arXiv subjects

Kejia Chen

Publications and source records attributed to Kejia Chen.

32 records · Page 2Linked to original sources

arXiv2025

SHAPE : Self-Improved Visual Preference Alignment by Iteratively Generating Holistic Winner

Large Visual Language Models (LVLMs) increasingly rely on preference alignment to ensure reliability, which steers the model behavior via preference fine-tuning on preference data structured as ``image - winner text - loser text'' triplets. However, existing approaches often suffer from limited diversity and high costs associated with human-annotated preference data, hindering LVLMs from fully achieving their intended alignment capabilities. We present \projectname, a self-supervised framework capable of transforming the already abundant supervised text-image pairs into holistic preference triplets for more effective and cheaper LVLM alignment, eliminating the need for human preference annotations. Our approach facilitates LVLMs in progressively enhancing alignment capabilities through iterative self-improvement. The key design rationale is to devise preference triplets where the winner text consistently improves in holisticness and outperforms the loser response in quality, thereby pushing the model to ``strive to the utmost'' of alignment performance through preference fine-tuning. For each given text-image pair, SHAPE introduces multiple visual augmentations and pairs them with a summarized text to serve as the winner response, while designating the original text as the loser response. Experiments across \textbf{12} benchmarks on various model architectures and sizes, including LLaVA and DeepSeek-VL, show that SHAPE achieves significant gains, for example, achieving +11.3\% on MMVet (comprehensive evaluation), +1.4\% on MMBench (general VQA), and +8.0\% on POPE (hallucination robustness) over baselines in 7B models. Notably, qualitative analyses confirm enhanced attention to visual details and better alignment with human preferences for holistic descriptions.

cs.CV↗

arXiv2025

SecPE: Secure Prompt Ensembling for Private and Robust Large Language Models

With the growing popularity of LLMs among the general public users, privacy-preserving and adversarial robustness have become two pressing demands for LLM-based services, which have largely been pursued separately but rarely jointly. In this paper, to the best of our knowledge, we are among the first attempts towards robust and private LLM inference by tightly integrating two disconnected fields: private inference and prompt ensembling. The former protects users' privacy by encrypting inference data transmitted and processed by LLMs, while the latter enhances adversarial robustness by yielding an aggregated output from multiple prompted LLM responses. Although widely recognized as effective individually, private inference for prompt ensembling together entails new challenges that render the naive combination of existing techniques inefficient. To overcome the hurdles, we propose SecPE, which designs efficient fully homomorphic encryption (FHE) counterparts for the core algorithmic building blocks of prompt ensembling. We conduct extensive experiments on 8 tasks to evaluate the accuracy, robustness, and efficiency of SecPE. The results show that SecPE maintains high clean accuracy and offers better robustness at the expense of merely $2.5\%$ efficiency overhead compared to baseline private inference methods, indicating a satisfactory ``accuracy-robustness-efficiency'' tradeoff. For the efficiency of the encrypted Argmax operation that incurs major slowdown for prompt ensembling, SecPE is 35.4x faster than the state-of-the-art peers, which can be of independent interest beyond this work.

cs.CR↗

arXiv2024

SEGMN: A Structure-Enhanced Graph Matching Network for Graph Similarity Learning

Graph similarity computation (GSC) aims to quantify the similarity score between two graphs. Although recent GSC methods based on graph neural networks (GNNs) take advantage of intra-graph structures in message passing, few of them fully utilize the structures presented by edges to boost the representation of their connected nodes. Moreover, previous cross-graph node embedding matching lacks the perception of the overall structure of the graph pair, due to the fact that the node representations from GNNs are confined to the intra-graph structure, causing the unreasonable similarity score. Intuitively, the cross-graph structure represented in the assignment graph is helpful to rectify the inappropriate matching. Therefore, we propose a structure-enhanced graph matching network (SEGMN). Equipped with a dual embedding learning module and a structure perception matching module, SEGMN achieves structure enhancement in both embedding learning and cross-graph matching. The dual embedding learning module incorporates adjacent edge representation into each node to achieve a structure-enhanced representation. The structure perception matching module achieves cross-graph structure enhancement through assignment graph convolution. The similarity score of each cross-graph node pair can be rectified by aggregating messages from structurally relevant node pairs. Experimental results on benchmark datasets demonstrate that SEGMN outperforms the state-of-the-art GSC methods in the GED regression task, and the structure perception matching module is plug-and-play, which can further improve the performance of the baselines by up to 25%.

cs.LG↗

arXiv2024

Comparative Study on Supervised versus Semi-supervised Machine Learning for Anomaly Detection of In-vehicle CAN Network

As the central nerve of the intelligent vehicle control system, the in-vehicle network bus is crucial to the security of vehicle driving. One of the best standards for the in-vehicle network is the Controller Area Network (CAN bus) protocol. However, the CAN bus is designed to be vulnerable to various attacks due to its lack of security mechanisms. To enhance the security of in-vehicle networks and promote the research in this area, based upon a large scale of CAN network traffic data with the extracted valuable features, this study comprehensively compared fully-supervised machine learning with semi-supervised machine learning methods for CAN message anomaly detection. Both traditional machine learning models (including single classifier and ensemble models) and neural network based deep learning models are evaluated. Furthermore, this study proposed a deep autoencoder based semi-supervised learning method applied for CAN message anomaly detection and verified its superiority over other semi-supervised methods. Extensive experiments show that the fully-supervised methods generally outperform semi-supervised ones as they are using more information as inputs. Typically the developed XGBoost based model obtained state-of-the-art performance with the best accuracy (98.65%), precision (0.9853), and ROC AUC (0.9585) beating other methods reported in the literature.

cs.LG↗

arXiv2024

Comparative Study on Semi-supervised Learning Applied for Anomaly Detection in Hydraulic Condition Monitoring System

Condition-based maintenance is becoming increasingly important in hydraulic systems. However, anomaly detection for these systems remains challenging, especially since that anomalous data is scarce and labeling such data is tedious and even dangerous. Therefore, it is advisable to make use of unsupervised or semi-supervised methods, especially for semi-supervised learning which utilizes unsupervised learning as a feature extraction mechanism to aid the supervised part when only a small number of labels are available. This study systematically compares semi-supervised learning methods applied for anomaly detection in hydraulic condition monitoring systems. Firstly, thorough data analysis and feature learning were carried out to understand the open-sourced hydraulic condition monitoring dataset. Then, various methods were implemented and evaluated including traditional stand-alone semi-supervised learning models (e.g., one-class SVM, Robust Covariance), ensemble models (e.g., Isolation Forest), and deep neural network based models (e.g., autoencoder, Hierarchical Extreme Learning Machine (HELM)). Typically, this study customized and implemented an extreme learning machine based semi-supervised HELM model and verified its superiority over other semi-supervised methods. Extensive experiments show that the customized HELM model obtained state-of-the-art performance with the highest accuracy (99.5%), the lowest false positive rate (0.015), and the best F1-score (0.985) beating other semi-supervised methods.

cs.LG↗

arXiv2024

Flexible Informed Trees (FIT*): Adaptive Batch-Size Approach in Informed Sampling-Based Path Planning

In path planning, anytime almost-surely asymptotically optimal planners dominate the benchmark of sampling-based planners. A notable example is Batch Informed Trees (BIT*), where planners iteratively determine paths to batches of vertices within the exploration area. However, utilizing a consistent batch size is inefficient for initial pathfinding and optimal performance, it relies on effective task allocation. This paper introduces Flexible Informed Trees (FIT*), a sampling-based planner that integrates an adaptive batch-size method to enhance the initial path convergence rate. FIT* employs a flexible approach in adjusting batch sizes dynamically based on the inherent dimension of the configuration spaces and the hypervolume of the n-dimensional hyperellipsoid. By applying dense and sparse sampling strategy, FIT* improves convergence rate while finding successful solutions faster with lower initial solution cost. This method enhances the planner's ability to handle confined, narrow spaces in the initial finding phase and increases batch vertices sampling frequency in the optimization phase. FIT* outperforms existing single-query, sampling-based planners on the tested problems in R^2 to R^8, and was demonstrated on a real-world mobile manipulation task.

cs.RO↗

arXiv2024

Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints

Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the contact state is essential for preventing and rectifying potential anomalies. However, this task is challenging due to the small sizes of fixtures, the requirement for real-time performances, and the infinite degrees of freedom of the deformable linear objects. In this paper, we propose a real-time approach for estimating both contact establishment and subsequent changes by leveraging the dependency between the applied and detected contact force on the deformable linear objects. We seamlessly integrate this method into the robot control loop and achieve an adaptive shape control framework which avoids, detects and corrects anomalies automatically. Real-world experiments validate the robustness and effectiveness of our contact estimation approach across various scenarios, significantly increasing the success rate of shape control processes.

cs.RO↗

arXiv2023

Contact-aware Shaping and Maintenance of Deformable Linear Objects With Fixtures

Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a significant challenge in developing planning and control algorithms, due to the precise and continuous control required to effectively manipulate the deformable nature of these objects. In this paper, we propose a new framework to control and maintain the shape of deformable linear objects with two robot manipulators utilizing environmental contacts. The framework is composed of a shape planning algorithm which automatically generates appropriate positions to place fixtures, and an object-centered skill engine which includes task and motion planning to control the motion and force of both robots based on the object status. The status of the deformable linear object is estimated online utilizing visual as well as force information. The framework manages to handle a cable routing task in real-world experiments with two Panda robots and especially achieves contact-aware and flexible clip fixing with challenging fixtures.

cs.RO↗

arXiv2023

Learning from Symmetry: Meta-Reinforcement Learning with Symmetrical Behaviors and Language Instructions

Meta-reinforcement learning (meta-RL) is a promising approach that enables the agent to learn new tasks quickly. However, most meta-RL algorithms show poor generalization in multi-task scenarios due to the insufficient task information provided only by rewards. Language-conditioned meta-RL improves the generalization capability by matching language instructions with the agent's behaviors. While both behaviors and language instructions have symmetry, which can speed up human learning of new knowledge. Thus, combining symmetry and language instructions into meta-RL can help improve the algorithm's generalization and learning efficiency. We propose a dual-MDP meta-reinforcement learning method that enables learning new tasks efficiently with symmetrical behaviors and language instructions. We evaluate our method in multiple challenging manipulation tasks, and experimental results show that our method can greatly improve the generalization and learning efficiency of meta-reinforcement learning. Videos are available at https://tumi6robot.wixsite.com/symmetry/.

cs.AI↗

arXiv2023

Safety Guaranteed Manipulation Based on Reinforcement Learning Planner and Model Predictive Control Actor

Deep reinforcement learning (RL) has been endowed with high expectations in tackling challenging manipulation tasks in an autonomous and self-directed fashion. Despite the significant strides made in the development of reinforcement learning, the practical deployment of this paradigm is hindered by at least two barriers, namely, the engineering of a reward function and ensuring the safety guaranty of learning-based controllers. In this paper, we address these challenging limitations by proposing a framework that merges a reinforcement learning \lstinline[columns=fixed]{planner} that is trained using sparse rewards with a model predictive controller (MPC) \lstinline[columns=fixed]{actor}, thereby offering a safe policy. On the one hand, the RL \lstinline[columns=fixed]{planner} learns from sparse rewards by selecting intermediate goals that are easy to achieve in the short term and promising to lead to target goals in the long term. On the other hand, the MPC \lstinline[columns=fixed]{actor} takes the suggested intermediate goals from the RL \lstinline[columns=fixed]{planner} as the input and predicts how the robot's action will enable it to reach that goal while avoiding any obstacles over a short period of time. We evaluated our method on four challenging manipulation tasks with dynamic obstacles and the results demonstrate that, by leveraging the complementary strengths of these two components, the agent can solve manipulation tasks in complex, dynamic environments safely with a $100\%$ success rate. Videos are available at \url{https://videoviewsite.wixsite.com/mpc-hgg}.

cs.RO↗

arXiv2022

Layer Imbalance Aware Multiplex Network Embedding

Multiplex network embedding is an effective technique to jointly learn the low-dimensional representations of nodes across network layers. However, the number of edges among layers may vary significantly. This data imbalance will lead to performance degradation especially on the sparse layer due to learning bias and the adverse effects of irrelevant or conflicting data in other layers. In this paper, a Layer Imbalance Aware Multiplex Network Embedding (LIAMNE) method is proposed where the edges in auxiliary layers are under-sampled based on the node similarity in the embedding space of the target layer to achieve balanced edge distribution and to minimize noisy relations that are less relevant to the target layer. Real-world datasets with different degrees of layer imbalance are used for experimentation. The results demonstrate that LIAMNE significantly outperforms several state-of-the-art multiplex network embedding methods in link prediction on the target layer. Meantime, the comprehensive representation of the entire multiplex network is not compromised by the sampling method as evaluated by its performance on the node classification task.

cs.SI↗

arXiv2022

Collaborative Bi-Aggregation for Directed Graph Embedding

Directed graphs model asymmetric relationships between nodes and research on directed graph embedding is of great significance in downstream graph analysis and inference. Learning source and target embedding of nodes separately to preserve edge asymmetry has become the dominant approach, but also poses challenge for learning representations of low or even zero in/out degree nodes that are ubiquitous in sparse graphs. In this paper, a collaborative bi-directional aggregation method (COBA) for directed graphs embedding is proposed by introducing spatial-based graph convolution. Firstly, the source and target embeddings of the central node are learned by aggregating from the counterparts of the source and target neighbors, respectively; Secondly, the source/target embeddings of the zero in/out degree central nodes are enhanced by aggregating the counterparts of opposite-directional neighbors (i.e. target/source neighbors); Finally, source and target embeddings of the same node are correlated to achieve collaborative aggregation. Extensive experiments on real-world datasets demonstrate that the COBA comprehensively outperforms state-of-the-art methods on multiple tasks and meanwhile validates the effectiveness of proposed aggregation strategies.

cs.SI↗

arXiv2013

Single-Molecule Observation of Long Jumps in Polymer Adsorption

Single-molecule fluorescence imaging of adsorption onto initially-bare surfaces shows that polymer chains need not localize immediately after arrival. In a system optimized to present limited adsorption sites (quartz surface to which polyethylene glycol (PEG) is exposed in aqueous solution at pH = 8.2) we find that some chains diffuse back into bulk solution and re-adsorb at some distance away, sometimes multiple times before either they localize at a stable position or else diffuse away into bulk solution. This mechanism of surface diffusion is considerably more rapid than the classical model in which adsorbed polymers crawl on surfaces while the entire molecule remains adsorbed. The trajectories with jumps follow a truncated Levy distribution of step size with limiting slope -2.5, consistent with a well-defined, rapid surface diffusion coefficient over the times we observe.

cond-mat.soft↗

arXiv2013

Diagnosing Heterogeneous Dynamics in Single Molecule/Particle Trajectories with Multiscale Wavelets

We describe a simple automated method to extract and quantify transient heterogeneous dynamical changes from large datasets generated in single molecule/particle tracking experiments. Based on wavelet transform, the method transforms raw data to locally match dynamics of interest. This is accomplished using statistically adaptive universal thresholding, whose advantage is to avoid a single arbitrary threshold that might conceal individual variability across populations. How to implement this multiscale method is described, focusing on local confined diffusion separated by transient transport periods or hopping events, with 3 specific examples: in cell biology, biotechnology, and glassy colloid dynamics. This computationally-efficient method can run routinely on hundreds of millions of data points analyzed within an hour on a desktop personal computer.

physics.data-an↗