arXiv subjects

Pengfei Li

Publications and source records attributed to Pengfei Li.

At least 181 records · Page 10Linked to original sources

arXiv2023

Second-harmonic generation in the system with fractional diffraction

We construct a family of bright optical solitons composed of fundamental frequency (FF) and second-harmonic (SH) components in the one-dimensional (planar) waveguide with the quadratic (second-harmonic-generating) nonlinearity and effective fractional diffraction, characterized by the Levy index α, taking values between 2 and 0.5, which correspond to the non-fractional diffraction and critical collapse, respectively. The existence domain and stability boundary for the solitons are delineated in the space of α, FF-SH mismatch parameter, and propagation constant. The stability boundary is tantamount to that predicted by the Vakhitov-Kolokolov criterion, while unstable solitons spontaneously evolve into localized breathers. A sufficiently weak transverse kick applied to the stable solitons excite small internal vibrations in the stable solitons, without setting them in motion. A stronger kick makes the solitons' trajectories tilted, simultaneously destabilizing the solitons.

nlin.PS↗

arXiv2023

Measuring galaxy cluster mass profiles into the low acceleration regime with galaxy kinematics

We probe the dynamical mass profiles of 10 galaxy clusters from the HIghest X-ray FLUx Galaxy Cluster Sample (HIFLUGCS) using galaxy kinematics. We numerically solve the spherical Jeans equation, and parameterize the dynamical mass profile and the galaxy velocity anisotropy profile using two general functions to ensure that our results are not biased towards any specific model. The mass-velocity anisotropy degeneracy is ameliorated by using two "virial shape parameters" that depend on the fourth moment of velocity distribution. The resulting velocity anisotropy estimates consistently show a nearly isotropic distribution in the inner regions, with an increasing radial anisotropy towards large radii. We compare our derived dynamical masses with those calculated from X-ray gas data assuming hydrostatic equilibrium, finding that massive and rich relaxed clusters generally present consistent mass measurements, while unrelaxed or low-richness clusters have systematically larger total mass than hydrostatic mass by an average of 50\%. This might help alleviate current tensions in the measurement of $σ_8$, but it also leads to cluster baryon fractions below the cosmic value. Finally, our approach probes accelerations as low as $10^{-11}$ m s$^{-2}$, comparable to the outskirts of individual late-type galaxies. We confirm that galaxy clusters deviate from the radial acceleration relation defined by galaxies.

astro-ph.CO↗

arXiv2023

Learning for Edge-Weighted Online Bipartite Matching with Robustness Guarantees

Many problems, such as online ad display, can be formulated as online bipartite matching. The crucial challenge lies in the nature of sequentially-revealed online item information, based on which we make irreversible matching decisions at each step. While numerous expert online algorithms have been proposed with bounded worst-case competitive ratios, they may not offer satisfactory performance in average cases. On the other hand, reinforcement learning (RL) has been applied to improve the average performance, but it lacks robustness and can perform arbitrarily poorly. In this paper, we propose a novel RL-based approach to edge-weighted online bipartite matching with robustness guarantees (LOMAR), achieving both good average-case and worst-case performance. The key novelty of LOMAR is a new online switching operation which, based on a judicious condition to hedge against future uncertainties, decides whether to follow the expert's decision or the RL decision for each online item. We prove that for any $ρ\in[0,1]$, LOMAR is $ρ$-competitive against any given expert online algorithm. To improve the average performance, we train the RL policy by explicitly considering the online switching operation. Finally, we run empirical experiments to demonstrate the advantages of LOMAR compared to existing baselines. Our code is available at: https://github.com/Ren-Research/LOMAR

cs.LG↗

arXiv2023

Super cuspy dark matter halos of massive galaxies due to baryon-driven contraction

The interplay between dark matter (DM) and baryons has long been ignored when building galaxies semi-empirically and observationally. Here I show that baryonic gravity leads to an adiabatic contraction of DM halos, which is most significant in massive galaxies. Ignoring this effect, the derived DM halos are not guaranteed in dynamical equilibrium. I present a new approach to deriving DM halos from rotation curves, which incorporates the adiabatic contraction. The compressed halos turn out super cuspy with respect to NFW halos, which require smaller baryonic contributions and less concentrated primordial halos. I also examine the semi-empirical approach to building galaxies, and find the adiabatic contraction can shift massive galaxies from the observed radial acceleration relation dramatically. Both approaches lead to super cuspy DM halos for massive galaxies, demonstrating the importance of the baryon-driven contraction, which has to be taken into account in order to make an apple-to-apple comparison with simulations.

astro-ph.GA↗

arXiv2023

DILI: A Distribution-Driven Learned Index (Extended version)

Targeting in-memory one-dimensional search keys, we propose a novel DIstribution-driven Learned Index tree (DILI), where a concise and computation-efficient linear regression model is used for each node. An internal node's key range is equally divided by its child nodes such that a key search enjoys perfect model prediction accuracy to find the relevant leaf node. A leaf node uses machine learning models to generate searchable data layout and thus accurately predicts the data record position for a key. To construct DILI, we first build a bottom-up tree with linear regression models according to global and local key distributions. Using the bottom-up tree, we build DILI in a top-down manner, individualizing the fanouts for internal nodes according to local distributions. DILI strikes a good balance between the number of leaf nodes and the height of the tree, two critical factors of key search time. Moreover, we design flexible algorithms for DILI to efficiently insert and delete keys and automatically adjust the tree structure when necessary. Extensive experimental results show that DILI outperforms the state-of-the-art alternatives on different kinds of workloads.

cs.DB↗

arXiv2023

Robustified Learning for Online Optimization with Memory Costs

Online optimization with memory costs has many real-world applications, where sequential actions are made without knowing the future input. Nonetheless, the memory cost couples the actions over time, adding substantial challenges. Conventionally, this problem has been approached by various expert-designed online algorithms with the goal of achieving bounded worst-case competitive ratios, but the resulting average performance is often unsatisfactory. On the other hand, emerging machine learning (ML) based optimizers can improve the average performance, but suffer from the lack of worst-case performance robustness. In this paper, we propose a novel expert-robustified learning (ERL) approach, achieving {both} good average performance and robustness. More concretely, for robustness, ERL introduces a novel projection operator that robustifies ML actions by utilizing an expert online algorithm; for average performance, ERL trains the ML optimizer based on a recurrent architecture by explicitly considering downstream expert robustification. We prove that, for any $λ\geq1$, ERL can achieve $λ$-competitive against the expert algorithm and $λ\cdot C$-competitive against the optimal offline algorithm (where $C$ is the expert's competitive ratio). Additionally, we extend our analysis to a novel setting of multi-step memory costs. Finally, our analysis is supported by empirical experiments for an energy scheduling application.

cs.LG↗

arXiv2023

City-scale Incremental Neural Mapping with Three-layer Sampling and Panoptic Representation

Neural implicit representations are drawing a lot of attention from the robotics community recently, as they are expressive, continuous and compact. However, city-scale continual implicit dense mapping based on sparse LiDAR input is still an under-explored challenge. To this end, we successfully build a city-scale continual neural mapping system with a panoptic representation that consists of environment-level and instance-level modelling. Given a stream of sparse LiDAR point cloud, it maintains a dynamic generative model that maps 3D coordinates to signed distance field (SDF) values. To address the difficulty of representing geometric information at different levels in city-scale space, we propose a tailored three-layer sampling strategy to dynamically sample the global, local and near-surface domains. Meanwhile, to realize high fidelity mapping of instance under incomplete observation, category-specific prior is introduced to better model the geometric details. We evaluate on the public SemanticKITTI dataset and demonstrate the significance of the newly proposed three-layer sampling strategy and panoptic representation, using both quantitative and qualitative results. Codes and model will be publicly available.

cs.CV↗

arXiv2023

PanGu-Σ: Towards Trillion Parameter Language Model with Sparse Heterogeneous Computing

The scaling of large language models has greatly improved natural language understanding, generation, and reasoning. In this work, we develop a system that trained a trillion-parameter language model on a cluster of Ascend 910 AI processors and MindSpore framework, and present the language model with 1.085T parameters named PanGu-Σ. With parameter inherent from PanGu-α, we extend the dense Transformer model to sparse one with Random Routed Experts (RRE), and efficiently train the model over 329B tokens by using Expert Computation and Storage Separation(ECSS). This resulted in a 6.3x increase in training throughput through heterogeneous computing. Our experimental findings show that PanGu-Σ provides state-of-the-art performance in zero-shot learning of various Chinese NLP downstream tasks. Moreover, it demonstrates strong abilities when fine-tuned in application data of open-domain dialogue, question answering, machine translation and code generation.

cs.CL↗

arXiv2023

LATITUDE: Robotic Global Localization with Truncated Dynamic Low-pass Filter in City-scale NeRF

Neural Radiance Fields (NeRFs) have made great success in representing complex 3D scenes with high-resolution details and efficient memory. Nevertheless, current NeRF-based pose estimators have no initial pose prediction and are prone to local optima during optimization. In this paper, we present LATITUDE: Global Localization with Truncated Dynamic Low-pass Filter, which introduces a two-stage localization mechanism in city-scale NeRF. In place recognition stage, we train a regressor through images generated from trained NeRFs, which provides an initial value for global localization. In pose optimization stage, we minimize the residual between the observed image and rendered image by directly optimizing the pose on tangent plane. To avoid convergence to local optimum, we introduce a Truncated Dynamic Low-pass Filter (TDLF) for coarse-to-fine pose registration. We evaluate our method on both synthetic and real-world data and show its potential applications for high-precision navigation in large-scale city scenes. Codes and data will be publicly available at https://github.com/jike5/LATITUDE.

cs.CV↗

arXiv2023

LODE: Locally Conditioned Eikonal Implicit Scene Completion from Sparse LiDAR

Scene completion refers to obtaining dense scene representation from an incomplete perception of complex 3D scenes. This helps robots detect multi-scale obstacles and analyse object occlusions in scenarios such as autonomous driving. Recent advances show that implicit representation learning can be leveraged for continuous scene completion and achieved through physical constraints like Eikonal equations. However, former Eikonal completion methods only demonstrate results on watertight meshes at a scale of tens of meshes. None of them are successfully done for non-watertight LiDAR point clouds of open large scenes at a scale of thousands of scenes. In this paper, we propose a novel Eikonal formulation that conditions the implicit representation on localized shape priors which function as dense boundary value constraints, and demonstrate it works on SemanticKITTI and SemanticPOSS. It can also be extended to semantic Eikonal scene completion with only small modifications to the network architecture. With extensive quantitative and qualitative results, we demonstrate the benefits and drawbacks of existing Eikonal methods, which naturally leads to the new locally conditioned formulation. Notably, we improve IoU from 31.7% to 51.2% on SemanticKITTI and from 40.5% to 48.7% on SemanticPOSS. We extensively ablate our methods and demonstrate that the proposed formulation is robust to a wide spectrum of implementation hyper-parameters. Codes and models are publicly available at https://github.com/AIR-DISCOVER/LODE.

cs.CV↗

arXiv2023

Statistical inference for the two-sample problem under likelihood ratio ordering, with application to the ROC curve estimation

The receiver operating characteristic (ROC) curve is a powerful statistical tool and has been widely applied in medical research. In the ROC curve estimation, a commonly used assumption is that larger the biomarker value, greater severity the disease. In this paper, we mathematically interpret ``greater severity of the disease" as ``larger probability of being diseased". This in turn is equivalent to assume the likelihood ratio ordering of the biomarker between the diseased and healthy individuals. With this assumption, we first propose a Bernstein polynomial method to model the distributions of both samples; we then estimate the distributions by the maximum empirical likelihood principle. The ROC curve estimate and the associated summary statistics are obtained subsequently. Theoretically, we establish the asymptotic consistency of our estimators. Via extensive numerical studies, we compare the performance of our method with competitive methods. The application of our method is illustrated by a real-data example.

stat.ME↗

arXiv2023

STEPS: Joint Self-supervised Nighttime Image Enhancement and Depth Estimation

Self-supervised depth estimation draws a lot of attention recently as it can promote the 3D sensing capabilities of self-driving vehicles. However, it intrinsically relies upon the photometric consistency assumption, which hardly holds during nighttime. Although various supervised nighttime image enhancement methods have been proposed, their generalization performance in challenging driving scenarios is not satisfactory. To this end, we propose the first method that jointly learns a nighttime image enhancer and a depth estimator, without using ground truth for either task. Our method tightly entangles two self-supervised tasks using a newly proposed uncertain pixel masking strategy. This strategy originates from the observation that nighttime images not only suffer from underexposed regions but also from overexposed regions. By fitting a bridge-shaped curve to the illumination map distribution, both regions are suppressed and two tasks are bridged naturally. We benchmark the method on two established datasets: nuScenes and RobotCar and demonstrate state-of-the-art performance on both of them. Detailed ablations also reveal the mechanism of our proposal. Last but not least, to mitigate the problem of sparse ground truth of existing datasets, we provide a new photo-realistically enhanced nighttime dataset based upon CARLA. It brings meaningful new challenges to the community. Codes, data, and models are available at https://github.com/ucaszyp/STEPS.

cs.CV↗

arXiv2023

ADAPT: Action-aware Driving Caption Transformer

End-to-end autonomous driving has great potential in the transportation industry. However, the lack of transparency and interpretability of the automatic decision-making process hinders its industrial adoption in practice. There have been some early attempts to use attention maps or cost volume for better model explainability which is difficult for ordinary passengers to understand. To bridge the gap, we propose an end-to-end transformer-based architecture, ADAPT (Action-aware Driving cAPtion Transformer), which provides user-friendly natural language narrations and reasoning for each decision making step of autonomous vehicular control and action. ADAPT jointly trains both the driving caption task and the vehicular control prediction task, through a shared video representation. Experiments on BDD-X (Berkeley DeepDrive eXplanation) dataset demonstrate state-of-the-art performance of the ADAPT framework on both automatic metrics and human evaluation. To illustrate the feasibility of the proposed framework in real-world applications, we build a novel deployable system that takes raw car videos as input and outputs the action narrations and reasoning in real time. The code, models and data are available at https://github.com/jxbbb/ADAPT.

cs.CV↗

arXiv2023

From Semi-supervised to Omni-supervised Room Layout Estimation Using Point Clouds

Room layout estimation is a long-existing robotic vision task that benefits both environment sensing and motion planning. However, layout estimation using point clouds (PCs) still suffers from data scarcity due to annotation difficulty. As such, we address the semi-supervised setting of this task based upon the idea of model exponential moving averaging. But adapting this scheme to the state-of-the-art (SOTA) solution for PC-based layout estimation is not straightforward. To this end, we define a quad set matching strategy and several consistency losses based upon metrics tailored for layout quads. Besides, we propose a new online pseudo-label harvesting algorithm that decomposes the distribution of a hybrid distance measure between quads and PC into two components. This technique does not need manual threshold selection and intuitively encourages quads to align with reliable layout points. Surprisingly, this framework also works for the fully-supervised setting, achieving a new SOTA on the ScanNet benchmark. Last but not least, we also push the semi-supervised setting to the realistic omni-supervised setting, demonstrating significantly promoted performance on a newly annotated ARKitScenes testing set. Our codes, data and models are released in this repository.

cs.CV↗

arXiv2022

Stabilization of Axisymmetric Airy Beams by Means of Diffraction and Nonlinearity Management in Two-Dimensional Fractional Nonlinear Schrödinger Equations

The propagation dynamics of two-dimensional (2D) ring-Airy beams is studied in the framework of the fractional Schrödinger equation, which includes saturable or cubic self-focusing or defocusing nonlinearity and Lévy index ((LI) alias for the fractionality) taking values $1\leqα\leq 2$. The model applies to light propagation in a chain of optical cavities emulating fractional diffraction. Management is included by making the diffraction and/or nonlinearity coefficients periodic functions of the propagation distance, $ζ$. The management format with the nonlinearity coefficient decaying as $1/ζ$ is considered, too. These management schemes maintain stable propagation of the ring-Airy beams, which maintain their axial symmetry, in contrast to the symmetry-breaking splitting instability of ring-shaped patterns in 2D Kerr media. The instability driven by supercritical collapse at all values $α< 2$ in the presence of the self-focusing cubic term is eliminated, too, by the means of management.

physics.optics↗

arXiv2022

Hypothesis test on a mixture forward-incubation-time epidemic model with application to COVID-19 outbreak

The distribution of the incubation period of the novel coronavirus disease that emerged in 2019 (COVID-19) has crucial clinical implications for understanding this disease and devising effective disease-control measures. Qin et al. (2020) designed a cross-sectional and forward follow-up study to collect the duration times between a specific observation time and the onset of COVID-19 symptoms for a number of individuals. They further proposed a mixture forward-incubation-time epidemic model, which is a mixture of an incubation-period distribution and a forward time distribution, to model the collected duration times and to estimate the incubation-period distribution of COVID-19. In this paper, we provide sufficient conditions for the identifiability of the unknown parameters in the mixture forward-incubation-time epidemic model when the incubation period follows a two-parameter distribution. Under the same setup, we propose a likelihood ratio test (LRT) for testing the null hypothesis that the mixture forward-incubation-time epidemic model is a homogeneous exponential distribution. The testing problem is non-regular because a nuisance parameter is present only under the alternative. We establish the limiting distribution of the LRT and identify an explicit representation for it. The limiting distribution of the LRT under a sequence of local alternatives is also obtained. Our simulation results indicate that the LRT has desirable type I errors and powers, and we analyze a COVID-19 outbreak dataset from China to illustrate the usefulness of the LRT.

stat.ME↗

arXiv2022

Self-supervised vision-language pretraining for Medical visual question answering

Medical image visual question answering (VQA) is a task to answer clinical questions, given a radiographic image, which is a challenging problem that requires a model to integrate both vision and language information. To solve medical VQA problems with a limited number of training data, pretrain-finetune paradigm is widely used to improve the model generalization. In this paper, we propose a self-supervised method that applies Masked image modeling, Masked language modeling, Image text matching and Image text alignment via contrastive learning (M2I2) for pretraining on medical image caption dataset, and finetunes to downstream medical VQA tasks. The proposed method achieves state-of-the-art performance on all the three public medical VQA datasets. Our codes and models are available at https://github.com/pengfeiliHEU/M2I2.

cs.CV↗

arXiv2022

Constrained Update Projection Approach to Safe Policy Optimization

Safe reinforcement learning (RL) studies problems where an intelligent agent has to not only maximize reward but also avoid exploring unsafe areas. In this study, we propose CUP, a novel policy optimization method based on Constrained Update Projection framework that enjoys rigorous safety guarantee. Central to our CUP development is the newly proposed surrogate functions along with the performance bound. Compared to previous safe RL methods, CUP enjoys the benefits of 1) CUP generalizes the surrogate functions to generalized advantage estimator (GAE), leading to strong empirical performance. 2) CUP unifies performance bounds, providing a better understanding and interpretability for some existing algorithms; 3) CUP provides a non-convex implementation via only first-order optimizers, which does not require any strong approximation on the convexity of the objectives. To validate our CUP method, we compared CUP against a comprehensive list of safe RL baselines on a wide range of tasks. Experiments show the effectiveness of CUP both in terms of reward and safety constraint satisfaction. We have opened the source code of CUP at this link https://github.com/zmsn-2077/ CUP-safe-rl.

cs.LG↗