, the proposed perspective could complement the existing frameworks and approaches for flood risk assessment.

cs.AI↗

arXiv2024

Kernel-based diffusion approximated Markov decision processes for autonomous navigation and control on unstructured terrains

We propose a diffusion approximation method to the continuous-state Markov Decision Processes (MDPs) that can be utilized to address autonomous navigation and control in unstructured off-road environments. In contrast to most decision-theoretic planning frameworks that assume fully known state transition models, we design a method that eliminates such a strong assumption that is often extremely difficult to engineer in reality. We first take the second-order Taylor expansion of the value function. The Bellman optimality equation is then approximated by a partial differential equation, which only relies on the first and second moments of the transition model. By combining the kernel representation of the value function, we design an efficient policy iteration algorithm whose policy evaluation step can be represented as a linear system of equations characterized by a finite set of supporting states. We first validate the proposed method through extensive simulations in 2D obstacle avoidance and 2.5D terrain navigation problems. The results show that the proposed approach leads to a much superior performance over several baselines. We then develop a system that integrates our decision-making framework with onboard perception and conduct real-world experiments in both cluttered indoor and unstructured outdoor environments. The results from the physical systems further demonstrate the applicability of our method in challenging real-world environments.

cs.RO↗

arXiv2023

Analyze Factors Influencing Drivers' Cell Phone Online Ride-hailing Software Using While driving: A Case Study in China

The road safety of traffic is greatly affected by the driving performance of online ride-hailing, which has become an increasingly popular travel option for many people. Little attention has been paid to the fact that the use of cell phone online ride-hailing software by drivers to accept orders while driving is one of the causes of traffic accidents involving online ride-hailing. This paper, adopting the extended theory of planned behavior, investigates the factors that factors influencing the behavior of Chinese online ride-hailing drivers cell phone ride-hailing software usage to accept orders while driving. Results showed that attitudes, subjective norms, and perceived behavioral control have a significant and positive effect on behavioral intentions. Behavioral intention is most strongly influenced by attitude. There is no direct and significant impact of group norms on behavioral intention. Nonetheless, group norms exert a substantial and beneficial influence on attitude, subjective norms, and perceived behavioral control. This study has discovered, through a mediating effect test, that attitude, subjective norm, and perceived behavioral control play a mediating and moderating role in the impact of group norm on behavioral intention. These findings can offer theoretical guidance to relevant departments in developing effective measures for promoting safe driving among online ride-hailing drivers.

cs.CY↗

arXiv2023

Sustainable development-oriented campus bike-sharing site evaluation model: A case study of Henan Polytechnic University

Promoting sustainable transportation options is increasingly crucial in the pursuit of environmentally friendly and efficient campus mobility systems. Among these options, bike-sharing programs have garnered substantial attention for their capacity to mitigate traffic congestion, decrease carbon emissions, and enhance overall campus sustainability. However, improper selection of bike-sharing sites has led to the growing problems of unsustainable practices in campus, including the disorderly parking and indiscriminate placement of bike-sharing. To this end, this paper proposes a novel sustainable development-oriented campus bike-sharing site evaluation model integrating the improved Delphi and fuzzy comprehensive evaluation approaches. Fourteen evaluation metrics are firstly selected from four dimensions: the user features, implementation and usage characteristics of parking spots, environmental sustainability, and social sustainability, through the combination of expert experience and the improved Delphi method. Then, the analytic hierarchy process and the entropy weight method are employed to determine the weights of the evaluation indices, ensuring a robust and objective assessment framework. The fuzzy comprehensive evaluation method is finally implemented to evaluate the quality of location selection. South Campus of Henan Polytechnic University is selected as a case study using the proposed evaluation system. This work contributes to the existing body of knowledge by presenting a comprehensive location selection evaluation system for campus bike-sharing, informed by the principles of sustainable development.

cs.CY↗

arXiv2022

Decision-Making Among Bounded Rational Agents

When robots share the same workspace with other intelligent agents (e.g., other robots or humans), they must be able to reason about the behaviors of their neighboring agents while accomplishing the designated tasks. In practice, frequently, agents do not exhibit absolutely rational behavior due to their limited computational resources. Thus, predicting the optimal agent behaviors is undesirable (because it demands prohibitive computational resources) and undesirable (because the prediction may be wrong). Motivated by this observation, we remove the assumption of perfectly rational agents and propose incorporating the concept of bounded rationality from an information-theoretic view into the game-theoretic framework. This allows the robots to reason other agents' sub-optimal behaviors and act accordingly under their computational constraints. Specifically, bounded rationality directly models the agent's information processing ability, which is represented as the KL-divergence between nominal and optimized stochastic policies, and the solution to the bounded-optimal policy can be obtained by an efficient importance sampling approach. Using both simulated and real-world experiments in multi-robot navigation tasks, we demonstrate that the resulting framework allows the robots to reason about different levels of rational behaviors of other agents and compute a reasonable strategy under its computational constraint.

cs.RO↗

arXiv2022

Causal Inference for De-biasing Motion Estimation from Robotic Observational Data

Robot data collected in complex real-world scenarios are often biased due to safety concerns, human preferences, and mission or platform constraints. Consequently, robot learning from such observational data poses great challenges for accurate parameter estimation. We propose a principled causal inference framework for robots to learn the parameters of a stochastic motion model using observational data. Specifically, we leverage the de-biasing functionality of the potential-outcome causal inference framework, the Inverse Propensity Weighting (IPW), and the Doubly Robust (DR) methods, to obtain a better parameter estimation of the robot's stochastic motion model. The IPW is a re-weighting approach to ensure unbiased estimation, and the DR approach further combines any two estimators to strengthen the unbiased result even if one of these estimators is biased. We then develop an approximate policy iteration algorithm using the bias-eliminated estimated state transition function. We validate our framework using both simulation and real-world experiments, and the results have revealed that the proposed causal inference-based navigation and control framework can correctly and efficiently learn the parameters from biased observational data.

cs.RO↗

arXiv2022

Autonomous Navigation of AGVs in Unknown Cluttered Environments: log-MPPI Control Strategy

Sampling-based model predictive control (MPC) optimization methods, such as Model Predictive Path Integral (MPPI), have recently shown promising results in various robotic tasks. However, it might produce an infeasible trajectory when the distributions of all sampled trajectories are concentrated within high-cost even infeasible regions. In this study, we propose a new method called log-MPPI equipped with a more effective trajectory sampling distribution policy which significantly improves the trajectory feasibility in terms of satisfying system constraints. The key point is to draw the trajectory samples from the normal log-normal (NLN) mixture distribution, rather than from Gaussian distribution. Furthermore, this work presents a method for collision-free navigation in unknown cluttered environments by incorporating the 2D occupancy grid map into the optimization problem of the sampling-based MPC algorithm. We first validate the efficiency and robustness of our proposed control strategy through extensive simulations of 2D autonomous navigation in different types of cluttered environments as well as the cartpole swing-up task. We further demonstrate, through real-world experiments, the applicability of log-MPPI for performing a 2D grid-based collision-free navigation in an unknown cluttered environment, showing its superiority to be utilized with the local costmap without adding additional complexity to the optimization problem. A video demonstrating the real-world and simulation results is available at https://youtu.be/_uGWQEFJSN0.

cs.RO↗

arXiv2022

Bayesian Uncertainty Quantification of Local Volatility Model

Local volatility is an important quantity in option pricing, portfolio hedging, and risk management. It is not directly observable from the market; hence calibrations of local volatility models are necessary using observable market data. Unlike most existing point-estimate methods, we cast the large-scale nonlinear inverse problem into the Bayesian framework, yielding a posterior distribution of the local volatility, which naturally quantifies its uncertainty. This extra uncertainty information enables traders and risk managers to make better decisions. To alleviate the computational cost, we apply Karhunen--Lòeve expansion to reduce the dimensionality of the Gaussian Process prior for local volatility. A modified two-stage adaptive Metropolis algorithm is applied to sample the posterior probability distribution, which further reduces computational burdens caused by repetitive numerical forward option pricing model solver and time of heuristic tuning. We demonstrate our methodology with both synthetic and market data.

stat.AP↗

arXiv2022

Network approach reveals the spatiotemporal influence of traffic to air pollution under the COVID-19

Air pollution causes widespread environmental and health problems and severely hinders the life quality of urban residents. Traffic is a critical for human life and its emissions are a major source of pollution, aggravating urban air pollution. However, the complex interaction between the traffic emissions and the air pollution in the cities has not yet been revealed. In particular, the spread of the COVID-19 has caused various cities to implement different traffic restriction policies according to the local epidemic situation, which provides the possibility to explore the relationship between urban traffic and air pollution. Here we explore the influence of traffic to air pollution by reconstructing a multi-layer complex network base on traffic index and air quality index. We uncover that air quality in Beijing-Tianjin-Hebei (BTH), Chengdu-Chongqing Economic Circle (CCS) and Central China (CC) regions are significantly influenced by the surrounding traffic conditions after the outbreak. Under different fights against the epidemic stages, the influence of traffic in other cities on the air pollution reached the maximum in stage 2 (also called Initial Progress in Containing the Virus). For BTH and CC regions, the impact of traffic on air quality becomes larger in the first two stages and then decreases, while for CC, the significant impact occurs in Phase 3 among regions. For other regions, however, the changes are not evident. Our presented network-based framework provides a new perspective in the field of transportation and environment, and maybe helpful to guide the government to formulate air pollution mitigation and traffic restriction policies.

physics.soc-ph↗

arXiv2022

Readout electronics and data acquisition system of PandaX-4T experiment

PandaX-4T is a dark matter direct detection experiment located in China jinping underground laboratory. The central apparatus is a dual-phase xenon detector containing 4 ton liquid xenon in the sensitive volume, with about 500 photomultipliers instrumented in the top and the bottom of the detector. In this paper we present a completely new system of readout electronics and data acquisition in the PandaX-4T experiment. Compared to the one used in the previous PandaX dark matter experiments, the new system features triggerless readout and higher bandwidth. With triggerless readout, dark matter searches are not affected by the efficiency loss of external triggers. The system records single photelectron signals of the dominant PMTs with an average efficiency of 96\%, and achieves the bandwidth of more than 450 MB/s. The system has been used to successfully acquire data during the commissioning runs of PandaX-4T.

physics.ins-det↗

arXiv2021

Towards Emotion-Aware User Simulator for Task-Oriented Dialogue

The performance of a task-completion dialogue agent usually affects the user experience: when the conversation system yields an unreasonable response, users may feel dissatisfied. Besides, early termination often occurs in disappointing conversations. However, existing off-the-shelf user simulators generally assume an ideal and cooperative user, which is somewhat different from a real user, and inevitably lead to a sub-optimal dialogue policy. In this paper, we propose an emotion-aware user simulation framework for task-oriented dialogue, which is based on the OCC emotion model to update user emotions and drive user actions, to generate simulated behaviors that more similar to real users. We present a linear implementation (The source code will be released soon.) that is easy to understand and extend, and evaluate it on two domain-specific datasets. The experimental results show that the emotional simulation results of our proposed framework conform to common sense and have good versatility for different domains. Meanwhile, our framework provides us with another perspective to understand the improvement process of the dialogue policy model based on reinforcement learning.

cs.HC↗

arXiv2021

A Two Stage Adaptive Metropolis Algorithm

We propose a new sampling algorithm combining two quite powerful ideas in the Markov chain Monte Carlo literature -- adaptive Metropolis sampler and two-stage Metropolis-Hastings sampler. The proposed sampling method will be particularly very useful for high-dimensional posterior sampling in Bayesian models with expensive likelihoods. In the first stage of the proposed algorithm, an adaptive proposal is used based on the previously sampled states and the corresponding acceptance probability is computed based on an approximated inexpensive target density. The true expensive target density is evaluated while computing the second stage acceptance probability only if the proposal is accepted in the first stage. The adaptive nature of the algorithm guarantees faster convergence of the chain and very good mixing properties. On the other hand, the two-stage approach helps in rejecting the bad proposals in the inexpensive first stage, making the algorithm computationally efficient. As the proposals are dependent on the previous states the chain loses its Markov property, but we prove that it retains the desired ergodicity property. The performance of the proposed algorithm is compared with the existing algorithms in two simulated and two real data examples.

stat.CO↗

arXiv2020

Online Planning in Uncertain and Dynamic Environment in the Presence of Multiple Mobile Vehicles

We investigate the autonomous navigation of a mobile robot in the presence of other moving vehicles under time-varying uncertain environmental disturbances. We first predict the future state distributions of other vehicles to account for their uncertain behaviors affected by the time-varying disturbances. We then construct a dynamic-obstacle-aware reachable space that contains states with high probabilities to be reached by the robot, within which the optimal policy is searched. Since, in general, the dynamics of both the vehicle and the environmental disturbances are nonlinear, we utilize a nonlinear Gaussian filter -- the unscented transform -- to approximate the future state distributions. Finally, the forward reachable space computation and backward policy search are iterated until convergence. Extensive simulation evaluations have revealed significant advantages of this proposed method in terms of computation time, decision accuracy, and planning reliability.

cs.RO↗

arXiv2020

State-Continuity Approximation of Markov Decision Processes via Finite Element Methods for Autonomous System Planning

Motion planning under uncertainty for an autonomous system can be formulated as a Markov Decision Process with a continuous state space. In this paper, we propose a novel solution to this decision-theoretic planning problem that directly obtains the continuous value function with only the first and second moments of the transition probabilities, alleviating the requirement for an explicit transition model in the literature. We achieve this by expressing the value function as a linear combination of basis functions and approximating the Bellman equation by a partial differential equation, where the value function can be naturally constructed using a finite element method. We have validated our approach via extensive simulations, and the evaluations reveal that to baseline methods, our solution leads to in terms of path smoothness, travel distance, and time costs.

cs.RO↗

arXiv2020

Kernel Taylor-Based Value Function Approximation for Continuous-State Markov Decision Processes

We propose a principled kernel-based policy iteration algorithm to solve the continuous-state Markov Decision Processes (MDPs). In contrast to most decision-theoretic planning frameworks, which assume fully known state transition models, we design a method that eliminates such a strong assumption, which is oftentimes extremely difficult to engineer in reality. To achieve this, we first apply the second-order Taylor expansion of the value function. The Bellman optimality equation is then approximated by a partial differential equation, which only relies on the first and second moments of the transition model. By combining the kernel representation of value function, we then design an efficient policy iteration algorithm whose policy evaluation step can be represented as a linear system of equations characterized by a finite set of supporting states. We have validated the proposed method through extensive simulations in both simplified and realistic planning scenarios, and the experiments show that our proposed approach leads to a much superior performance over several baseline methods.

cs.RO↗

arXiv2019

Reachable Space Characterization of Markov Decision Processes with Time Variability

We propose a solution to a time-varying variant of Markov Decision Processes which can be used to address decision-theoretic planning problems for autonomous systems operating in unstructured outdoor environments. We explore the time variability property of the planning stochasticity and investigate the state reachability, based on which we then develop an efficient iterative method that offers a good trade-off between solution optimality and time complexity. The reachability space is constructed by analyzing the means and variances of states' reaching time in the future. We validate our algorithm through extensive simulations using ocean data, and the results show that our method achieves a great performance in terms of both solution quality and computing time.

cs.RO↗

arXiv2018

Learning Partially Structured Environmental Dynamics for Marine Robotic Navigation

We investigate the scenario that a robot needs to reach a designated goal after taking a sequence of appropriate actions in a non-static environment that is partially structured. One application example is to control a marine vehicle to move in the ocean. The ocean environment is dynamic and oftentimes the ocean waves result in strong disturbances that can disturb the vehicle's motion. Modeling such dynamic environment is non-trivial, and integrating such model in the robotic motion control is particularly difficult. Fortunately, the ocean currents usually form some local patterns (e.g. vortex) and thus the environment is partially structured. The historically observed data can be used to train the robot to learn to interact with the ocean tidal disturbances. In this paper we propose a method that applies the deep reinforcement learning framework to learn such partially structured complex disturbances. Our results show that, by training the robot under artificial and real ocean disturbances, the robot is able to successfully act in complex and spatiotemporal environments.

cs.RO↗

arXiv2017

A Spatio-Temporal Representation for the Orienteering Problem with Time-Varying Profits

We consider an orienteering problem (OP) where an agent needs to visit a series (possibly a subset) of depots, from which the maximal accumulated profits are desired within given limited time budget. Different from most existing works where the profits are assumed to be static, in this work we investigate a variant that has arbitrary time-dependent profits. Specifically, the profits to be collected change over time and they follow different (e.g., independent) time-varying functions. The problem is of inherent nonlinearity and difficult to solve by existing methods. To tackle the challenge, we present a simple and effective framework that incorporates time-variations into the fundamental planning process. Specifically, we propose a deterministic spatio-temporal representation where both spatial description and temporal logic are unified into one routing topology. By employing existing basic sorting and searching algorithms, the routing solutions can be computed in an extremely efficient way. The proposed method is easy to implement and extensive numerical results show that our approach is time efficient and generates near-optimal solutions.

cs.AI↗