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Mo Chen

Publications and source records attributed to Mo Chen.

At least 55 records · Page 3Linked to original sources
arXiv2024

DMODE: Differential Monocular Object Distance Estimation Module without Class Specific Information

Utilizing a single camera for measuring object distances is a cost-effective alternative to stereo-vision and LiDAR. Although monocular distance estimation has been explored in the literature, most existing techniques rely on object class knowledge to achieve high performance. Without this contextual data, monocular distance estimation becomes more challenging, lacking reference points and object-specific cues. However, these cues can be misleading for objects with wide-range variation or adversarial situations, which is a challenging aspect of object-agnostic distance estimation. In this paper, we propose DMODE, a class-agnostic method for monocular distance estimation that does not require object class knowledge. DMODE estimates an object's distance by fusing its fluctuation in size over time with the camera's motion, making it adaptable to various object detectors and unknown objects, thus addressing these challenges. We evaluate our model on the KITTI MOTS dataset using ground-truth bounding box annotations and outputs from TrackRCNN and EagerMOT. The object's location is determined using the change in bounding box sizes and camera position without measuring the object's detection source or class attributes. Our approach demonstrates superior performance in multi-class object distance detection scenarios compared to conventional methods.

cs.CV↗
arXiv2024

Multi-scale HSV Color Feature Embedding for High-fidelity NIR-to-RGB Spectrum Translation

The NIR-to-RGB spectral domain translation is a formidable task due to the inherent spectral mapping ambiguities within NIR inputs and RGB outputs. Thus, existing methods fail to reconcile the tension between maintaining texture detail fidelity and achieving diverse color variations. In this paper, we propose a Multi-scale HSV Color Feature Embedding Network (MCFNet) that decomposes the mapping process into three sub-tasks, including NIR texture maintenance, coarse geometry reconstruction, and RGB color prediction. Thus, we propose three key modules for each corresponding sub-task: the Texture Preserving Block (TPB), the HSV Color Feature Embedding Module (HSV-CFEM), and the Geometry Reconstruction Module (GRM). These modules contribute to our MCFNet methodically tackling spectral translation through a series of escalating resolutions, progressively enriching images with color and texture fidelity in a scale-coherent fashion. The proposed MCFNet demonstrates substantial performance gains over the NIR image colorization task. Code is released at: https://github.com/AlexYangxx/MCFNet.

cs.CV↗
arXiv2024

Guaranteed Completion of Complex Tasks via Temporal Logic Trees and Hamilton-Jacobi Reachability

In this paper, we present an approach for guaranteeing the completion of complex tasks with cyber-physical systems (CPS). Specifically, we leverage temporal logic trees constructed using Hamilton-Jacobi reachability analysis to (1) check for the existence of control policies that complete a specified task and (2) develop a computationally-efficient approach to synthesize the full set of control inputs the CPS can implement in real-time to ensure the task is completed. We show that, by checking the approximation directions of each state set in the temporal logic tree, we can check if the temporal logic tree suffers from the "leaking corner issue," where the intersection of reachable sets yields an incorrect approximation. By ensuring a temporal logic tree has no leaking corners, we know the temporal logic tree correctly verifies the existence of control policies that satisfy the specified task. After confirming the existence of control policies, we show that we can leverage the value functions obtained through Hamilton-Jacobi reachability analysis to efficiently compute the set of control inputs the CPS can implement throughout the deployment time horizon to guarantee the completion of the specified task. Finally, we use a newly released Python toolbox to evaluate the presented approach on a simulated driving task.

eess.SY↗
arXiv2024

Sequential Modeling of Complex Marine Navigation: Case Study on a Passenger Vessel (Student Abstract)

The maritime industry's continuous commitment to sustainability has led to a dedicated exploration of methods to reduce vessel fuel consumption. This paper undertakes this challenge through a machine learning approach, leveraging a real-world dataset spanning two years of a ferry in west coast Canada. Our focus centers on the creation of a time series forecasting model given the dynamic and static states, actions, and disturbances. This model is designed to predict dynamic states based on the actions provided, subsequently serving as an evaluative tool to assess the proficiency of the ferry's operation under the captain's guidance. Additionally, it lays the foundation for future optimization algorithms, providing valuable feedback on decision-making processes. To facilitate future studies, our code is available at \url{https://github.com/pagand/model_optimze_vessel/tree/AAAI}

cs.LG↗
arXiv2024

Gate-Compatible Circuit Quantum Electrodynamics in a Three-Dimensional Cavity Architecture

Semiconductor-based superconducting qubits offer a versatile platform for studying hybrid quantum devices in circuit quantum electrodynamics (cQED) architecture. Most of these cQED experiments utilize coplanar waveguides, where the incorporation of DC gate lines is straightforward. Here, we present a technique for probing gate-tunable hybrid devices using a three-dimensional (3D) microwave cavity. A recess is machined inside the cavity wall for the placement of devices and gate lines. We validate this design using a hybrid device based on an InAs-Al nanowire Josephson junction. The coupling between the device and the cavity is facilitated by a long superconducting strip, the antenna. The Josephson junction and the antenna together form a gatemon qubit. We further demonstrate the gate-tunable cavity shift and two-tone qubit spectroscopy. This technique could be used to probe various quantum devices and materials in a 3D cQED architecture that requires DC gate voltages.

quant-ph↗
arXiv2023

LeTFuser: Light-weight End-to-end Transformer-Based Sensor Fusion for Autonomous Driving with Multi-Task Learning

In end-to-end autonomous driving, the utilization of existing sensor fusion techniques and navigational control methods for imitation learning proves inadequate in challenging situations that involve numerous dynamic agents. To address this issue, we introduce LeTFuser, a lightweight transformer-based algorithm for fusing multiple RGB-D camera representations. To perform perception and control tasks simultaneously, we utilize multi-task learning. Our model comprises of two modules, the first being the perception module that is responsible for encoding the observation data obtained from the RGB-D cameras. Our approach employs the Convolutional vision Transformer (CvT) \cite{wu2021cvt} to better extract and fuse features from multiple RGB cameras due to local and global feature extraction capability of convolution and transformer modules, respectively. Encoded features combined with static and dynamic environments are later employed by our control module to predict waypoints and vehicular controls (e.g. steering, throttle, and brake). We use two methods to generate the vehicular controls levels. The first method uses a PID algorithm to follow the waypoints on the fly, whereas the second one directly predicts the control policy using the measurement features and environmental state. We evaluate the model and conduct a comparative analysis with recent models on the CARLA simulator using various scenarios, ranging from normal to adversarial conditions, to simulate real-world scenarios. Our method demonstrated better or comparable results with respect to our baselines in term of driving abilities. The code is available at \url{https://github.com/pagand/e2etransfuser/tree/cvpr-w} to facilitate future studies.

cs.CV↗
arXiv2023

Task-Oriented Koopman-Based Control with Contrastive Encoder

We present task-oriented Koopman-based control that utilizes end-to-end reinforcement learning and contrastive encoder to simultaneously learn the Koopman latent embedding, operator, and associated linear controller within an iterative loop. By prioritizing the task cost as the main objective for controller learning, we reduce the reliance of controller design on a well-identified model, which, for the first time to the best of our knowledge, extends Koopman control from low to high-dimensional, complex nonlinear systems, including pixel-based tasks and a real robot with lidar observations. Code and videos are available \href{https://sites.google.com/view/kpmlilatsupp/}{here}.

cs.RO↗
arXiv2023

Deep Reinforcement Learning-based Intelligent Traffic Signal Controls with Optimized CO2 emissions

Nowadays, transportation networks face the challenge of sub-optimal control policies that can have adverse effects on human health, the environment, and contribute to traffic congestion. Increased levels of air pollution and extended commute times caused by traffic bottlenecks make intersection traffic signal controllers a crucial component of modern transportation infrastructure. Despite several adaptive traffic signal controllers in literature, limited research has been conducted on their comparative performance. Furthermore, despite carbon dioxide (CO2) emissions' significance as a global issue, the literature has paid limited attention to this area. In this report, we propose EcoLight, a reward shaping scheme for reinforcement learning algorithms that not only reduces CO2 emissions but also achieves competitive results in metrics such as travel time. We compare the performance of tabular Q-Learning, DQN, SARSA, and A2C algorithms using metrics such as travel time, CO2 emissions, waiting time, and stopped time. Our evaluation considers multiple scenarios that encompass a range of road users (trucks, buses, cars) with varying pollution levels.

eess.SY↗
arXiv2023

Fuel Consumption Prediction for a Passenger Ferry using Machine Learning and In-service Data: A Comparative Study

As the importance of eco-friendly transportation increases, providing an efficient approach for marine vessel operation is essential. Methods for status monitoring with consideration to the weather condition and forecasting with the use of in-service data from ships requires accurate and complete models for predicting the energy efficiency of a ship. The models need to effectively process all the operational data in real-time. This paper presents models that can predict fuel consumption using in-service data collected from a passenger ship. Statistical and domain-knowledge methods were used to select the proper input variables for the models. These methods prevent over-fitting, missing data, and multicollinearity while providing practical applicability. Prediction models that were investigated include multiple linear regression (MLR), decision tree approach (DT), an artificial neural network (ANN), and ensemble methods. The best predictive performance was from a model developed using the XGboost technique which is a boosting ensemble approach. \rvv{Our code is available on GitHub at \url{https://github.com/pagand/model_optimze_vessel/tree/OE} for future research.

cs.LG↗
arXiv2023

Online Probabilistic Model Identification using Adaptive Recursive MCMC

Although the Bayesian paradigm offers a formal framework for estimating the entire probability distribution over uncertain parameters, its online implementation can be challenging due to high computational costs. We suggest the Adaptive Recursive Markov Chain Monte Carlo (ARMCMC) method, which eliminates the shortcomings of conventional online techniques while computing the entire probability density function of model parameters. The limitations to Gaussian noise, the application to only linear in the parameters (LIP) systems, and the persistent excitation (PE) needs are some of these drawbacks. In ARMCMC, a temporal forgetting factor (TFF)-based variable jump distribution is proposed. The forgetting factor can be presented adaptively using the TFF in many dynamical systems as an alternative to a constant hyperparameter. By offering a trade-off between exploitation and exploration, the specific jump distribution has been optimised towards hybrid/multi-modal systems that permit inferences among modes. These trade-off are adjusted based on parameter evolution rate. We demonstrate that ARMCMC requires fewer samples than conventional MCMC methods to achieve the same precision and reliability. We demonstrate our approach using parameter estimation in a soft bending actuator and the Hunt-Crossley dynamic model, two challenging hybrid/multi-modal benchmarks. Additionally, we compare our method with recursive least squares and the particle filter, and show that our technique has significantly more accurate point estimates as well as a decrease in tracking error of the value of interest.

cs.LG↗
arXiv2023

Efficient Domain Coverage for Vehicles with Second-Order Dynamics via Multi-Agent Reinforcement Learning

Collaborative autonomous multi-agent systems covering a specified area have many potential applications, such as UAV search and rescue, forest fire fighting, and real-time high-resolution monitoring. Traditional approaches for such coverage problems involve designing a model-based control policy based on sensor data. However, designing model-based controllers is challenging, and the state-of-the-art classical control policy still exhibits a large degree of sub-optimality. In this paper, we present a reinforcement learning (RL) approach for the multi-agent efficient domain coverage problem involving agents with second-order dynamics. Our approach is based on the Multi-Agent Proximal Policy Optimization Algorithm (MAPPO). Our proposed network architecture includes the incorporation of LSTM and self-attention, which allows the trained policy to adapt to a variable number of agents. Our trained policy significantly outperforms the state-of-the-art classical control policy. We demonstrate our proposed method in a variety of simulated experiments.

cs.RO↗
arXiv2023

Phonon engineering of atomic-scale defects in superconducting quantum circuits

Noise within solid-state systems at low temperatures, where many of the degrees of freedom of the host material are frozen out, can typically be traced back to material defects that support low-energy excitations. These defects can take a wide variety of microscopic forms, and for amorphous materials are broadly described using generic models such as the tunneling two-level systems (TLS) model. Although the details of TLS, and their impact on the low-temperature behavior of materials have been studied since the 1970s, these states have recently taken on further relevance in the field of quantum computing, where the limits to the coherence of superconducting microwave quantum circuits are dominated by TLS. Efforts to mitigate the impact of TLS have thus far focused on circuit design, material selection, and material surface treatment. In this work, we take a new approach that seeks to directly modify the properties of TLS through nanoscale-engineering. This is achieved by periodically structuring the host material, forming an acoustic bandgap that suppresses all microwave-frequency phonons in a GHz-wide frequency band around the operating frequency of a transmon qubit superconducting quantum circuit. For embedded TLS that are strongly coupled to the electric qubit, we measure a pronounced increase in relaxation time by two orders of magnitude when the TLS transition frequency lies within the acoustic bandgap, with the longest $T_1$ time exceeding $5$ milliseconds. Our work paves the way for in-depth investigation and coherent control of TLS, which is essential for deepening our understanding of noise in amorphous materials and advancing solid-state quantum devices.

quant-ph↗
arXiv2023

An MCTS-DRL Based Obstacle and Occlusion Avoidance Methodology in Robotic Follow-Ahead Applications

We propose a novel methodology for robotic follow-ahead applications that address the critical challenge of obstacle and occlusion avoidance. Our approach effectively navigates the robot while ensuring avoidance of collisions and occlusions caused by surrounding objects. To achieve this, we developed a high-level decision-making algorithm that generates short-term navigational goals for the mobile robot. Monte Carlo Tree Search is integrated with a Deep Reinforcement Learning method to enhance the performance of the decision-making process and generate more reliable navigational goals. Through extensive experimentation and analysis, we demonstrate the effectiveness and superiority of our proposed approach in comparison to the existing follow-ahead human-following robotic methods. Our code is available at https://github.com/saharLeisiazar/follow-ahead-ros.

cs.RO↗
arXiv2023

Multi-Agent Reach-Avoid Games: Two Attackers Versus One Defender and Mixed Integer Programming

We propose a hybrid approach that combines Hamilton-Jacobi (HJ) reachability and mixed-integer optimization for solving a reach-avoid game with multiple attackers and defenders. The reach-avoid game is an important problem with potential applications in air traffic control and multi-agent motion planning; however, solving this game for many attackers and defenders is intractable due to the adversarial nature of the agents and the high problem dimensionality. In this paper, we first propose an HJ reachability-based method for solving the reach-avoid game in which 2 attackers are playing against 1 defender; we derive the numerically convergent optimal winning sets for the two sides in environments with obstacles. Utilizing this result and previous results for the 1 vs. 1 game, we further propose solving the general multi-agent reach-avoid game by determining the defender assignments that can maximize the number of attackers captured via a Mixed Integer Program (MIP). Our method generalizes previous state-of-the-art results and is especially useful when there are fewer defenders than attackers. We validate our theoretical results in numerical simulations.

eess.SY↗
arXiv2023

Asynchronous, Option-Based Multi-Agent Policy Gradient: A Conditional Reasoning Approach

Cooperative multi-agent problems often require coordination between agents, which can be achieved through a centralized policy that considers the global state. Multi-agent policy gradient (MAPG) methods are commonly used to learn such policies, but they are often limited to problems with low-level action spaces. In complex problems with large state and action spaces, it is advantageous to extend MAPG methods to use higher-level actions, also known as options, to improve the policy search efficiency. However, multi-robot option executions are often asynchronous, that is, agents may select and complete their options at different time steps. This makes it difficult for MAPG methods to derive a centralized policy and evaluate its gradient, as centralized policy always select new options at the same time. In this work, we propose a novel, conditional reasoning approach to address this problem and demonstrate its effectiveness on representative option-based multi-agent cooperative tasks through empirical validation. Find code and videos at: \href{https://sites.google.com/view/mahrlsupp/}{https://sites.google.com/view/mahrlsupp/}

cs.RO↗
arXiv2023

Hierarchical Planning and Policy Shaping Shared Autonomy for Articulated Robots

In this work, we propose a novel shared autonomy framework to operate articulated robots. We provide strategies to design both the task-oriented hierarchical planning and policy shaping algorithms for efficient human-robot interactions in context-aware operation of articulated robots. Our framework for interplay between the human and the autonomy, as the participating agents in the system, is particularly influenced by the ideas from multi-agent systems, game theory, and theory of mind for a sliding level of autonomy. We formulate the sequential hierarchical human-in-the-loop decision making process by extending MDPs and Options framework to shared autonomy, and make use of deep RL techniques to train an uncertainty-aware shared autonomy policy. To fine-tune the formulation to a human, we use history of the system states, human actions, and their error with respect to a surrogate optimal model to encode human's internal state embeddings, beyond the designed values, by using conditional VAEs. We showcase the effectiveness of our formulation for different human skill levels and degrees of cooperativeness by using a case study of a feller-buncher machine in the challenging tasks of timber harvesting. Our framework is successful in providing a sliding level of autonomy from fully autonomous to fully manual, and is particularly successful in handling a noisy non-cooperative human agent in the loop. The proposed framework advances the state-of-the-art in shared autonomy for operating articulated robots, but can also be applied to other domains where autonomous operation is the ultimate goal.

cs.RO↗
arXiv2023

Supercurrent, Multiple Andreev Reflections and Shapiro Steps in InAs Nanosheet Josephson Junctions

High-quality free-standing InAs nanosheets are emerging layered semiconductor materials with potentials in designing planar Josephson junction devices for novel physics studies due to their unique properties including strong spin-orbit couplings, large Landé g-factors and the two dimensional nature. Here, we report an experimental study of proximity induced superconductivity in planar Josephson junction devices made from free-standing InAs nanosheets. The nanosheets are grown by molecular beam epitaxy and the Josephson junction devices are fabricated by directly contacting the nanosheets with superconductor Al electrodes. The fabricated devices are explored by low-temperature carrier transport measurements. The measurements show that the devices exhibit a gate-tunable supercurrent, multiple Andreev reflections, and a good quality superconductor-semiconductor interface. The superconducting characteristics of the Josephson junctions are investigated at different magnetic fields and temperatures, and are analyzed based on the Bardeen-Cooper-Schrieffer (BCS) theory. The measurements of ac Josephson effect are also conducted under microwave radiations with different radiation powers and frequencies, and integer Shapiro steps are observed. Our work demonstrates that InAs nanosheet based hybrid devices are desired systems for investigating forefront physics, such as the two-dimensional topological superconductivity.

cond-mat.mes-hall↗
arXiv2022

Inverse-designed lithium niobate nanophotonics

Lithium niobate-on-insulator (LNOI) is an emerging photonic platform that exhibits favorable material properties (such as low optical loss, strong nonlinearities, and stability) and enables large-scale integration with stronger optical confinement, showing promise for future optical networks, quantum processors, and nonlinear optical systems. However, while photonics engineering has entered the era of automated "inverse design" via optimization in recent years, the design of LNOI integrated photonic devices still mostly relies on intuitive models and inefficient parameter sweeps, limiting the accessible parameter space, performance, and functionality. Here, we develop and implement a 3D gradient-based inverse-design model tailored for topology optimization of the LNOI platform, which not only could efficiently search a large parameter space but also takes into account practical fabrication constraints, including minimum feature sizes and etched sidewall angles. We experimentally demonstrate a spatial-mode multiplexer, a waveguide crossing, and a compact waveguide bend, all with low insertion losses, tiny footprints, and excellent agreement between simulation and experimental results. The devices, together with the design methodology, represent a crucial step towards the variety of advanced device functionalities needed in future LNOI photonics, and could provide compact and cost-effective solutions for future optical links, quantum technologies and nonlinear optics.

physics.optics↗