arXiv subjects

Renquan Lu

Publications and source records attributed to Renquan Lu.

4 recordsLinked to original sources

arXiv2026

NCGR: Noise-Conditional Gated Rectification for Camera Extrinsic Perturbations in BEV 3D Object Detection

Camera-based bird's-eye-view (BEV) 3D detection typically assumes accurate and fixed camera extrinsics. In detectors using spatial cross-attention (SCA), extrinsic perturbations displace the image-plane projections of BEV reference points, causing queries to sample features from incorrect regions and degrading detection performance. To address this failure mode, Noise-Conditional Gated Rectification (NCGR) is proposed to compensate for projection errors without explicitly estimating a full six-degree-of-freedom extrinsic correction. For each query-camera pair, a 2D rectification offset is predicted and modulated by a camera-level gate to rectify the base projection before native deformable sampling. During training, the perturbation-derived quantities used to construct the condition and gate are gradually replaced through scheduled interpolation by counterparts generated from an auxiliary scalar predicted from camera features. This transition enables blind inference without perturbation metadata. During training, a weight-shared clean-teacher/perturbed-student pair is used, and the rectification module is supervised by a BEV-consistency objective between the two branches. NCGR is evaluated on nuScenes with simulated dynamic and static extrinsic perturbations. In a five-camera dynamic stress test, NCGR achieves 39.69% NDS, compared with 28.00% for BEVFormer and 33.23% for CAPE. Under clean extrinsics, NCGR maintains performance comparable to that of BEVFormer.

cs.CV↗

arXiv2022

Flow Rate Independent Multiscale Liquid Biopsy for Precision Oncology

Immunoaffinity-based liquid biopsies of circulating tumor cells (CTCs) hold great promise for cancer management, but typically suffer from low throughput, relative complexity and post-processing limitations. Here we address these issues simultaneously by decoupling and independently optimizing the nano-, micro- and macro-scales of an enrichment device that is simple to fabricate and operate. Unlike other affinity-based devices, our scalable mesh approach enables optimum capture conditions at any flow rate, as demonstrated with constant capture efficiencies, above 75% between 50-200 uL/min. The device achieved 96% sensitivity and 100% specificity when used to detect CTCs in the blood of 79 cancer patients and 20 healthy controls. We demonstrate its post processing capacity with the identification of potential responders to immune checkpoint inhibition therapy and the detection of HER2 positive breast cancer. The results compare well with other assays, including clinical standards. This suggests that our approach, which overcomes major limitations associated with affinity-based liquid biopsies, could help improve cancer management.

q-bio.QM↗

arXiv2021

Statistical Approach to Detection of Attacks for Stochastic Cyber-Physical Systems

We study the problem of detecting an attack on a stochastic cyber-physical system. We aim to treat the problem in its most general form. We start by introducing the notion of asymptotically detectable attacks, as those attacks introducing changes to the system's output statistics which persist asymptotically. We then provide a necessary and sufficient condition for asymptotic detectability. This condition preserves generality as it holds under no restrictive assumption on the system and attacking scheme. To show the importance of this condition, we apply it to detect certain attacking schemes which are undetectable using simple statistics. Our necessary and sufficient condition naturally leads to an algorithm which gives a confidence level for attack detection. We present simulation results to illustrate the performance of this algorithm.

eess.SY↗

arXiv2018

Accuracy Analysis for Distributed Weighted Least-Squares Estimation in Finite Steps and Loopy Networks

Distributed parameter estimation for large-scale systems is an active research problem. The goal is to derive a distributed algorithm in which each agent obtains a local estimate of its own subset of the global parameter vector, based on local measurements as well as information received from its neighbours. A recent algorithm has been proposed, which yields the optimal solution (i.e., the one that would be obtained using a centralized method) in finite time, provided the communication network forms an acyclic graph. If instead, the graph is cyclic, the only available alternative algorithm, which is based on iterative matrix inversion, achieving the optimal solution, does so asymptotically. However, it is also known that, in the cyclic case, the algorithm designed for acyclic graphs produces a solution which, although non optimal, is highly accurate. In this paper we do a theoretical study of the accuracy of this algorithm, in communication networks forming cyclic graphs. To this end, we provide bounds for the sub-optimality of the estimation error and the estimation error covariance, for a class of systems whose topological sparsity and signal-to-noise ratio satisfy certain condition. Our results show that, at each node, the accuracy improves exponentially with the so-called loop-free depth. Also, although the algorithm no longer converges in finite time in the case of cyclic graphs, simulation results show that the convergence is significantly faster than that of methods based on iterative matrix inversion. Our results suggest that, depending on the loop-free depth, the studied algorithm may be the preferred option even in applications with cyclic communication graphs.

cs.MA↗