arXiv subjects

Mustafa Yildirim

Publications and source records attributed to Mustafa Yildirim.

15 recordsLinked to original sources

arXiv2025

A Tutorial-cum-Survey on Self-Supervised Learning for Wi-Fi Sensing: Trends, Challenges, and Outlook

Wi-Fi technology has evolved from simple communication routers to sensing devices. Wi-Fi sensing leverages conventional Wi-Fi transmissions to extract and analyze channel state information (CSI) for applications like proximity detection, occupancy detection, activity recognition, and health monitoring. By leveraging existing infrastructure, Wi-Fi sensing offers a privacy-preserving, non-intrusive, and cost-effective solution which, unlike cameras, is not sensitive to lighting conditions. Beginning with a comprehensive review of the Wi-Fi standardization activities, this tutorial-cum-survey first introduces fundamental concepts related to Wi-Fi CSI, outlines the CSI measurement methods, and examines the impact of mobile objects on CSI. The mechanics of a simplified testbed for CSI extraction are also described. Then, we present a qualitative comparison of the existing Wi-Fi sensing datasets, their specifications, and pin-point their shortcomings. Next, a variety of preprocessing techniques are discussed that are beneficial for feature extraction and explainability of machine learning (ML) algorithms. We then provide a qualitative review of recent ML approaches in the domain of Wi-Fi sensing and present the significance of self-supervised learning (SSL) in that context. Specifically, the mechanics of contrastive and non-contrastive learning solutions is elaborated in detail and a quantitative comparative analysis is presented in terms of classification accuracy. Finally, the article concludes by highlighting emerging technologies that can be leveraged to enhance the performance of Wi-Fi sensing and opportunities for further research in this domain

eess.SP↗

arXiv2025

Training Hybrid Neural Networks with Multimode Optical Nonlinearities Using Digital Twins

The ability to train ever-larger neural networks brings artificial intelligence to the forefront of scientific and technical discoveries. However, their exponentially increasing size creates a proportionally greater demand for energy and computational hardware. Incorporating complex physical events in networks as fixed, efficient computation modules can address this demand by decreasing the complexity of trainable layers. Here, we utilize ultrashort pulse propagation in multimode fibers, which perform large-scale nonlinear transformations, for this purpose. Training the hybrid architecture is achieved through a neural model that differentiably approximates the optical system. The training algorithm updates the neural simulator and backpropagates the error signal over this proxy to optimize layers preceding the optical one. Our experimental results achieve state-of-the-art image classification accuracies and simulation fidelity. Moreover, the framework demonstrates exceptional resilience to experimental drifts. By integrating low-energy physical systems into neural networks, this approach enables scalable, energy-efficient AI models with significantly reduced computational demands.

physics.optics↗

arXiv2024

Behavioral Cloning Models Reality Check for Autonomous Driving

How effective are recent advancements in autonomous vehicle perception systems when applied to real-world autonomous vehicle control? While numerous vision-based autonomous vehicle systems have been trained and evaluated in simulated environments, there is a notable lack of real-world validation for these systems. This paper addresses this gap by presenting the real-world validation of state-of-the-art perception systems that utilize Behavior Cloning (BC) for lateral control, processing raw image data to predict steering commands. The dataset was collected using a scaled research vehicle and tested on various track setups. Experimental results demonstrate that these methods predict steering angles with low error margins in real-time, indicating promising potential for real-world applications.

cs.RO↗

arXiv2024

Optical Diffusion Models for Image Generation

Diffusion models generate new samples by progressively decreasing the noise from the initially provided random distribution. This inference procedure generally utilizes a trained neural network numerous times to obtain the final output, creating significant latency and energy consumption on digital electronic hardware such as GPUs. In this study, we demonstrate that the propagation of a light beam through a semi-transparent medium can be programmed to implement a denoising diffusion model on image samples. This framework projects noisy image patterns through passive diffractive optical layers, which collectively only transmit the predicted noise term in the image. The optical transparent layers, which are trained with an online training approach, backpropagating the error to the analytical model of the system, are passive and kept the same across different steps of denoising. Hence this method enables high-speed image generation with minimal power consumption, benefiting from the bandwidth and energy efficiency of optical information processing.

physics.optics↗

arXiv2024

HighwayLLM: Decision-Making and Navigation in Highway Driving with RL-Informed Language Model

Autonomous driving is a complex task which requires advanced decision making and control algorithms. Understanding the rationale behind the autonomous vehicles' decision is crucial to ensure their safe and effective operation on highway driving. This study presents a novel approach, HighwayLLM, which harnesses the reasoning capabilities of large language models (LLMs) to predict the future waypoints for ego-vehicle's navigation. Our approach also utilizes a pre-trained Reinforcement Learning (RL) model to serve as a high-level planner, making decisions on appropriate meta-level actions. The HighwayLLM combines the output from the RL model and the current state information to make safe, collision-free, and explainable predictions for the next states, thereby constructing a trajectory for the ego-vehicle. Subsequently, a PID-based controller guides the vehicle to the waypoints predicted by the LLM agent. This integration of LLM with RL and PID enhances the decision-making process and provides interpretability for highway autonomous driving.

cs.RO↗

arXiv2024

Programming the scalable optical learning operator with spatial-spectral optimization

Electronic computers have evolved drastically over the past years with an ever-growing demand for improved performance. However, the transfer of information from memory and high energy consumption have emerged as issues that require solutions. Optical techniques are considered promising solutions to these problems with higher speed than their electronic counterparts and with reduced energy consumption. Here, we use the optical reservoir computing framework we have previously described (Scalable Optical Learning Operator or SOLO) to program the spatial-spectral output of the light after nonlinear propagation in a multimode fiber. The novelty in the current paper is that the system is programmed through an output sampling scheme, similar to that used in hyperspectral imaging in astronomy. Linear and nonlinear computations are performed by light in the multimode fiber and the high dimensional spatial-spectral information at the fiber output is optically programmed before it reaches the camera. We then used a digital computer to classify the programmed output of the multi-mode fiber using a simple, single layer network. When combining front-end programming and the proposed spatial-spectral programming, we were able to achieve 89.9% classification accuracy on the dataset consisting of chest X-ray images from COVID-19 patients. At the same time, we obtained a decrease of 99% in the number of tunable parameters compared to an equivalently performing digital neural network. These results show that the performance of programmed SOLO is comparable with cutting-edge electronic computing platforms, albeit with a much-reduced number of electronic operations.

physics.optics↗

arXiv2024

Multicasting Optical Reconfigurable Switch

Artificial Intelligence (AI) demands large data flows within datacenters, heavily relying on multicasting data transfers. As AI models scale, the requirement for high-bandwidth and low-latency networking compounds. The common use of electrical packet switching faces limitations due to optical-electrical-optical conversion bottlenecks. Optical switches, while bandwidth-agnostic and low-latency, suffer from having only unicast or non-scalable multicasting capability. This paper introduces an optical switching technique addressing this challenge. Our approach enables arbitrarily programmable simultaneous unicast and multicast connectivity, eliminating the need for optical splitters that hinder scalability due to optical power loss. We use phase modulation in multiple layers, tailored to implement any multicast connectivity map. Phase modulation also enables wavelength selectivity on top of spatial selectivity, resulting in an optical switch that implements space-wavelength routing. We conducted simulations and experiments to validate our approach. Our results affirm the concept's feasibility, effectiveness, and scalability, as a multicasting switch by experimentally demonstrating 16 spatial ports using 2 wavelength channels. Numerically, 64 spatial ports with 4 wavelength channels each were simulated, with approximately constant efficiency (< 3 dB) as ports and wavelength channels scale.

physics.optics↗

arXiv2023

Human-Like Autonomous Driving on Dense Traffic

This paper proposes a imitation learning model for autonomous driving on highway traffic by mimicking human drivers' driving behaviours. The study utilizes the HighD traffic dataset, which is complex, high-dimensional, and diverse in vehicle variations. Imitation learning is an alternative solution to autonomous highway driving that reduces the sample complexity of learning a challenging task compared to reinforcement learning. However, imitation learning has limitations such as vulnerability to compounding errors in unseen states, poor generalization, and inability to predict outlier driver profiles. To address these issues, the paper proposes mixture density network behaviour cloning model to manage complex and non-linear relationships between inputs and outputs and make more informed decisions about the vehicle's actions. Additional improvement is using collision penalty based on the GAIL model. The paper includes a simulated driving test to demonstrate the effectiveness of the proposed method based on real traffic scenarios and provides conclusions on its potential impact on autonomous driving.

cs.RO↗

arXiv2023

Symbolic Imitation Learning: From Black-Box to Explainable Driving Policies

Current imitation learning approaches, predominantly based on deep neural networks (DNNs), offer efficient mechanisms for learning driving policies from real-world datasets. However, they suffer from inherent limitations in interpretability and generalizability--issues of critical importance in safety-critical domains such as autonomous driving. In this paper, we introduce Symbolic Imitation Learning (SIL), a novel framework that leverages Inductive Logic Programming (ILP) to derive explainable and generalizable driving policies from synthetic datasets. We evaluate SIL on real-world HighD and NGSim datasets, comparing its performance with state-of-the-art neural imitation learning methods using metrics such as collision rate, lane change efficiency, and average speed. The results indicate that SIL significantly enhances policy transparency while maintaining strong performance across varied driving conditions. These findings highlight the potential of integrating ILP into imitation learning to promote safer and more reliable autonomous systems.

cs.LG↗

arXiv2023

Forward-Forward Training of an Optical Neural Network

Neural networks (NN) have demonstrated remarkable capabilities in various tasks, but their computation-intensive nature demands faster and more energy-efficient hardware implementations. Optics-based platforms, using technologies such as silicon photonics and spatial light modulators, offer promising avenues for achieving this goal. However, training multiple trainable layers in tandem with these physical systems poses challenges, as they are difficult to fully characterize and describe with differentiable functions, hindering the use of error backpropagation algorithm. The recently introduced Forward-Forward Algorithm (FFA) eliminates the need for perfect characterization of the learning system and shows promise for efficient training with large numbers of programmable parameters. The FFA does not require backpropagating an error signal to update the weights, rather the weights are updated by only sending information in one direction. The local loss function for each set of trainable weights enables low-power analog hardware implementations without resorting to metaheuristic algorithms or reinforcement learning. In this paper, we present an experiment utilizing multimode nonlinear wave propagation in an optical fiber demonstrating the feasibility of the FFA approach using an optical system. The results show that incorporating optical transforms in multilayer NN architectures trained with the FFA, can lead to performance improvements, even with a relatively small number of trainable weights. The proposed method offers a new path to the challenge of training optical NNs and provides insights into leveraging physical transformations for enhancing NN performance.

cs.LG↗

arXiv2023

Nonlinear Processing with Linear Optics

Deep neural networks have achieved remarkable breakthroughs by leveraging multiple layers of data processing to extract hidden representations, albeit at the cost of large electronic computing power. To enhance energy efficiency and speed, the optical implementation of neural networks aims to harness the advantages of optical bandwidth and the energy efficiency of optical interconnections. In the absence of low-power optical nonlinearities, the challenge in the implementation of multilayer optical networks lies in realizing multiple optical layers without resorting to electronic components. In this study, we present a novel framework that uses multiple scattering that is capable of synthesizing programmable linear and nonlinear transformations concurrently at low optical power by leveraging the nonlinear relationship between the scattering potential, represented by data, and the scattered field. Theoretical and experimental investigations show that repeating the data by multiple scattering enables non-linear optical computing at low power continuous wave light. Moreover, we empirically found that scaling of this optical framework follows the power law as in state-of-the-art deep digital networks.

physics.optics↗

arXiv2023

Towards Safe Autonomous Driving Policies using a Neuro-Symbolic Deep Reinforcement Learning Approach

The dynamic nature of driving environments and the presence of diverse road users pose significant challenges for decision-making in autonomous driving. Deep reinforcement learning (DRL) has emerged as a popular approach to tackle this problem. However, the application of existing DRL solutions is mainly confined to simulated environments due to safety concerns, impeding their deployment in real-world. To overcome this limitation, this paper introduces a novel neuro-symbolic model-free DRL approach, called DRL with Symbolic Logic (DRLSL) that combines the strengths of DRL (learning from experience) and symbolic first-order logic (knowledge-driven reasoning) to enable safe learning in real-time interactions of autonomous driving within real environments. This innovative approach provides a means to learn autonomous driving policies by actively engaging with the physical environment while ensuring safety. We have implemented the DRLSL framework in a highway driving scenario using the HighD dataset and demonstrated that our method successfully avoids unsafe actions during both the training and testing phases. Furthermore, our results indicate that DRLSL achieves faster convergence during training and exhibits better generalizability to new highway driving scenarios compared to traditional DRL methods.

cs.RO↗

arXiv2022

Prediction Based Decision Making for Autonomous Highway Driving

Autonomous driving decision-making is a challenging task due to the inherent complexity and uncertainty in traffic. For example, adjacent vehicles may change their lane or overtake at any time to pass a slow vehicle or to help traffic flow. Anticipating the intention of surrounding vehicles, estimating their future states and integrating them into the decision-making process of an automated vehicle can enhance the reliability of autonomous driving in complex driving scenarios. This paper proposes a Prediction-based Deep Reinforcement Learning (PDRL) decision-making model that considers the manoeuvre intentions of surrounding vehicles in the decision-making process for highway driving. The model is trained using real traffic data and tested in various traffic conditions through a simulation platform. The results show that the proposed PDRL model improves the decision-making performance compared to a Deep Reinforcement Learning (DRL) model by decreasing collision numbers, resulting in safer driving.

cs.RO↗

arXiv2022

Nonlinear Optical Data Transformer for Machine Learning

Modern machine learning models use an ever-increasing number of parameters to train (175 billion parameters for GPT-3) with large datasets to obtain better performance. Bigger is better has been the norm. Optical computing has been reawakened as a potential solution to large-scale computing through optical accelerators that carry out linear operations while reducing electrical power. However, to achieve efficient computing with light, creating and controlling nonlinearity optically rather than electronically remains a challenge. This study explores a reservoir computing (RC) approach whereby a 14 mm long few-mode waveguide in LiNbO3 on insulator is used as a complex nonlinear optical processor. A dataset is encoded digitally on the spectrum of a femtosecond pulse which is then launched in the waveguide. The output spectrum depends nonlinearly on the input. We experimentally show that a simple digital linear classifier with 784 parameters using the output spectrum from the waveguide as input increased the classification accuracy of several databases compared to non-transformed data, approximately 10$\%$. In comparison, a deep digital neural network (NN) with 40000 parameters was necessary to achieve the same accuracy. Reducing the number of parameters by a factor of $\sim$50 illustrates that a compact optical RC approach can perform on par with a deep digital NN.

physics.optics↗

arXiv2022

Programming Nonlinear Propagation for Efficient Optical Learning Machines

The ever-increasing demand for processing data with larger machine learning models requires more efficient hardware solutions due to limitations such as power dissipation and scalability. Optics is a promising contender for providing lower power computation since light propagation through a non-absorbing medium is a lossless operation. However, to carry out useful and efficient computations with light, generating and controlling nonlinearity optically is a necessity that is still elusive. Multimode fibers (MMF) have been shown that they can provide nonlinear effects with microwatts of average power while maintaining parallelism and low loss. In this work, we propose an optical neural network architecture, which performs nonlinear optical computation by controlling the propagation of ultrashort pulses in MMF by wavefront shaping. With a surrogate model, optimal sets of parameters are found to program this optical computer for different tasks with minimal utilization of an electronic computer. We show a remarkable decrease of 97% in the number of model parameters, which leads to an overall 99% digital operation reduction compared to an equivalently performing digital neural network. We further demonstrate that a fully optical implementation can also be performed with competitive accuracies.

cs.ET↗