arXiv subjects

Mingxing Duan

Publications and source records attributed to Mingxing Duan.

4 recordsLinked to original sources

arXiv2025

CSubBT: A Self-Adjusting Execution Framework for Mobile Manipulation System

With the advancements in modern intelligent technologies, mobile robots equipped with manipulators are increasingly operating in unstructured environments. These robots can plan sequences of actions for long-horizon tasks based on perceived information. However, in practice, the planned actions often fail due to discrepancies between the perceptual information used for planning and the actual conditions. In this paper, we introduce the {\itshape Conditional Subtree} (CSubBT), a general self-adjusting execution framework for mobile manipulation tasks based on Behavior Trees (BTs). CSubBT decomposes symbolic action into sub-actions and uses BTs to control their execution, addressing any potential anomalies during the process. CSubBT treats common anomalies as constraint non-satisfaction problems and continuously guides the robot in performing tasks by sampling new action parameters in the constraint space when anomalies are detected. We demonstrate the robustness of our framework through extensive manipulation experiments on different platforms, both in simulation and real-world settings.

cs.RO↗

arXiv2024

cuFastTuckerPlus: A Stochastic Parallel Sparse FastTucker Decomposition Using GPU Tensor Cores

Sparse tensors are prevalent in real-world applications, often characterized by their large-scale, high-order, and high-dimensional nature. Directly handling raw tensors is impractical due to the significant memory and computational overhead involved. The current mainstream approach involves compressing or decomposing the original tensor. One popular tensor decomposition algorithm is the Tucker decomposition. However, existing state-of-the-art algorithms for large-scale Tucker decomposition typically relax the original optimization problem into multiple convex optimization problems to ensure polynomial convergence. Unfortunately, these algorithms tend to converge slowly. In contrast, tensor decomposition exhibits a simple optimization landscape, making local search algorithms capable of converging to a global (approximate) optimum much faster. In this paper, we propose the FastTuckerPlus algorithm, which decomposes the original optimization problem into two non-convex optimization problems and solves them alternately using the Stochastic Gradient Descent method. Furthermore, we introduce cuFastTuckerPlus, a fine-grained parallel algorithm designed for GPU platforms, leveraging the performance of tensor cores. This algorithm minimizes memory access overhead and computational costs, surpassing the state-of-the-art algorithms. Our experimental results demonstrate that our method achieves a speedup of $3X$ to $5X$ compared to state-of-the-art algorithms.

cs.DC↗

arXiv2023

Generating Transferable and Stealthy Adversarial Patch via Attention-guided Adversarial Inpainting

Adversarial patch attacks can fool the face recognition (FR) models via small patches. However, previous adversarial patch attacks often result in unnatural patterns that are easily noticeable. Generating transferable and stealthy adversarial patches that can efficiently deceive the black-box FR models while having good camouflage is challenging because of the huge stylistic difference between the source and target images. To generate transferable, natural-looking, and stealthy adversarial patches, we propose an innovative two-stage attack called Adv-Inpainting, which extracts style features and identity features from the attacker and target faces, respectively and then fills the patches with misleading and inconspicuous content guided by attention maps. In the first stage, we extract multi-scale style embeddings by a pyramid-like network and identity embeddings by a pretrained FR model and propose a novel Attention-guided Adaptive Instance Normalization layer (AAIN) to merge them via background-patch cross-attention maps. The proposed layer can adaptively fuse identity and style embeddings by fully exploiting priority contextual information. In the second stage, we design an Adversarial Patch Refinement Network (APR-Net) with a novel boundary variance loss, a spatial discounted reconstruction loss, and a perceptual loss to boost the stealthiness further. Experiments demonstrate that our attack can generate adversarial patches with improved visual quality, better stealthiness, and stronger transferability than state-of-the-art adversarial patch attacks and semantic attacks.

cs.CV↗

arXiv2018

A Novel Multi-Task Tensor Correlation Neural Network for Facial Attribute Prediction

Face multi-attribute prediction benefits substantially from multi-task learning (MTL), which learns multiple face attributes simultaneously to achieve shared or mutually related representations of different attributes. The most widely used MTL convolutional neural network is heuristically or empirically designed by sharing all of the convolutional layers and splitting at the fully connected layers for task-specific losses. However, it is improper to view all low and mid-level features for different attributes as being the same, especially when these attributes are only loosely related. In this paper, we propose a novel multi-attribute tensor correlation neural network (MTCN) for face attribute prediction. The structure shares the information in low-level features (e.g., the first two convolutional layers) but splits that in high-level features (e.g., from the third convolutional layer to the fully connected layer). At the same time, during high-level feature extraction, each subnetwork (e.g., Age-Net, Gender-Net, ..., and Smile-Net) excavates closely related features from other networks to enhance its features. Then, we project the features of the C9 layers of the fine-tuned subnetworks into a highly correlated space by using a novel tensor correlation analysis algorithm (NTCCA). The final face attribute prediction is made based on the correlation matrix. Experimental results on benchmarks with multiple face attributes (CelebA and LFWA) show that the proposed approach has superior performance compared to state-of-the-art methods.

cs.CV↗