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Peng Yin

Publications and source records attributed to Peng Yin.

At least 37 records · Page 2Linked to original sources

Approximating mutual information of high-dimensional variables using learned representations

Mutual information (MI) is a general measure of statistical dependence with widespread application across the sciences. However, estimating MI between multi-dimensional variables is challenging because the number of samples necessary to converge to an accurate estimate scales unfavorably with dimensionality. In practice, existing techniques can reliably estimate MI in up to tens of dimensions, but fail in higher dimensions, where sufficient sample sizes are infeasible. Here, we explore the idea that underlying low-dimensional structure in high-dimensional data can be exploited to faithfully approximate MI in high-dimensional settings with realistic sample sizes. We develop a method that we call latent MI (LMI) approximation, which applies a nonparametric MI estimator to low-dimensional representations learned by a simple, theoretically-motivated model architecture. Using several benchmarks, we show that unlike existing techniques, LMI can approximate MI well for variables with $> 10^3$ dimensions if their dependence structure has low intrinsic dimensionality. Finally, we showcase LMI on two open problems in biology. First, we approximate MI between protein language model (pLM) representations of interacting proteins, and find that pLMs encode non-trivial information about protein-protein interactions. Second, we quantify cell fate information contained in single-cell RNA-seq (scRNA-seq) measurements of hematopoietic stem cells, and find a sharp transition during neutrophil differentiation when fate information captured by scRNA-seq increases dramatically.

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LF-3PM: a LiDAR-based Framework for Perception-aware Planning with Perturbation-induced Metric

Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to enhance LiDAR-based LAS through strategic trajectory generation, known as Perception-aware Planning. Unlike vision-based frameworks, the LiDAR-based requires different considerations due to unique sensor attributes. Our approach focuses on two main aspects: firstly, assessing the impact of LiDAR observations on LAS. We introduce a perturbation-induced metric to provide a comprehensive and reliable evaluation of LiDAR observations. Secondly, we aim to improve motion planning efficiency. By creating a Static Observation Loss Map (SOLM) as an intermediary, we logically separate the time-intensive evaluation and motion planning phases, significantly boosting the planning process. In the experimental section, we demonstrate the effectiveness of the proposed metrics across various scenes and the feature of trajectories guided by different metrics. Ultimately, our framework is tested in a real-world scenario, enabling the robot to actively choose topologies and orientations preferable for localization. The source code is accessible at https://github.com/ZJU-FAST-Lab/LF-3PM.

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Direct ab initio calculation of the $^{4}$He nuclear electric dipole polarizability

The calculation of nuclear electromagnetic sum rules by directly diagonalizing the nuclear Hamiltonian in a large basis is numerically challenging and has not been performed for $A>2$ nuclei. With the significant progress of high performance computing, we show that calculating sum rules using numerous discretized continuum states obtained by directly diagonalizing the ab initio no-core shell model Hamiltonian is achievable numerically. Specifically, we calculate the $^{4}$He electric dipole ($E1$) polarizability, that is an inverse energy weighted sum rule, employing the Daejeon16 $NN$ interaction. We demonstrate that the calculations are numerically tractable as the dimension of the basis increases and are convergent. Our results for the $^{4}$He electric dipole polarizability are consistent with the most recent experimental data and are compared with those of other theoretical studies employing different techniques and various interactions.

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AutoMerge: A Framework for Map Assembling and Smoothing in City-scale Environments

We present AutoMerge, a LiDAR data processing framework for assembling a large number of map segments into a complete map. Traditional large-scale map merging methods are fragile to incorrect data associations, and are primarily limited to working only offline. AutoMerge utilizes multi-perspective fusion and adaptive loop closure detection for accurate data associations, and it uses incremental merging to assemble large maps from individual trajectory segments given in random order and with no initial estimations. Furthermore, after assembling the segments, AutoMerge performs fine matching and pose-graph optimization to globally smooth the merged map. We demonstrate AutoMerge on both city-scale merging (120km) and campus-scale repeated merging (4.5km x 8). The experiments show that AutoMerge (i) surpasses the second- and third- best methods by 14% and 24% recall in segment retrieval, (ii) achieves comparable 3D mapping accuracy for 120 km large-scale map assembly, (iii) and it is robust to temporally-spaced revisits. To the best of our knowledge, AutoMerge is the first mapping approach that can merge hundreds of kilometers of individual segments without the aid of GPS.

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Experimental super-Heisenberg quantum metrology with indefinite gate order

The precision of quantum metrology is widely believed to be restricted by the Heisenberg limit, corresponding to a root mean square error that is inversely proportional to the number of independent processes probed in an experiment, N. In the past, some proposals have challenged this belief, for example using non-linear interactions among the probes. However, these proposals turned out to still obey the Heisenberg limit with respect to other relevant resources, such as the total energy of the probes. Here, we present a photonic implementation of a quantum metrology protocol surpassing the Heisenberg limit by probing two groups of independent processes in a superposition of two alternative causal orders. Each process creates a phase space displacement, and our setup is able to estimate a geometric phase associated to two sets of N displacements with an error that falls quadratically with N. Our results only require a single-photon probe with an initial energy that is independent of N. Using a superposition of causal orders outperforms every setup where the displacements are probed in a definite order. Our experiment features the demonstration of indefinite causal order in a continuous-variable system, and opens up the experimental investigation of quantum metrology setups boosted by indefinite causal order.

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Sub Coulomb barrier d+$^{208}$Pb scattering in the time-dependent basis function approach

We employ the non-perturbative time-dependent basis function (tBF) approach to study the scattering of the deuteron on $^{208}$Pb below the Coulomb barrier. We obtain the bound and discretized scattering states of the projectile, which form the basis representation of the tBF approach, by diagonalizing a realistic Hamiltonian in a large harmonic oscillator basis. We find that the higher-order inelastic scattering effects are noticeable for sub barrier scatterings with the tBF method. We have successfully reproduced experimental sub Coulomb barrier elastic cross section ratios with the tBF approach by considering only the electric dipole ($\mathit{E1}$) component of the Coulomb interaction between the projectile and the target during scatterings. We find that the correction of the polarization potential to the Rutherford trajectory is dominant in reproducing the data at very low bombarding energies, whereas the role of internal transitions of the deuteron projectile induced by the $\mathit{E1}$ interaction during the scattering becomes increasingly significant at higher bombarding energies.

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A local-density-approximation description of high-momentum tails in isospin asymmetric nuclei

We adapt the local density approximation to add the high-momentum tails (HMTs) to finite nuclei's Slater-determinant momentum distributions. The HMTs are extracted by the extended Brueckner-Hartree-Fock (EBHF) method or by the lowest order cluster approximation. With a correction factor being added to EBHF, it is sufficiently in agreement with the experimental benchmark, i.e., the high-momentum $N/Z$ ratios approximately equal to $1$, and the low-momentum $N/Z$ ratios approximately equal to $N/Z$ of the systems. It is also found that the tensor force makes the nucleon-nucleon correlations appear more easily on the nuclear surface region and the percentage of high-momentum ($p > 300$ MeV/c) nucleons, around $17\%$--$18\%$, independent of isospin asymmetry.

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SphereVLAD++: Attention-based and Signal-enhanced Viewpoint Invariant Descriptor

LiDAR-based localization approach is a fundamental module for large-scale navigation tasks, such as last-mile delivery and autonomous driving, and localization robustness highly relies on viewpoints and 3D feature extraction. Our previous work provides a viewpoint-invariant descriptor to deal with viewpoint differences; however, the global descriptor suffers from a low signal-noise ratio in unsupervised clustering, reducing the distinguishable feature extraction ability. We develop SphereVLAD++, an attention-enhanced viewpoint invariant place recognition method in this work. SphereVLAD++ projects the point cloud on the spherical perspective for each unique area and captures the contextual connections between local features and their dependencies with global 3D geometry distribution. In return, clustered elements within the global descriptor are conditioned on local and global geometries and support the original viewpoint-invariant property of SphereVLAD. In the experiments, we evaluated the localization performance of SphereVLAD++ on both public KITTI360 datasets and self-generated datasets from the city of Pittsburgh. The experiment results show that SphereVLAD++ outperforms all relative state-of-the-art 3D place recognition methods under small or even totally reversed viewpoint differences and shows 0.69% and 15.81% successful retrieval rates with better than the second best. Low computation requirements and high time efficiency also help its application for low-cost robots.

cs.CV↗

360FusionNeRF: Panoramic Neural Radiance Fields with Joint Guidance

We present a method to synthesize novel views from a single $360^\circ$ panorama image based on the neural radiance field (NeRF). Prior studies in a similar setting rely on the neighborhood interpolation capability of multi-layer perceptions to complete missing regions caused by occlusion, which leads to artifacts in their predictions. We propose 360FusionNeRF, a semi-supervised learning framework where we introduce geometric supervision and semantic consistency to guide the progressive training process. Firstly, the input image is re-projected to $360^\circ$ images, and auxiliary depth maps are extracted at other camera positions. The depth supervision, in addition to the NeRF color guidance, improves the geometry of the synthesized views. Additionally, we introduce a semantic consistency loss that encourages realistic renderings of novel views. We extract these semantic features using a pre-trained visual encoder such as CLIP, a Vision Transformer trained on hundreds of millions of diverse 2D photographs mined from the web with natural language supervision. Experiments indicate that our proposed method can produce plausible completions of unobserved regions while preserving the features of the scene. When trained across various scenes, 360FusionNeRF consistently achieves the state-of-the-art performance when transferring to synthetic Structured3D dataset (PSNR~5%, SSIM~3% LPIPS~13%), real-world Matterport3D dataset (PSNR~3%, SSIM~3% LPIPS~9%) and Replica360 dataset (PSNR~8%, SSIM~2% LPIPS~18%).

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MUI-TARE: Multi-Agent Cooperative Exploration with Unknown Initial Position

Multi-agent exploration of a bounded 3D environment with unknown initial positions of agents is a challenging problem. It requires quickly exploring the environments as well as robustly merging the sub-maps built by the agents. We take the view that the existing approaches are either aggressive or conservative: Aggressive strategies merge two sub-maps built by different agents together when overlap is detected, which can lead to incorrect merging due to the false-positive detection of the overlap and is thus not robust. Conservative strategies direct one agent to revisit an excessive amount of the historical trajectory of another agent for verification before merging, which can lower the exploration efficiency due to the repeated exploration of the same space. To intelligently balance the robustness of sub-map merging and exploration efficiency, we develop a new approach for lidar-based multi-agent exploration, which can direct one agent to repeat another agent's trajectory in an \emph{adaptive} manner based on the quality indicator of the sub-map merging process. Additionally, our approach extends the recent single-agent hierarchical exploration strategy to multiple agents in a \emph{cooperative} manner by planning for agents with merged sub-maps together to further improve exploration efficiency. Our experiments show that our approach is up to 50\% more efficient than the baselines on average while merging sub-maps robustly.

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iSimLoc: Visual Global Localization for Previously Unseen Environments with Simulated Images

The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant modality to GPS failures. However, state-of-the-art visual localization algorithms are unable to match visual data that have a significantly different appearance due to illuminations or viewpoints. This paper presents iSimLoc, a condition/viewpoint consistent hierarchical global re-localization approach. The place features of iSimLoc can be utilized to search target images under changing appearances and viewpoints. Additionally, our hierarchical global re-localization module refines in a coarse-to-fine manner, allowing iSimLoc to perform a fast and accurate estimation. We evaluate our method on one dataset with appearance variations and one dataset that focuses on demonstrating large-scale matching over a long flight in complicated environments. On our two datasets, iSimLoc achieves 88.7\% and 83.8\% successful retrieval rates with 1.5s inferencing time, compared to 45.8% and 39.7% using the next best method. These results demonstrate robust localization in a range of environments.

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ALITA: A Large-scale Incremental Dataset for Long-term Autonomy

For long-term autonomy, most place recognition methods are mainly evaluated on simplified scenarios or simulated datasets, which cannot provide solid evidence to evaluate the readiness for current Simultaneous Localization and Mapping (SLAM). In this paper, we present a long-term place recognition dataset for use in mobile localization under large-scale dynamic environments. This dataset includes a campus-scale track and a city-scale track: 1) the campus-track focuses the long-term property, we record LiDAR device and an omnidirectional camera on 10 trajectories, and each trajectory are repeatly recorded 8 times under variant illumination conditions. 2) the city-track focuses the large-scale property, we mount the LiDAR device on the vehicle and traversing through a 120km trajectories, which contains open streets, residential areas, natural terrains, etc. They includes 200 hours of raw data of all kinds scenarios within urban environments. The ground truth position for both tracks are provided on each trajectory, which is obtained from the Global Position System with an additional General ICP based point cloud refinement. To simplify the evaluation procedure, we also provide the Python-API with a set of place recognition metrics is proposed to quickly load our dataset and evaluate the recognition performance against different methods. This dataset targets at finding methods with high place recognition accuracy and robustness, and providing real robotic system with long-term autonomy. The dataset and the provided tools can be accessed from https://github.com/MetaSLAM/ALITA.

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General Place Recognition Survey: Towards the Real-world Autonomy Age

Place recognition is the fundamental module that can assist Simultaneous Localization and Mapping (SLAM) in loop-closure detection and re-localization for long-term navigation. The place recognition community has made astonishing progress over the last $20$ years, and this has attracted widespread research interest and application in multiple fields such as computer vision and robotics. However, few methods have shown promising place recognition performance in complex real-world scenarios, where long-term and large-scale appearance changes usually result in failures. Additionally, there is a lack of an integrated framework amongst the state-of-the-art methods that can handle all of the challenges in place recognition, which include appearance changes, viewpoint differences, robustness to unknown areas, and efficiency in real-world applications. In this work, we survey the state-of-the-art methods that target long-term localization and discuss future directions and opportunities. We start by investigating the formulation of place recognition in long-term autonomy and the major challenges in real-world environments. We then review the recent works in place recognition for different sensor modalities and current strategies for dealing with various place recognition challenges. Finally, we review the existing datasets for long-term localization and introduce our datasets and evaluation API for different approaches. This paper can be a tutorial for researchers new to the place recognition community and those who care about long-term robotics autonomy. We also provide our opinion on the frequently asked question in robotics: Do robots need accurate localization for long-term autonomy? A summary of this work and our datasets and evaluation API is publicly available to the robotics community at: https://github.com/MetaSLAM/GPRS.

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Prediction of Potential Commercially Available Inhibitors against SARS-CoV-2 by Multi-Task Deep Learning Model

The outbreak of COVID-19 caused millions of deaths worldwide, and the number of total infections is still rising. It is necessary to identify some potentially effective drugs that can be used to prevent the development of severe symptoms or even death for those infected. Fortunately, many efforts have been made, and several effective drugs have been identified. The rapidly increasing amount of data is of great help for training an effective and specific deep learning model. In this study, we propose a multi-task deep learning model for the purpose of screening commercially available and effective inhibitors against SARS-CoV-2. First, we pretrained a model on several heterogenous protein-ligand interaction datasets. The model achieved competitive results on some benchmark datasets. Next, a coronavirus-specific dataset was collected and used to fine-tune the model. Then, the fine-tuned model was used to select commercially available drugs against SARS-CoV-2 protein targets. Overall, twenty compounds were listed as potential inhibitors. We further explored the model interpretability and observed the predicted important binding sites. Based on this prediction, molecular docking was also performed to visualize the binding modes of the selected inhibitors.

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BioSLAM: A Bio-inspired Lifelong Memory System for General Place Recognition

We present BioSLAM, a lifelong SLAM framework for learning various new appearances incrementally and maintaining accurate place recognition for previously visited areas. Unlike humans, artificial neural networks suffer from catastrophic forgetting and may forget the previously visited areas when trained with new arrivals. For humans, researchers discover that there exists a memory replay mechanism in the brain to keep the neuron active for previous events. Inspired by this discovery, BioSLAM designs a gated generative replay to control the robot's learning behavior based on the feedback rewards. Specifically, BioSLAM provides a novel dual-memory mechanism for maintenance: 1) a dynamic memory to efficiently learn new observations and 2) a static memory to balance new-old knowledge. When combined with a visual-/LiDAR- based SLAM system, the complete processing pipeline can help the agent incrementally update the place recognition ability, robust to the increasing complexity of long-term place recognition. We demonstrate BioSLAM in two incremental SLAM scenarios. In the first scenario, a LiDAR-based agent continuously travels through a city-scale environment with a 120km trajectory and encounters different types of 3D geometries (open streets, residential areas, commercial buildings). We show that BioSLAM can incrementally update the agent's place recognition ability and outperform the state-of-the-art incremental approach, Generative Replay, by 24%. In the second scenario, a LiDAR-vision-based agent repeatedly travels through a campus-scale area on a 4.5km trajectory. BioSLAM can guarantee the place recognition accuracy to outperform 15\% over the state-of-the-art approaches under different appearances. To our knowledge, BioSLAM is the first memory-enhanced lifelong SLAM system to help incremental place recognition in long-term navigation tasks.

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Bridging the gap between target-based and cell-based drug discovery with a graph generative multi-task model

Drug discovery is vitally important for protecting human against disease. Target-based screening is one of the most popular methods to develop new drugs in the past several decades. This method efficiently screens candidate drugs inhibiting target protein in vitro, but it often fails due to inadequate activity of the selected drugs in vivo. Accurate computational methods are needed to bridge this gap. Here, we propose a novel graph multi task deep learning model to identify compounds carrying both target inhibitory and cell active (MATIC) properties. On a carefully curated SARS-CoV-2 dataset, the proposed MATIC model shows advantages comparing with traditional method in screening effective compounds in vivo. Next, we explored the model interpretability and found that the learned features for target inhibition (in vitro) or cell active (in vivo) tasks are different with molecular property correlations and atom functional attentions. Based on these findings, we utilized a monte carlo based reinforcement learning generative model to generate novel multi-property compounds with both in vitro and in vivo efficacy, thus bridging the gap between target-based and cell-based drug discovery.

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ALTO: A Large-Scale Dataset for UAV Visual Place Recognition and Localization

We present the ALTO dataset, a vision-focused dataset for the development and benchmarking of Visual Place Recognition and Localization methods for Unmanned Aerial Vehicles. The dataset is composed of two long (approximately 150km and 260km) trajectories flown by a helicopter over Ohio and Pennsylvania, and it includes high precision GPS-INS ground truth location data, high precision accelerometer readings, laser altimeter readings, and RGB downward facing camera imagery. In addition, we provide reference imagery over the flight paths, which makes this dataset suitable for VPR benchmarking and other tasks common in Localization, such as image registration and visual odometry. To the author's knowledge, this is the largest real-world aerial-vehicle dataset of this kind. Our dataset is available at https://github.com/MetaSLAM/ALTO.

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Calculations of $p(n,γ)d$ reaction in chiral effective field theory

We present a calculation of the radiative capture cross section $p(n,γ)d$ in the low-energy range, where the $M1$ reaction channel dominates. Employing the LENPIC nucleon-nucleon interaction up to the fifth order (N4LO) that is regularized by the semi-local coordinate space regulators, we obtain the initial and final state wave functions, and evaluate the phase shifts of the scattering state and deuteron properties. We derive the transition operator from the chiral effective field theory up to the next-to-next-to leading order (N2LO), where we also regularize the transition operator using regulators consistent with those of the interactions. We compute the capture cross sections and the results show a converging pattern with the chiral-order expansion of the nucleon-nucleon interaction, where the regulator dependence of the results is weak when higher-order nucleon-nucleon interactions are employed. We quantify the uncertainties of the cross-section results due to the chiral-order truncation. The chirally complete and consistent cross-section results are performed up to N2LO and they compare well with the experiments and other theoretical predictions.

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