arXiv subjects

Mo Chen

Publications and source records attributed to Mo Chen.

At least 73 records · Page 4Linked to original sources

arXiv2022

DMMGAN: Diverse Multi Motion Prediction of 3D Human Joints using Attention-Based Generative Adverserial Network

Human motion prediction is a fundamental part of many human-robot applications. Despite the recent progress in human motion prediction, most studies simplify the problem by predicting the human motion relative to a fixed joint and/or only limit their model to predict one possible future motion. While due to the complex nature of human motion, a single output cannot reflect all the possible actions one can do. Also, for any robotics application, we need the full human motion including the user trajectory not a 3d pose relative to the hip joint. In this paper, we try to address these two issues by proposing a transformer-based generative model for forecasting multiple diverse human motions. Our model generates \textit{N} future possible motion by querying a history of human motion. Our model first predicts the pose of the body relative to the hip joint. Then the \textit{Hip Prediction Module} predicts the trajectory of the hip movement for each predicted pose frame. To emphasize on the diverse future motions we introduce a similarity loss that penalizes the pairwise sample distance. We show that our system outperforms the state-of-the-art in human motion prediction while it can predict diverse multi-motion future trajectories with hip movements

cs.CV↗

arXiv2022

Towards Inclusive HRI: Using Sim2Real to Address Underrepresentation in Emotion Expression Recognition

Robots and artificial agents that interact with humans should be able to do so without bias and inequity, but facial perception systems have notoriously been found to work more poorly for certain groups of people than others. In our work, we aim to build a system that can perceive humans in a more transparent and inclusive manner. Specifically, we focus on dynamic expressions on the human face, which are difficult to collect for a broad set of people due to privacy concerns and the fact that faces are inherently identifiable. Furthermore, datasets collected from the Internet are not necessarily representative of the general population. We address this problem by offering a Sim2Real approach in which we use a suite of 3D simulated human models that enables us to create an auditable synthetic dataset covering 1) underrepresented facial expressions, outside of the six basic emotions, such as confusion; 2) ethnic or gender minority groups; and 3) a wide range of viewing angles that a robot may encounter a human in the real world. By augmenting a small dynamic emotional expression dataset containing 123 samples with a synthetic dataset containing 4536 samples, we achieved an improvement in accuracy of 15% on our own dataset and 11% on an external benchmark dataset, compared to the performance of the same model architecture without synthetic training data. We also show that this additional step improves accuracy specifically for racial minorities when the architecture's feature extraction weights are trained from scratch.

cs.CV↗

arXiv2022

Robust Visual Teach and Repeat for UGVs Using 3D Semantic Maps

We propose a Visual Teach and Repeat (VTR) algorithm using semantic landmarks extracted from environmental objects for ground robots with fixed mount monocular cameras. The proposed algorithm is robust to changes in the starting pose of the camera/robot, where a pose is defined as the planar position plus the orientation around the vertical axis. VTR consists of a teach phase in which a robot moves in a prescribed path, and a repeat phase in which the robot tries to repeat the same path starting from the same or a different pose. Most available VTR algorithms are pose dependent and cannot perform well in the repeat phase when starting from an initial pose far from that of the teach phase. To achieve more robust pose independency, the key is to generate a 3D semantic map of the environment containing the camera trajectory and the positions of surrounding objects during the teach phase. For specific implementation, we use ORB-SLAM to collect the camera poses and the 3D point clouds of the environment, and YOLOv3 to detect objects in the environment. We then combine the two outputs to build the semantic map. In the repeat phase, we relocalize the robot based on the detected objects and the stored semantic map. The robot is then able to move toward the teach path, and repeat it in both forward and backward directions. We have tested the proposed algorithm in different scenarios and compared it with two most relevant recent studies. Also, we compared our algorithm with two image-based relocalization methods. One is purely based on ORB-SLAM and the other combines Superglue and RANSAC. The results show that our algorithm is much more robust with respect to pose variations as well as environmental alterations. Our code and data are available at the following Github page: https://github.com/mmahdavian/semantic_visual_teach_repeat.

cs.RO↗

arXiv2022

Characterizing temperature and strain variations with qubit ensembles for their robust coherence protection

Solid-state spin defects, especially nuclear spins with potentially achievable long coherence times, are compelling candidates for quantum memories and sensors. However, their current performances are still limited by the decoherence due to the variation of their intrinsic quadrupole and hyperfine interactions. We propose an \textit{unbalanced echo} to overcome this challenge by using a second spin to refocus the variation of these interactions, which preserves the quantum information stored in the free evolution. The unbalanced echo can be used to probe the temperature and strain distribution in materials. Experimentally, we demonstrate a 20-fold $T_2^*$ coherence time increase in an ensemble of $\sim10^{10}$ nuclear spins in diamond. Theoretically, we develop first-principles methods to predict these interaction variations and reveal their correlation in large temperature and strain ranges. We numerically show that our method can refocus stronger noise variations than our current experiments and achieves a 400-fold coherence improvement for a 25~K temperature inhomogeneity.

quant-ph↗

arXiv2021

Least-Restrictive Multi-Agent Collision Avoidance via Deep Meta Reinforcement Learning and Optimal Control

Multi-agent collision-free trajectory planning and control subject to different goal requirements and system dynamics has been extensively studied, and is gaining recent attention in the realm of machine and reinforcement learning. However, in particular when using a large number of agents, constructing a least-restrictive collision avoidance policy is of utmost importance for both classical and learning-based methods. In this paper, we propose a Least-Restrictive Collision Avoidance Module (LR-CAM) that evaluates the safety of multi-agent systems and takes over control only when needed to prevent collisions. The LR-CAM is a single policy that can be wrapped around policies of all agents in a multi-agent system. It allows each agent to pursue any objective as long as it is safe to do so. The benefit of the proposed least-restrictive policy is to only interrupt and overrule the default controller in case of an upcoming inevitable danger. We use a Long Short-Term Memory (LSTM) based Variational Auto-Encoder (VAE) to enable the LR-CAM to account for a varying number of agents in the environment. Moreover, we propose an off-policy meta-reinforcement learning framework with a novel reward function based on a Hamilton-Jacobi value function to train the LR-CAM. The proposed method is fully meta-trained through a ROS based simulation and tested on real multi-agent system. Our results show that LR-CAM outperforms the classical least-restrictive baseline by 30 percent. In addition, we show that even if a subset of agents in a multi-agent system use LR-CAM, the success rate of all agents will increase significantly.

cs.RO↗

arXiv2021

Vacuum-gap transmon qubits realized using flip-chip technology

Significant progress has been made in building large-scale superconducting quantum processors based on flip-chip technology. In this work, we use the flip-chip technology to realize a modified transmon qubit, donated as the "flipmon", whose large shunt capacitor is replaced by a vacuum-gap parallel plate capacitor. To further reduce the qubit footprint, we place one of the qubit pads and a single Josephson junction on the bottom chip and the other pad on the top chip which is galvanically connected with the single Josephson junction through an indium bump. The electric field participation ratio can arrive at nearly 53% in air when the vacuum-gap is about 5 microns, and thus potentially leading to a lower dielectric loss. The coherence times of the flipmons are measured in the range of 30-60 microseconds, which are comparable with that of traditional transmons with similar fabrication processes. The electric field simulation indicates that the metal-air interface's participation ratio increases significantly and may dominate the qubit's decoherence. This suggests that more careful surface treatment needs to be considered. No evidence shows that the indium bumps inside the flipmons cause significant decoherence. With well-designed geometry and good surface treatment, the coherence of the flipmons can be further improved.

quant-ph↗

arXiv2021

Prediction-Based Reachability for Collision Avoidance in Autonomous Driving

Safety is an important topic in autonomous driving since any collision may cause serious injury to people and damage to property. Hamilton-Jacobi (HJ) Reachability is a formal method that verifies safety in multi-agent interaction and provides a safety controller for collision avoidance. However, due to the worst-case assumption on the cars future behaviours, reachability might result in too much conservatism such that the normal operation of the vehicle is badly hindered. In this paper, we leverage the power of trajectory prediction and propose a prediction-based reachability framework to compute safety controllers. Instead of always assuming the worst case, we cluster the car's behaviors into multiple driving modes, e.g. left turn or right turn. Under each mode, a reachability-based safety controller is designed based on a less conservative action set. For online implementation, we first utilize the trajectory prediction and our proposed mode classifier to predict the possible modes, and then deploy the corresponding safety controller. Through simulations in a T-intersection and an 8-way roundabout, we demonstrate that our prediction-based reachability method largely avoids collision between two interacting cars and reduces the conservatism that the safety controller brings to the car's original operation.

cs.RO↗

arXiv2021

Transmon qubit with relaxation time exceeding 0.5 milliseconds

By using the dry etching process of tantalum (Ta) film, we had obtained transmon qubit with the best lifetime (T1) 503 us, suggesting that the dry etching process can be adopted in the following multi-qubit fabrication with Ta film. We also compared the relaxation and coherence times of transmons made with different materials (Ta, Nb and Al) with the same design and fabrication processes of Josephson junction, we found that samples prepared with Ta film had the best performance, followed by those with Al film and Nb film. We inferred that the reason for this difference was due to the different loss of oxide materials located at the metal-air interface.

quant-ph↗

arXiv2021

Probabilistic magnetometry with two-spin system in diamond

Solid-state magnetometers like the Nitrogen-Vacancy center in diamond have been of paramount importance for the development of quantum sensing with nanoscale spatial resolution. The basic protocol is a Ramsey sequence, that imprints an external static magnetic field into phase of the quantum sensor, which is subsequently readout. In this work we show that the hyperfine coupling between the Nitrogen-Vacancy and a nearby Carbon-13 can be used to set a post-selection protocol that leads to an enhancement of the sensitivity under realistic experimental conditions. We found that for an isotopically purified sample the detection of weak magnetic fields in the $μ$T range can be achieved with a sensitivity of few nTHz$^{-1/2}$ at cryogenic temperature ($4$ K), and $0.1$ $μ$THz$^{-1/2}$ at room temperature.

quant-ph↗

arXiv2021

A synthetic monopole source of Kalb-Ramond field in diamond

Magnetic monopoles play a central role in various areas of fundamental physics, ranging from electromagnetism to topological states of matter. While their observation is elusive in high-energy physics, monopole sources of artificial gauge fields have been recently identified in synthetic matter. String theory, a potentially unifying framework that encompasses quantum mechanics, promotes the conventional \emph{vector} gauge fields of electrodynamics to \emph{tensor} gauge fields, and predicts the existence of more exotic \emph{tensor monopoles} in 4D space. Here we report on the characterization of a tensor monopole synthesized in a 4D parameter space by the spin degrees of freedom of a single solid-state defect in diamond. Using two complementary methods, we characterize the tensor monopole by measuring its quantized topological charge and its emanating Kalb-Ramond field. By introducing a fictitious external field that breaks chiral symmetry, we further observe an intriguing transition in the spectrum, characterized by spectral rings protected by mirror symmetries. Our work represents the first detection of tensor monopoles in a solid-state system and opens up the possibility of emulating exotic topological structures inspired by string theory.

quant-ph↗

arXiv2021

FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking

Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice robustness for computation speed. Alternatively, provably safe trajectory planning tends to be too computationally intensive for real-time replanning. We propose FaSTrack, Fast and Safe Tracking, a framework that achieves both real-time replanning and guaranteed safety. In this framework, real-time computation is achieved by allowing any trajectory planner to use a simplified \textit{planning model} of the system. The plan is tracked by the system, represented by a more realistic, higher-dimensional \textit{tracking model}. We precompute the tracking error bound (TEB) due to mismatch between the two models and due to external disturbances. We also obtain the corresponding tracking controller used to stay within the TEB. The precomputation does not require prior knowledge of the environment. We demonstrate FaSTrack using Hamilton-Jacobi reachability for precomputation and three different real-time trajectory planners with three different tracking-planning model pairs.

cs.RO↗

arXiv2021

FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning

Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However, trajectory planning for autonomous systems is computationally intensive, often requiring simplified dynamics that sacrifice safety and dynamic feasibility in order to plan efficiently. Conversely, safe trajectories can be computed using more sophisticated dynamic models, but this is typically too slow to be used for real-time planning. We propose a new algorithm FaSTrack: Fast and Safe Tracking for High Dimensional systems. A path or trajectory planner using simplified dynamics to plan quickly can be incorporated into the FaSTrack framework, which provides a safety controller for the vehicle along with a guaranteed tracking error bound. This bound captures all possible deviations due to high dimensional dynamics and external disturbances. Note that FaSTrack is modular and can be used with most current path or trajectory planners. We demonstrate this framework using a 10D nonlinear quadrotor model tracking a 3D path obtained from an RRT planner.

cs.RO↗

arXiv2020

Real-Time Formal Verification of Autonomous Systems With An FPGA

Hamilton-Jacobi reachability analysis is a powerful technique used to verify the safety of autonomous systems. This method is very good at handling non-linear system dynamics with disturbances and flexible set representations. A drawback to this approach is that it suffers from the curse of dimensionality, which prevents real-time deployment on safety-critical systems. In this paper, we show that a customized hardware design on a Field Programmable Gate Array (FPGA) could accelerate 4D grid-based Hamilton-Jacobi (HJ) reachability analysis up to 16 times compared to an optimized implementation and 142 times compared to MATLAB ToolboxLS on a 16-thread CPU. Our design can overcome the complex data access pattern while taking advantage of the parallel nature of the HJ PDE computation. Because of this, we are able to achieve real-time formal verification with a 4D car model by re-solving the HJ PDE at a frequency of 5Hz on the FPGA as the environment changes. The latency of our computation is deterministic, which is crucial for safetycritical systems. Our approach presented here can be applied to different systems dynamics, and moreover, potentially leveraged for higher dimensions systems. We also demonstrate obstacle avoidance with a robot car in a changing environment.

eess.SY↗

arXiv2020

On Infusing Reachability-Based Safety Assurance within Planning Frameworks for Human-Robot Vehicle Interactions

Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road -- a key challenge in doing so is accounting for uncertainty in human driver actions without unduly impacting planner performance. This paper introduces a minimally-interventional safety controller operating within an autonomous vehicle control stack with the role of ensuring collision-free interaction with an externally controlled (e.g., human-driven) counterpart while respecting static obstacles such as a road boundary wall. We leverage reachability analysis to construct a real-time (100Hz) controller that serves the dual role of (i) tracking an input trajectory from a higher-level planning algorithm using model predictive control, and (ii) assuring safety by maintaining the availability of a collision-free escape maneuver as a persistent constraint regardless of whatever future actions the other car takes. A full-scale steer-by-wire platform is used to conduct traffic weaving experiments wherein two cars, initially side-by-side, must swap lanes in a limited amount of time and distance, emulating cars merging onto/off of a highway. We demonstrate that, with our control stack, the autonomous vehicle is able to avoid collision even when the other car defies the planner's expectations and takes dangerous actions, either carelessly or with the intent to collide, and otherwise deviates minimally from the planned trajectory to the extent required to maintain safety.

cs.RO↗

arXiv2020

Desires and Motivation: The Computational Rule, the Underlying Neural Circuitry, and the Relevant Clinical Disorders

As organism is a dissipative system. The process from multi desires to exclusive motivation is of great importance among all sensory-action loops. In this paper we argued that a proper Desire-Motivation model should be a continuous dynamic mapping from the dynamic desire vector to the sparse motivation vector. Meanwhile, it should at least have specific stability and adjustability of motivation intensity. Besides, the neuroscience evidences suggest that the Desire-Motivation model should have dynamic information acquisition and should be a recurrent neural network. A five-equation model is built based on the above arguments, namely the Recurrent Gating Desire-Motivation (RGDM) model. Additionally, a heuristic speculation based on the RGDM model about corresponding brain regions is carried out. It believes that the tonic and phasic firing of ventral tegmental area dopamine neurons should execute the respective and collective feedback functions of recurrent processing. The analysis about the RGMD model shows the expectations about individual personality from three dimensions, namely stability, intensity, and motivation decision speed. These three dimensions can be combined and create eight different personalities, which is correspondent to Jung's personality structure theorem. Furthermore, the RGDM model can be used to predict three different brand-new types of depressive disorder with different phenotypes. Moreover, it can also explain several other psychiatry disorders from new perspectives.

q-bio.NC↗

arXiv2020

Realisation of adiabatic and diabatic CZ gates in superconducting qubits coupled with a tunable coupler

High fidelity two-qubit gates are fundamental for scaling up the superconducting number. We use two qubits coupled via a frequency-tunable coupler which can adjust the coupling strength, and demonstrate the CZ gate using two different schemes, adiabatic and diabatic methods. The Clifford based Randomized Benchmarking (RB) method is used to assess and optimize the CZ gate fidelity. The fidelity of adiabatic and diabatic CZ gates are 99.53(8)% and 98.72(2)%, respectively. We also analyze the errors induced by the decoherence. Comparing to 30 ns duration time of adiabatic CZ gate, the duration time of diabatic CZ gate is 19 ns, revealing lower incoherence error rate $r'_{\rm{incoherent, int}}$ = 0.0197(5) than $r_{\rm{incoherent, int}}$ = 0.0223(3).

quant-ph↗

arXiv2020

LBGP: Learning Based Goal Planning for Autonomous Following in Front

This paper investigates a hybrid solution which combines deep reinforcement learning (RL) and classical trajectory planning for the following in front application. Here, an autonomous robot aims to stay ahead of a person as the person freely walks around. Following in front is a challenging problem as the user's intended trajectory is unknown and needs to be estimated, explicitly or implicitly, by the robot. In addition, the robot needs to find a feasible way to safely navigate ahead of human trajectory. Our deep RL module implicitly estimates human trajectory and produces short-term navigational goals to guide the robot. These goals are used by a trajectory planner to smoothly navigate the robot to the short-term goals, and eventually in front of the user. We employ curriculum learning in the deep RL module to efficiently achieve a high return. Our system outperforms the state-of-the-art in following ahead and is more reliable compared to end-to-end alternatives in both the simulation and real world experiments. In contrast to a pure deep RL approach, we demonstrate zero-shot transfer of the trained policy from simulation to the real world.

cs.RO↗

arXiv2020

SFU-Store-Nav: A Multimodal Dataset for Indoor Human Navigation

This article describes a dataset collected in a set of experiments that involves human participants and a robot. The set of experiments was conducted in the computing science robotics lab in Simon Fraser University, Burnaby, BC, Canada, and its aim is to gather data containing common gestures, movements, and other behaviours that may indicate humans' navigational intent relevant for autonomous robot navigation. The experiment simulates a shopping scenario where human participants come in to pick up items from his/her shopping list and interact with a Pepper robot that is programmed to help the human participant. We collected visual data and motion capture data from 108 human participants. The visual data contains live recordings of the experiments and the motion capture data contains the position and orientation of the human participants in world coordinates. This dataset could be valuable for researchers in the robotics, machine learning and computer vision community.

cs.CV↗