arXiv subjects

Ming Liu

Publications and source records attributed to Ming Liu.

At least 379 records · Page 21Linked to original sources

arXiv2021

The Role of the Hercules Autonomous Vehicle During the COVID-19 Pandemic: An Autonomous Logistic Vehicle for Contactless Goods Transportation

Since early 2020, the coronavirus disease 2019 (COVID-19) has spread rapidly across the world. As at the date of writing this article, the disease has been globally reported in 223 countries and regions, infected over 108 million people and caused over 2.4 million deaths (https://covid19.who.int/, accessed on Feb. 17, 2021). Avoiding person-to-person transmission is an effective approach to control and prevent the pandemic. However, many daily activities, such as transporting goods in our daily life, inevitably involve person-to-person contact. Using an autonomous logistic vehicle to achieve contact-less goods transportation could alleviate this issue. For example, it can reduce the risk of virus transmission between the driver and customers. Moreover, many countries have imposed tough lockdown measures to reduce the virus transmission (e.g., retail, catering) during the pandemic, which causes inconveniences for human daily life. Autonomous vehicle can deliver the goods bought by humans, so that humans can get the goods without going out. These demands motivate us to develop an autonomous vehicle, named as Hercules, for contact-less goods transportation during the COVID-19 pandemic. The vehicle is evaluated through real-world delivering tasks under various traffic conditions.

cs.RO↗

arXiv2021

Autonomous Navigation through intersections with Graph ConvolutionalNetworks and Conditional Imitation Learning for Self-driving Cars

In autonomous driving, navigation through unsignaled intersections with many traffic participants moving around is a challenging task. To provide a solution to this problem, we propose a novel branched network G-CIL for the navigation policy learning. Specifically, we firstly represent such dynamic environments as graph-structured data and propose an effective strategy for edge definition to aggregate surrounding information for the ego-vehicle. Then graph convolutional neural networks are used as the perception module to capture global and geometric features from the environment. To generate safe and efficient navigation policy, we further incorporate it with conditional imitation learning algorithm, to learn driving behaviors directly from expert demonstrations. Our proposed network is capable of handling a varying number of surrounding vehicles and generating optimal control actions (e.g., steering angle and throttle) according to the given high-level commands (e.g., turn left towards the global goal). Evaluations on unsignaled intersections with various traffic densities demonstrate that our end-to-end trainable neural network outperforms the baselines with higher success rate and shorter navigation time.

cs.RO↗

arXiv2021

Ground-aware Monocular 3D Object Detection for Autonomous Driving

Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the geometric constraints in 2D-3D correspondence, which stems from generic 6D object pose estimation. We first identify how the ground plane provides additional clues in depth reasoning in 3D detection in driving scenes. Based on this observation, we then improve the processing of 3D anchors and introduce a novel neural network module to fully utilize such application-specific priors in the framework of deep learning. Finally, we introduce an efficient neural network embedded with the proposed module for 3D object detection. We further verify the power of the proposed module with a neural network designed for monocular depth prediction. The two proposed networks achieve state-of-the-art performances on the KITTI 3D object detection and depth prediction benchmarks, respectively. The code will be published in https://www.github.com/Owen-Liuyuxuan/visualDet3D

cs.CV↗

arXiv2021

AVGCN: Trajectory Prediction using Graph Convolutional Networks Guided by Human Attention

Pedestrian trajectory prediction is a critical yet challenging task, especially for crowded scenes. We suggest that introducing an attention mechanism to infer the importance of different neighbors is critical for accurate trajectory prediction in scenes with varying crowd size. In this work, we propose a novel method, AVGCN, for trajectory prediction utilizing graph convolutional networks (GCN) based on human attention (A denotes attention, V denotes visual field constraints). First, we train an attention network that estimates the importance of neighboring pedestrians, using gaze data collected as subjects perform a bird's eye view crowd navigation task. Then, we incorporate the learned attention weights modulated by constraints on the pedestrian's visual field into a trajectory prediction network that uses a GCN to aggregate information from neighbors efficiently. AVGCN also considers the stochastic nature of pedestrian trajectories by taking advantage of variational trajectory prediction. Our approach achieves state-of-the-art performance on several trajectory prediction benchmarks, and the lowest average prediction error over all considered benchmarks.

cs.CV↗

arXiv2020

Rethinking Road Surface 3D Reconstruction and Pothole Detection: From Perspective Transformation to Disparity Map Segmentation

Potholes are one of the most common forms of road damage, which can severely affect driving comfort, road safety and vehicle condition. Pothole detection is typically performed by either structural engineers or certified inspectors. This task is, however, not only hazardous for the personnel but also extremely time-consuming. This paper presents an efficient pothole detection algorithm based on road disparity map estimation and segmentation. We first generalize the perspective transformation by incorporating the stereo rig roll angle. The road disparities are then estimated using semi-global matching. A disparity map transformation algorithm is then performed to better distinguish the damaged road areas. Finally, we utilize simple linear iterative clustering to group the transformed disparities into a collection of superpixels. The potholes are then detected by finding the superpixels, whose values are lower than an adaptively determined threshold. The proposed algorithm is implemented on an NVIDIA RTX 2080 Ti GPU in CUDA. The experiments demonstrate the accuracy and efficiency of our proposed road pothole detection algorithm, where an accuracy of 99.6% and an F-score of 89.4% are achieved.

cs.CV↗

arXiv2020

Neural SLAM: Learning to Explore with External Memory

We present an approach for agents to learn representations of a global map from sensor data, to aid their exploration in new environments. To achieve this, we embed procedures mimicking that of traditional Simultaneous Localization and Mapping (SLAM) into the soft attention based addressing of external memory architectures, in which the external memory acts as an internal representation of the environment. This structure encourages the evolution of SLAM-like behaviors inside a completely differentiable deep neural network. We show that this approach can help reinforcement learning agents to successfully explore new environments where long-term memory is essential. We validate our approach in both challenging grid-world environments and preliminary Gazebo experiments. A video of our experiments can be found at: https://goo.gl/G2Vu5y.

cs.LG↗

arXiv2020

Representations of Quantum Affine Algebras in their $R$-Matrix Realization

We use the isomorphisms between the $R$-matrix and Drinfeld presentations of the quantum affine algebras in types $B$, $C$ and $D$ produced in our previous work to describe finite-dimensional irreducible representations in the $R$-matrix realization. We also review the isomorphisms for the Yangians of these types and use Gauss decomposition to establish an equivalence of the descriptions of the representations in the $R$-matrix and Drinfeld presentations of the Yangians.

math.RT↗

arXiv2020

Photoluminescence from Single-Walled MoS$_2$ Nanotubes Coaxially Grown on Boron Nitride Nanotubes

Single- and multi-walled molybdenum disulfide (MoS$_2$) nanotubes have been coaxially grown on small diameter boron nitride nanotubes (BNNTs) which were synthesized from heteronanotubes by removing single-walled carbon nanotubes (SWCNTs), and systematically investigated by optical spectroscopy. The strong photoluminescence (PL) from single-walled MoS$_2$ nanotubes supported by core BNNTs is observed in this work, which evidences a direct band gap structure for single-walled MoS$_2$ nanotubes with around 6 - 7 nm in diameter. The observation is consistent with our DFT results that the single-walled MoS$_2$ nanotube changes from an indirect-gap to a direct-gap semiconductor when the diameter of a nanotube is more than around 5 nm. On the other hand, when there are SWCNTs inside the heteronanotubes of BNNTs and MoS$_2$ nanotubes, the PL signal is considerably quenched. The charge transfer and energy transfer between SWCNTs and single-walled MoS$_2$ nanotubes were examined through characterizations by PL, XPS, and Raman spectroscopy. Unlike the single-walled MoS$_2$ nanotubes, multi-walled MoS$_2$ nanotubes do not emit light. Single- and multi-walled MoS$_2$ nanotubes exhibit different Raman features in both resonant and non-resonant Raman spectra. The method of assembling heteronanotubes using BNNTs as templates provides an efficient approach for exploring the electronic and optical properties of other transition metal dichalcogenide nanotubes.

cond-mat.mtrl-sci↗

arXiv2020

Variational Auto-encoder Based Bayesian Poisson Tensor Factorization for Sparse and Imbalanced Count Data

Non-negative tensor factorization models enable predictive analysis on count data. Among them, Bayesian Poisson-Gamma models can derive full posterior distributions of latent factors and are less sensitive to sparse count data. However, current inference methods for these Bayesian models adopt restricted update rules for the posterior parameters. They also fail to share the update information to better cope with the data sparsity. Moreover, these models are not endowed with a component that handles the imbalance in count data values. In this paper, we propose a novel variational auto-encoder framework called VAE-BPTF which addresses the above issues. It uses multi-layer perceptron networks to encode and share complex update information. The encoded information is then reweighted per data instance to penalize common data values before aggregated to compute the posterior parameters for the latent factors. Under synthetic data evaluation, VAE-BPTF tended to recover the right number of latent factors and posterior parameter values. It also outperformed current models in both reconstruction errors and latent factor (semantic) coherence across five real-world datasets. Furthermore, the latent factors inferred by VAE-BPTF are perceived to be meaningful and coherent under a qualitative analysis.

cs.LG↗

arXiv2020

We Learn Better Road Pothole Detection: from Attention Aggregation to Adversarial Domain Adaptation

Manual visual inspection performed by certified inspectors is still the main form of road pothole detection. This process is, however, not only tedious, time-consuming and costly, but also dangerous for the inspectors. Furthermore, the road pothole detection results are always subjective, because they depend entirely on the individual experience. Our recently introduced disparity (or inverse depth) transformation algorithm allows better discrimination between damaged and undamaged road areas, and it can be easily deployed to any semantic segmentation network for better road pothole detection results. To boost the performance, we propose a novel attention aggregation (AA) framework, which takes the advantages of different types of attention modules. In addition, we develop an effective training set augmentation technique based on adversarial domain adaptation, where the synthetic road RGB images and transformed road disparity (or inverse depth) images are generated to enhance the training of semantic segmentation networks. The experimental results demonstrate that, firstly, the transformed disparity (or inverse depth) images become more informative; secondly, AA-UNet and AA-RTFNet, our best performing implementations, respectively outperform all other state-of-the-art single-modal and data-fusion networks for road pothole detection; and finally, the training set augmentation technique based on adversarial domain adaptation not only improves the accuracy of the state-of-the-art semantic segmentation networks, but also accelerates their convergence.

cs.CV↗

arXiv2020

A Data-Driven Reinforcement Learning Solution Framework for Optimal and Adaptive Personalization of a Hip Exoskeleton

Robotic exoskeletons are exciting technologies for augmenting human mobility. However, designing such a device for seamless integration with the human user and to assist human movement still is a major challenge. This paper aims at developing a novel data-driven solution framework based on reinforcement learning (RL), without first modeling the human-robot dynamics, to provide optimal and adaptive personalized torque assistance for reducing human efforts during walking. Our automatic personalization solution framework includes the assistive torque profile with two control timing parameters (peak and offset timings), the least square policy iteration (LSPI) for learning the parameter tuning policy, and a cost function based on transferred work ratio. The proposed controller was successfully validated on a healthy human subject to assist unilateral hip extension in walking. The results showed that the optimal and adaptive RL controller as a new approach was feasible for tuning assistive torque profile of the hip exoskeleton that coordinated with human actions and reduced activation level of hip extensor muscle in human.

cs.RO↗

arXiv2020

AIM 2020 Challenge on Learned Image Signal Processing Pipeline

This paper reviews the second AIM learned ISP challenge and provides the description of the proposed solutions and results. The participating teams were solving a real-world RAW-to-RGB mapping problem, where to goal was to map the original low-quality RAW images captured by the Huawei P20 device to the same photos obtained with the Canon 5D DSLR camera. The considered task embraced a number of complex computer vision subtasks, such as image demosaicing, denoising, white balancing, color and contrast correction, demoireing, etc. The target metric used in this challenge combined fidelity scores (PSNR and SSIM) with solutions' perceptual results measured in a user study. The proposed solutions significantly improved the baseline results, defining the state-of-the-art for practical image signal processing pipeline modeling.

cs.CV↗

arXiv2020

Geometric Structure Aided Visual Inertial Localization

Visual Localization is an essential component in autonomous navigation. Existing approaches are either based on the visual structure from SLAM/SfM or the geometric structure from dense mapping. To take the advantages of both, in this work, we present a complete visual inertial localization system based on a hybrid map representation to reduce the computational cost and increase the positioning accuracy. Specially, we propose two modules for data association and batch optimization, respectively. To this end, we develop an efficient data association module to associate map components with local features, which takes only $2$ms to generate temporal landmarks. For batch optimization, instead of using visual factors, we develop a module to estimate a pose prior from the instant localization results to constrain poses. The experimental results on the EuRoC MAV dataset demonstrate a competitive performance compared to the state of the arts. Specially, our system achieves an average position error in 1.7 cm with 100% recall. The timings show that the proposed modules reduce the computational cost by 20-30%. We will make our implementation open source at http://github.com/hyhuang1995/gmmloc.

cs.RO↗

arXiv2020

Molweni: A Challenge Multiparty Dialogues-based Machine Reading Comprehension Dataset with Discourse Structure

Research into the area of multiparty dialog has grown considerably over recent years. We present the Molweni dataset, a machine reading comprehension (MRC) dataset with discourse structure built over multiparty dialog. Molweni's source samples from the Ubuntu Chat Corpus, including 10,000 dialogs comprising 88,303 utterances. We annotate 30,066 questions on this corpus, including both answerable and unanswerable questions. Molweni also uniquely contributes discourse dependency annotations in a modified Segmented Discourse Representation Theory (SDRT; Asher et al., 2016) style for all of its multiparty dialogs, contributing large-scale (78,245 annotated discourse relations) data to bear on the task of multiparty dialog discourse parsing. Our experiments show that Molweni is a challenging dataset for current MRC models: BERT-wwm, a current, strong SQuAD 2.0 performer, achieves only 67.7% F1 on Molweni's questions, a 20+% significant drop as compared against its SQuAD 2.0 performance.

cs.CL↗

arXiv2020

CoT-AMFlow: Adaptive Modulation Network with Co-Teaching Strategy for Unsupervised Optical Flow Estimation

The interpretation of ego motion and scene change is a fundamental task for mobile robots. Optical flow information can be employed to estimate motion in the surroundings. Recently, unsupervised optical flow estimation has become a research hotspot. However, unsupervised approaches are often easy to be unreliable on partially occluded or texture-less regions. To deal with this problem, we propose CoT-AMFlow in this paper, an unsupervised optical flow estimation approach. In terms of the network architecture, we develop an adaptive modulation network that employs two novel module types, flow modulation modules (FMMs) and cost volume modulation modules (CMMs), to remove outliers in challenging regions. As for the training paradigm, we adopt a co-teaching strategy, where two networks simultaneously teach each other about challenging regions to further improve accuracy. Experimental results on the MPI Sintel, KITTI Flow and Middlebury Flow benchmarks demonstrate that our CoT-AMFlow outperforms all other state-of-the-art unsupervised approaches, while still running in real time. Our project page is available at https://sites.google.com/view/cot-amflow.

cs.CV↗

arXiv2020

VTGNet: A Vision-based Trajectory Generation Network for Autonomous Vehicles in Urban Environments

Traditional methods for autonomous driving are implemented with many building blocks from perception, planning and control, making them difficult to generalize to varied scenarios due to complex assumptions and interdependencies. Recently, the end-to-end driving method has emerged, which performs well and generalizes to new environments by directly learning from export-provided data. However, many existing methods on this topic neglect to check the confidence of the driving actions and the ability to recover from driving mistakes. In this paper, we develop an uncertainty-aware end-to-end trajectory generation method based on imitation learning. It can extract spatiotemporal features from the front-view camera images for scene understanding, and then generate collision-free trajectories several seconds into the future. The experimental results suggest that under various weather and lighting conditions, our network can reliably generate trajectories in different urban environments, such as turning at intersections and slowing down for collision avoidance. Furthermore, closed-loop driving tests suggest that the proposed method achieves better cross-scene/platform driving results than the state-of-the-art (SOTA) end-to-end control method, where our model can recover from off-center and off-orientation errors and capture 80% of dangerous cases with high uncertainty estimations.

cs.CV↗

arXiv2020

SciSummPip: An Unsupervised Scientific Paper Summarization Pipeline

The Scholarly Document Processing (SDP) workshop is to encourage more efforts on natural language understanding of scientific task. It contains three shared tasks and we participate in the LongSumm shared task. In this paper, we describe our text summarization system, SciSummPip, inspired by SummPip (Zhao et al., 2020) that is an unsupervised text summarization system for multi-document in news domain. Our SciSummPip includes a transformer-based language model SciBERT (Beltagy et al., 2019) for contextual sentence representation, content selection with PageRank (Page et al., 1999), sentence graph construction with both deep and linguistic information, sentence graph clustering and within-graph summary generation. Our work differs from previous method in that content selection and a summary length constraint is applied to adapt to the scientific domain. The experiment results on both training dataset and blind test dataset show the effectiveness of our method, and we empirically verify the robustness of modules used in SciSummPip with BERTScore (Zhang et al., 2019a).

cs.CL↗

arXiv2020

Multi-label Few/Zero-shot Learning with Knowledge Aggregated from Multiple Label Graphs

Few/Zero-shot learning is a big challenge of many classifications tasks, where a classifier is required to recognise instances of classes that have very few or even no training samples. It becomes more difficult in multi-label classification, where each instance is labelled with more than one class. In this paper, we present a simple multi-graph aggregation model that fuses knowledge from multiple label graphs encoding different semantic label relationships in order to study how the aggregated knowledge can benefit multi-label zero/few-shot document classification. The model utilises three kinds of semantic information, i.e., the pre-trained word embeddings, label description, and pre-defined label relations. Experimental results derived on two large clinical datasets (i.e., MIMIC-II and MIMIC-III) and the EU legislation dataset show that methods equipped with the multi-graph knowledge aggregation achieve significant performance improvement across almost all the measures on few/zero-shot labels.

cs.LG↗