arXiv subjects

Kui Wu

Publications and source records attributed to Kui Wu.

At least 55 records · Page 3Linked to original sources

arXiv2024

Volumetric Homogenization for Knitwear Simulation

This paper presents volumetric homogenization, a spatially varying homogenization scheme for knitwear simulation. We are motivated by the observation that macro-scale fabric dynamics is strongly correlated with its underlying knitting patterns. Therefore, homogenization towards a single material is less effective when the knitting is complex and non-repetitive. Our method tackles this challenge by homogenizing the yarn-level material locally at volumetric elements. Assigning a virtual volume of a knitting structure enables us to model bending and twisting effects via a simple volume-preserving penalty and thus effectively alleviates the material nonlinearity. We employ an adjoint Gauss-Newton formulation to battle the dimensionality challenge of such per-element material optimization. This intuitive material model makes the forward simulation GPU-friendly. To this end, our pipeline also equips a novel domain-decomposed subspace solver crafted for GPU projective dynamics, which makes our simulator hundreds of times faster than the yarn-level simulator. Experiments validate the capability and effectiveness of volumetric homogenization. Our method produces realistic animations of knitwear matching the quality of full-scale yarn-level simulations. It is also orders of magnitude faster than existing homogenization techniques in both the training and simulation stages.

cs.GR↗

arXiv2024

Empowering Embodied Visual Tracking with Visual Foundation Models and Offline RL

Embodied visual tracking is to follow a target object in dynamic 3D environments using an agent's egocentric vision. This is a vital and challenging skill for embodied agents. However, existing methods suffer from inefficient training and poor generalization. In this paper, we propose a novel framework that combines visual foundation models(VFM) and offline reinforcement learning(offline RL) to empower embodied visual tracking. We use a pre-trained VFM, such as "Tracking Anything", to extract semantic segmentation masks with text prompts. We then train a recurrent policy network with offline RL, e.g., Conservative Q-Learning, to learn from the collected demonstrations without online interactions. To further improve the robustness and generalization of the policy network, we also introduce a mask re-targeting mechanism and a multi-level data collection strategy. In this way, we can train a robust policy within an hour on a consumer-level GPU, e.g., Nvidia RTX 3090. We evaluate our agent on several high-fidelity environments with challenging situations, such as distraction and occlusion. The results show that our agent outperforms state-of-the-art methods in terms of sample efficiency, robustness to distractors, and generalization to unseen scenarios and targets. We also demonstrate the transferability of the learned agent from virtual environments to a real-world robot.

cs.CV↗

arXiv2024

An efficient singlet-triplet spin qubit to fiber interface assisted by a photonic crystal cavity

We introduce a novel optical interface between a singlet-triplet spin qubit and a photonic qubit which would offer new prospects for future quantum communication applications. The interface is based on a 220 nm thick GaAs/Al-GaAs heterostructure membrane and features a gate-defined singlet-triplet qubit, a gate-defined optically active quantum dot, a photonic crystal cavity and a bot-tom gold reflector. All essential components can be lithographically defined and deterministically fabricated, which greatly increases the scalability of on-chip in-tegration. According to our FDTD simulations, the interface provides an overall coupling efficiency of 28.7% into a free space Gaussian beam, assuming an SiO2 interlayer filling the space between the reflector and the membrane. The performance can be further increased to 48.5% by undercutting this SiO2 interlayer below the photonic crystal.

physics.optics↗

arXiv2023

Layered Randomized Quantization for Communication-Efficient and Privacy-Preserving Distributed Learning

Next-generation wireless networks, such as edge intelligence and wireless distributed learning, face two critical challenges: communication efficiency and privacy protection. In this work, our focus is on addressing these issues in a distributed learning framework. We consider a new approach that simultaneously achieves communication efficiency and privacy protection by exploiting the privacy advantage offered by quantization. Specifically, we use a quantization scheme called \textbf{Gau}ssian \textbf{L}ayered \textbf{R}andomized \textbf{Q}uantization (Gau-LRQ) that compresses the raw model gradients using a layer multishift coupler. By adjusting the parameters of Gau-LRQ, we shape the quantization error to follow the expected Gaussian distribution, thus ensuring client-level differential privacy (CLDP). We demonstrate the effectiveness of our proposed Gau-LRQ in the distributed stochastic gradient descent (SGD) framework and theoretically quantify the trade-offs between communication, privacy, and convergence performance. We further improve the convergence performance by enabling dynamic private budget and quantization bit allocation. We achieve this by using an optimization formula that minimizes convergence error subject to the privacy budget constraint. We evaluate our approach on multiple datasets, including MNIST, CIFAR-10, and CIFAR-100, and show that our proposed method outperforms the baselines in terms of learning performance under various privacy constraints. Moreover, we observe that dynamic privacy allocation yields additional accuracy improvements for the models compared to the fixed scheme.

cs.DC↗

arXiv2023

Learning Neural Traffic Rules

Extensive research has been devoted to the field of multi-agent navigation. Recently, there has been remarkable progress attributed to the emergence of learning-based techniques with substantially elevated intelligence and realism. Nonetheless, prevailing learned models face limitations in terms of scalability and effectiveness, primarily due to their agent-centric nature, i.e., the learned neural policy is individually deployed on each agent. Inspired by the efficiency observed in real-world traffic networks, we present an environment-centric navigation policy. Our method learns a set of traffic rules to coordinate a vast group of unintelligent agents that possess only basic collision-avoidance capabilities. Our method segments the environment into distinct blocks and parameterizes the traffic rule using a Graph Recurrent Neural Network (GRNN) over the block network. Each GRNN node is trained to modulate the velocities of agents as they traverse through. Using either Imitation Learning (IL) or Reinforcement Learning (RL) schemes, we demonstrate the efficacy of our neural traffic rules in resolving agent congestion, closely resembling real-world traffic regulations. Our method handles up to $240$ agents at real-time and generalizes across diverse agent and environment configurations.

cs.RO↗

arXiv2023

Provably Robust Semi-Infinite Program Under Collision Constraints via Subdivision

We present a semi-infinite program (SIP) solver for trajectory optimizations of general articulated robots. These problems are more challenging than standard Nonlinear Program (NLP) by involving an infinite number of non-convex, collision constraints. Prior SIP solvers based on constraint sampling cannot guarantee the satisfaction of all constraints. Instead, our method uses a conservative bound on articulated body motions to ensure the solution feasibility throughout the optimization procedure. We further use subdivision to adaptively reduce the error in conservative motion estimation. Combined, we prove that our SIP solver guarantees feasibility while approaches the critical point of SIP problems up to arbitrary user-provided precision. We have verified our method on a row of trajectory optimization problems involving industrial robot arms and UAVs, where our method can generate collision-free, locally optimal trajectories within a couple minutes.

cs.RO↗

arXiv2023

Second-Order Convergent Collision-Constrained Optimization-Based Planner

Finding robot poses and trajectories represents a foundational aspect of robot motion planning. Despite decades of research, efficiently and robustly addressing these challenges is still difficult. Existing approaches are often plagued by various limitations, such as intricate geometric approximations, violations of collision constraints, or slow first-order convergence. In this paper, we introduce two novel optimization formulations that offer provable robustness, achieving second-order convergence while requiring only a convex approximation of the robot's links and obstacles. Our first method, known as the Explicit Collision Barrier (ECB) method, employs a barrier function to guarantee separation between convex objects. ECB uses an efficient matrix factorization technique, enabling a second-order Newton's method with an iterative complexity linear in the number of separating planes. Our second method, referred to as the Implicit Collision Barrier (ICB) method, further transforms the separating planes into implicit functions of robot poses. We show such an implicit objective function is twice-differentiable, with derivatives evaluated at a linear complexity. To assess the effectiveness of our approaches, we conduct a comparative study with a first-order baseline algorithm across six testing scenarios. Our results unequivocally justify that our method exhibits significantly faster convergence rates compared to the baseline algorithm.

cs.RO↗

arXiv2023

Learning Reduced-Order Soft Robot Controller

Deformable robots are notoriously difficult to model or control due to its high-dimensional configuration spaces. Direct trajectory optimization suffers from the curse-of-dimensionality and incurs a high computational cost, while learning-based controller optimization methods are sensitive to hyper-parameter tuning. To overcome these limitations, we hypothesize that high fidelity soft robots can be both simulated and controlled by restricting to low-dimensional spaces. Under such assumption, we propose a two-stage algorithm to identify such simulation- and control-spaces. Our method first identifies the so-called simulation-space that captures the salient deformation modes, to which the robot's governing equation is restricted. We then identify the control-space, to which control signals are restricted. We propose a multi-fidelity Riemannian Bayesian bilevel optimization to identify task-specific control spaces. We show that the dimension of control-space can be less than $10$ for a high-DOF soft robot to accomplish walking and swimming tasks, allowing low-dimensional MPC controllers to be applied to soft robots with tractable computational complexity.

cs.RO↗

arXiv2023

Modeling of an efficient singlet-triplet spin qubit to photon interface assisted by a photonic crystal cavity

Efficient interconnection between distant semiconductor spin qubits with the help of photonic qubits would offer exciting new prospects for future quantum communication applications. In this paper, we optimize the extraction efficiency of a novel interface between a singlet-triplet spin qubit and a photonic qubit. The interface is based on a 220 nm thick GaAs/AlGaAs heterostructure membrane and consists of a gate-defined double quantum dot (GDQD) supporting a singlet-triplet qubit, an optically active quantum dot (OAQD) consisting of a gate-defined exciton trap, a photonic crystal cavity providing in-plane optical confinement and efficient out-coupling to an ideal free space Gaussian beam while accommodating the gate wiring of the GDQD and OAQD, and a bottom gold reflector to recycle photons and increase the optical extraction efficiency. All essential components can be lithographically defined and deterministically fabricated on the GaAs/AlGaAs heterostructure membrane, which greatly increases the scalability of on-chip integration. According to our simulations, the interface provides an overall coupling efficiency of 28.7% into a free space Gaussian beam, assuming an SiO2 interlayer filling the space between the reflector and the membrane. The performance can be further increased by undercutting this SiO2 interlayer below the photonic crystal. In this case, the overall efficiency is calculated to be 48.5%.

physics.optics↗

arXiv2023

Learning based 2D Irregular Shape Packing

2D irregular shape packing is a necessary step to arrange UV patches of a 3D model within a texture atlas for memory-efficient appearance rendering in computer graphics. Being a joint, combinatorial decision-making problem involving all patch positions and orientations, this problem has well-known NP-hard complexity. Prior solutions either assume a heuristic packing order or modify the upstream mesh cut and UV mapping to simplify the problem, which either limits the packing ratio or incurs robustness or generality issues. Instead, we introduce a learning-assisted 2D irregular shape packing method that achieves a high packing quality with minimal requirements from the input. Our method iteratively selects and groups subsets of UV patches into near-rectangular super patches, essentially reducing the problem to bin-packing, based on which a joint optimization is employed to further improve the packing ratio. In order to efficiently deal with large problem instances with hundreds of patches, we train deep neural policies to predict nearly rectangular patch subsets and determine their relative poses, leading to linear time scaling with the number of patches. We demonstrate the effectiveness of our method on three datasets for UV packing, where our method achieves a higher packing ratio over several widely used baselines with competitive computational speed.

cs.GR↗

arXiv2023

Visual-Guided Mesh Repair

Mesh repair is a long-standing challenge in computer graphics and related fields. Converting defective meshes into watertight manifold meshes can greatly benefit downstream applications such as geometric processing, simulation, fabrication, learning, and synthesis. In this work, we first introduce three visual measures for visibility, orientation, and openness, based on ray-tracing. We then present a novel mesh repair framework that incorporates visual measures with several critical steps, i.e., open surface closing, face reorientation, and global optimization, to effectively repair defective meshes, including gaps, holes, self-intersections, degenerate elements, and inconsistent orientations. Our method reduces unnecessary mesh complexity without compromising geometric accuracy or visual quality while preserving input attributes such as UV coordinates for rendering. We evaluate our approach on hundreds of models randomly selected from ShapeNet and Thingi10K, demonstrating its effectiveness and robustness compared to existing approaches.

cs.GR↗

arXiv2023

Killing Two Birds with One Stone: Quantization Achieves Privacy in Distributed Learning

Communication efficiency and privacy protection are two critical issues in distributed machine learning. Existing methods tackle these two issues separately and may have a high implementation complexity that constrains their application in a resource-limited environment. We propose a comprehensive quantization-based solution that could simultaneously achieve communication efficiency and privacy protection, providing new insights into the correlated nature of communication and privacy. Specifically, we demonstrate the effectiveness of our proposed solutions in the distributed stochastic gradient descent (SGD) framework by adding binomial noise to the uniformly quantized gradients to reach the desired differential privacy level but with a minor sacrifice in communication efficiency. We theoretically capture the new trade-offs between communication, privacy, and learning performance.

cs.LG↗

arXiv2022

Fluidic Topology Optimization with an Anisotropic Mixture Model

Fluidic devices are crucial components in many industrial applications involving fluid mechanics. Computational design of a high-performance fluidic system faces multifaceted challenges regarding its geometric representation and physical accuracy. We present a novel topology optimization method to design fluidic devices in a Stokes flow context. Our approach is featured by its capability in accommodating a broad spectrum of boundary conditions at the solid-fluid interface. Our key contribution is an anisotropic and differentiable constitutive model that unifies the representation of different phases and boundary conditions in a Stokes model, enabling a topology optimization method that can synthesize novel structures with accurate boundary conditions from a background grid discretization. We demonstrate the efficacy of our approach by conducting several fluidic system design tasks with over four million design parameters.

cs.GR↗

arXiv2022

DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contact

Cloth simulation has wide applications in computer animation, garment design, and robot-assisted dressing. This work presents a differentiable cloth simulator whose additional gradient information facilitates cloth-related applications. Our differentiable simulator extends a state-of-the-art cloth simulator based on Projective Dynamics (PD) and with dry frictional contact. We draw inspiration from previous work to propose a fast and novel method for deriving gradients in PD-based cloth simulation with dry frictional contact. Furthermore, we conduct a comprehensive analysis and evaluation of the usefulness of gradients in contact-rich cloth simulation. Finally, we demonstrate the efficacy of our simulator in a number of downstream applications, including system identification, trajectory optimization for assisted dressing, closed-loop control, inverse design, and real-to-sim transfer. We observe a substantial speedup obtained from using our gradient information in solving most of these applications.

cs.GR↗

arXiv2022

An Integrated Design Pipeline for Tactile Sensing Robotic Manipulators

Traditional robotic manipulator design methods require extensive, time-consuming, and manual trial and error to produce a viable design. During this process, engineers often spend their time redesigning or reshaping components as they discover better topologies for the robotic manipulator. Tactile sensors, while useful, often complicate the design due to their bulky form factor. We propose an integrated design pipeline to streamline the design and manufacturing of robotic manipulators with knitted, glove-like tactile sensors. The proposed pipeline allows a designer to assemble a collection of modular, open-source components by applying predefined graph grammar rules. The end result is an intuitive design paradigm that allows the creation of new virtual designs of manipulators in a matter of minutes. Our framework allows the designer to fine-tune the manipulator's shape through cage-based geometry deformation. Finally, the designer can select surfaces for adding tactile sensing. Once the manipulator design is finished, the program will automatically generate 3D printing and knitting files for manufacturing. We demonstrate the utility of this pipeline by creating four custom manipulators tested on real-world tasks: screwing in a wing screw, sorting water bottles, picking up an egg, and cutting paper with scissors.

cs.RO↗

arXiv2022

First-Order Bilevel Topology Optimization for Fast Mechanical Design

Topology Optimization (TO), which maximizes structural robustness under material weight constraints, is becoming an essential step for the automatic design of mechanical parts. However, existing TO algorithms use the Finite Element Analysis (FEA) that requires massive computational resources. We present a novel TO algorithm that incurs a much lower iterative cost. Unlike conventional methods that require exact inversions of large FEA system matrices at every iteration, we reformulate the problem as a bilevel optimization that can be solved using a first-order algorithm and only inverts the system matrix approximately. As a result, our method incurs a low iterative cost, and users can preview the TO results interactively for fast design updates. Theoretical convergence analysis and numerical experiments are conducted to verify our effectiveness. We further discuss extensions to use high-performance preconditioners and fine-grained parallelism on the Graphics Processing Unit (GPU).

cs.RO↗

arXiv2021

A Generative Car-following Model Conditioned On Driving Styles

Car-following (CF) modeling, an essential component in simulating human CF behaviors, has attracted increasing research interest in the past decades. This paper pushes the state of the art by proposing a novel generative hybrid CF model, which achieves high accuracy in characterizing dynamic human CF behaviors and is able to generate realistic human CF behaviors for any given observed or even unobserved driving style. Specifically, the ability of accurately capturing human CF behaviors is ensured by designing and calibrating an Intelligent Driver Model (IDM) with time-varying parameters. The reason behind is that such time-varying parameters can express both the inter-driver heterogeneity, i.e., diverse driving styles of different drivers, and the intra-driver heterogeneity, i.e., changing driving styles of the same driver. The ability of generating realistic human CF behaviors of any given observed driving style is achieved by applying a neural process (NP) based model. The ability of inferring CF behaviors of unobserved driving styles is supported by exploring the relationship between the calibrated time-varying IDM parameters and an intermediate variable of NP. To demonstrate the effectiveness of our proposed models, we conduct extensive experiments and comparisons, including CF model parameter calibration, CF behavior prediction, and trajectory simulation for different driving styles.

cs.AI↗

arXiv2021

Nucleus Decomposition in Probabilistic Graphs: Hardness and Algorithms

Finding dense components in graphs is of great importance in analyzing the structure of networks. Popular and computationally feasible frameworks for discovering dense subgraphs are core and truss decompositions. Recently, Sariyuce et al. introduced nucleus decomposition, a generalization which uses higher-order structures and can reveal interesting subgraphs that can be missed by core and truss decompositions. In this paper, we present nucleus decomposition in probabilistic graphs. We study the most interesting case of nucleus decomposition, k-(3,4)-nucleus, which asks for maximal subgraphs where each triangle is contained in k 4-cliques. The major questions we address are: How to define meaningfully nucleus decomposition in probabilistic graphs? How hard is computing nucleus decomposition in probabilistic graphs? Can we devise efficient algorithms for exact or approximate nucleus decomposition in large graphs? We present three natural definitions of nucleus decomposition in probabilistic graphs: local, global, and weakly-global. We show that the local version is in PTIME, whereas global and weakly-global are #P-hard and NP-hard, respectively. We present an efficient and exact dynamic programming approach for the local case and furthermore, present statistical approximations that can scale to large datasets without much loss of accuracy. For global and weakly-global decompositions, we complement our intractability results by proposing efficient algorithms that give approximate solutions based on search space pruning and Monte-Carlo sampling. Our extensive experimental results show the scalability and efficiency of our algorithms. Compared to probabilistic core and truss decompositions, nucleus decomposition significantly outperforms in terms of density and clustering metrics.

cs.SI↗