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Rui Chen

Publications and source records attributed to Rui Chen.

At least 361 records · Page 20Linked to original sources
arXiv2021

Learn from Human Teams: a Probabilistic Solution to Real-Time Collaborative Robot Handling with Dynamic Gesture Commands

We study real-time collaborative robot (cobot) handling, where the cobot maneuvers a workpiece under human commands. This is useful when it is risky for humans to directly handle the workpiece. However, it is hard to make the cobot both easy to command and flexible in possible operations. In this work, we propose a Real-Time Collaborative Robot Handling (RTCoHand) framework that allows the control of cobot via user-customized dynamic gestures. This is hard due to variations among users, human motion uncertainties, and noisy human input. We model the task as a probabilistic generative process, referred to as Conditional Collaborative Handling Process (CCHP), and learn from human-human collaboration. We thoroughly evaluate the adaptability and robustness of CCHP and apply our approach to a real-time cobot handling task with Kinova Gen3 robot arm. We achieve seamless human-robot collaboration with both experienced and new users. Compared to classical controllers, RTCoHand allows significantly more complex maneuvers and lower user cognitive burden. It also eliminates the need for trial-and-error, rendering it advantageous in safety-critical tasks.

cs.RO↗
arXiv2021

ActiveZero: Mixed Domain Learning for Active Stereovision with Zero Annotation

Traditional depth sensors generate accurate real world depth estimates that surpass even the most advanced learning approaches trained only on simulation domains. Since ground truth depth is readily available in the simulation domain but quite difficult to obtain in the real domain, we propose a method that leverages the best of both worlds. In this paper we present a new framework, ActiveZero, which is a mixed domain learning solution for active stereovision systems that requires no real world depth annotation. First, we demonstrate the transferability of our method to out-of-distribution real data by using a mixed domain learning strategy. In the simulation domain, we use a combination of supervised disparity loss and self-supervised losses on a shape primitives dataset. By contrast, in the real domain, we only use self-supervised losses on a dataset that is out-of-distribution from either training simulation data or test real data. Second, our method introduces a novel self-supervised loss called temporal IR reprojection to increase the robustness and accuracy of our reprojections in hard-to-perceive regions. Finally, we show how the method can be trained end-to-end and that each module is important for attaining the end result. Extensive qualitative and quantitative evaluations on real data demonstrate state of the art results that can even beat a commercial depth sensor.

cs.CV↗
arXiv2021

Broadband beam steering for misaligned multi-mode OAM communication systems

Orbital angular momentum (OAM) at radio frequency (RF) has attracted more and more attention as a novel approach of multiplexing a set of orthogonal OAM modes on the same frequency channel to achieve high spectral efficiency (SE). However, the precondition for maintaining the orthogonality among different OAM modes is perfect alignment of the transmit and receive uniform circular arrays (UCAs), which is difficult to be satisfied in practical wireless communication scenario. Therefore, to achieve available multi-mode OAM broadband wireless communication, we first investigate the effect of oblique angles on the transmission performance of the multi-mode OAM broadband system in the non-parallel misalignment case. Then, we compare the UCA-based RF analog and baseband digital transceiver structures and corresponding beam steering schemes. Mathematical analysis and numerical simulations validate that the SE of the misaligned multi-mode OAM broadband system is quite low, while analog and digital beam steering both can significantly improve the SE of the system. However, digital beam steering can obtain higher SE than analog beam steering especially when the bandwidth and the number of array elements are large, which validates that baseband digital transceiver with digital beam steering is more suitable for multi-mode OAM broadband wireless communication systems in practice.

cs.IT↗
arXiv2021

On sample average approximation for two-stage stochastic programs without relatively complete recourse

We investigate sample average approximation (SAA) for two-stage stochastic programs without relatively complete recourse, i.e., for problems in which there are first-stage feasible solutions that are not guaranteed to have a feasible recourse action. As a feasibility measure of the SAA solution, we consider the "recourse likelihood", which is the probability that the solution has a feasible recourse action. For $ε\in (0,1)$, we demonstrate that the probability that a SAA solution has recourse likelihood below $1-ε$ converges to zero exponentially fast with the sample size. Next, we analyze the rate of convergence of optimal solutions of the SAA to optimal solutions of the true problem for problems with a finite feasible region, such as bounded integer programming problems. For problems with non-finite feasible region, we propose modified "padded" SAA problems and demonstrate in two cases that such problems can yield, with high confidence, solutions that are certain to have a feasible recourse decision. Finally, we conduct a numerical study on a two-stage resource planning problem that illustrates the results, and also suggests there may be room for improvement in some of the theoretical analysis.

math.OC↗
arXiv2021

Radio-Frequency Multi-Mode OAM Detection Based on UCA Samples Learning

Orbital angular momentum (OAM) at radio-frequency provides a novel approach of multiplexing a set of orthogonal modes on the same frequency channel to achieve high spectral efficiencies. However, classical phase gradient-based OAM mode detection methods require perfect alignment of transmit and receive antennas, which greatly challenges the practical application of OAM communications. In this paper, we first show the effect of non-parallel misalignment on the OAM phase structure, and then propose the OAM mode detection method based on uniform circular array (UCA) samples learning for the more general alignment or non-parallel misalignment case. Specifically, we applied three classifiers: K-nearest neighbor (KNN), support vector machine (SVM), and back-propagation neural network (BPNN) to both single-mode and multi-mode OAM detection. The simulation results validate that the proposed learning-based OAM mode detection methods are robust to misalignment errors and especially BPNN classifier has the best generalization performance.

eess.SP↗
arXiv2021

Correlation of the hidden-charm molecular tetraquarks and the charmoniumlike structures existing in the $B\to XYZ+K$

The molecular assignments to the three $P_c$ states and the similar production mechanism between the $Λ_b\to P_c+K$ and $B\to XYZ+K$ convince us the $B$ decaying to a charmonium state plus light mesons could be the appropriate production process to search for the charmoniumlike molecular tetraquarks. In this work, we systematically study the interactions between a charmed (charmed-strange) meson and an anti-charmed (anti-charm-strange) meson, which include the $D^{(*)}\bar{D}^{(*)}$, $\bar{D}^{(*)}\bar{D}_1$, $D^{(*)}\bar{D}_2^*$, $D_s^{(*)}\bar{D}_s^{(*)}$, ${D}_s^{(*)}\bar{D}_{s0}^*$, $D_s^{(*)}\bar{D}_{s1}^{\prime}$, ${D}_s^{(*)}\bar{D}_{s1}$, $D_s^{(*)}\bar{D}_{s2}^*$ systems. After adopting the one-boson-exchange effective potentials, our numerical results indicate that, on one hand, there can exist a serial of isoscalar charmoniumlike $\mathcal{D}\bar{\mathcal{D}}$ and $\mathcal{D}_s\bar{\mathcal{D}}_s$ molecular states, on the other hand, we can fully exclude the charged charmoniumlike states as the isovector charmoniumlike molecules. Meanwhile, we discuss the two-body hidden-charm decay channels for the obtained $\mathcal{D}\bar{\mathcal{D}}$ and $\mathcal{D}_s\bar{\mathcal{D}}_s$ molecules, especially the $D^{*}\bar{D}^{*}$ molecular tetraquarks. By analyzing the experimental data collected from the $B\to XYZ+K$ and the mass spectrum and two-body hidden-charm decay channels for the obtained $\mathcal{D}\bar{\mathcal{D}}$ and $\mathcal{D}_s\bar{\mathcal{D}}_s$ molecules, we find several possible hints of the existence of the charmoniumlike molecular tetraquarks, i.e., a peculiar characteristic mass spectrum of the isoscalar $D^*\bar{D}^*$ molecular systems can be applied to identify the charmoniumlike molecule. We look forward to the future experiments like the LHCb, Belle II, and BESIII Collaborations can test our results with more precise experimental data.

hep-ph↗
arXiv2021

AoA Estimation for OAM Communication Systems With Mode-Frequency Multi-Time ESPRIT Method

Radio orbital angular momentum (OAM) communications require accurate alignment between the transmit and receive beam directions. Accordingly, a key feature of OAM receivers is the ability to reliably estimate the angle of arrival (AoA) of multi-mode OAM beams. Considering the limitations of existing AoA estimation techniques, in this paper, we propose an easier-to-implement AoA estimation method based on applying multiple times the estimating signal parameters via rotational invariance techniques (ESPRIT) algorithm to the received training signals in OAM mode and frequency domains, which is denoted as the mode-frequency (M-F) multi-time (MT)-ESPRIT algorithm. With this method, the misalignment error of real OAM channels can be greatly reduced and the performance approaches that of ideally aligned OAM channels.

eess.SP↗
arXiv2021

A Promising Technology for 6G Wireless Networks: Intelligent Reflecting Surface

The intelligent information society, which is highly digitized, intelligence inspired and globally data driven, will be deployed in the next decade. The next 6G wireless communication networks are the key to achieve this grand blueprint, which is expected to connect everything, provide full dimensional wireless coverage and integrate all functions to support full-vertical applications. Recent research reveals that intelligent reflecting surface (IRS) with wireless environment control capability is a promising technology for 6G networks. Specifically, IRS can intelligently control the wavefront, e.g., the phase, amplitude, frequency, and even polarization by massive tunable elements, thus achieving fine-grained 3-D passive beamforming. In this paper, we first give a blueprint of the next 6G networks including the vision, typical scenarios and key performance indicators (KPIs). Then, we provide an overview of IRS including the new signal model, hardware architecture and competitive advantages in 6G networks. Besides, we discuss the potential application of IRS in the connectivity of 6G networks in detail, including intelligent and controllable wireless environment, ubiquitous connectivity, deep connectivity and holographic connectivity. At last, we summarize the challenges of IRS application and deployment in 6G networks. As a timely review of IRS, our summary will be of interest to both researchers and practitioners engaging in IRS for 6G networks.

cs.NI↗
arXiv2021

Joint Spatial Division and Coaxial Multiplexing for Downlink Multi-User OAM Wireless Backhaul

Orbital angular momentum (OAM) at radio frequency (RF) provides a novel approach of multiplexing a set of orthogonal modes on the same frequency channel to achieve high spectral efficiencies (SEs). However, the existing research on OAM wireless communications is mainly focused on pointto-point transmission in the line-of-sight (LoS) scenario. In this paper, we propose an overall scheme of the downlink multi-user OAM (MU-OAM) wireless backhaul based on uniform circular arrays (UCAs) for broadcasting networks, which can achieve the joint spatial division and coaxial multiplexing (JSDCM). A salient feature of the proposed downlink MU-OAM wireless backhaul systems is that the channel matrices are completely characterized by the position of each small base station (SBS), independent of the numbers of subcarriers and antennas, which avoids estimating large channel matrices required by the traditional downlink multi-user multiple-input multiple-output (MU-MIMO) wireless backhaul systems. Thereafter, we propose an OAM-based multiuser distance and angle of arrival (AoA) estimation method, which is able to simultaneously estimate the positions of multiple SBSs with a flexible number of training symbols. With the estimated distances and AoAs, a MU-OAM preprocessing scheme is applied to eliminate the co-mode and inter-mode interferences in the downlink MU-OAM channel. At last, the proposed methods are extended to the downlink MU-OAM-MIMO wireless backhaul system equipped with uniform concentric circular arrays (UCCAs), for which much higher spectral efficiency (SE) and energy efficiency (EE) than traditional MU-MIMO systems can be achieved. Both mathematical analysis and simulation results validate that the proposed scheme can effectively eliminate both interferences of the practical downlink MU-OAM channel and approaches the performance of the ideal MU-OAM channel.

cs.IT↗
arXiv2021

Local Langlands Correspondence for Unitary Groups via Theta Lifts

Using the theta correspondence, we extend the classification of irreducible representations of quasi-split unitary groups (the so-called local Langlands correspondence, which was established in an early paper of Mok) to non quasi-split unitary groups. We also prove that our classification satisfies some good properties, which characterize it uniquely. In particular, this provides an alternative approach to the works of Kaletha-Minguez-Shin-White and Moeglin-Renard.

math.RT↗
arXiv2021

Integer Programming for Causal Structure Learning in the Presence of Latent Variables

The problem of finding an ancestral acyclic directed mixed graph (ADMG) that represents the causal relationships between a set of variables is an important area of research on causal inference. Most existing score-based structure learning methods focus on learning directed acyclic graph (DAG) models without latent variables. A number of score-based methods have recently been proposed for the ADMG learning, yet they are heuristic in nature and do not guarantee an optimal solution. We propose a novel exact score-based method that solves an integer programming (IP) formulation and returns a score-maximizing ancestral ADMG for a set of continuous variables that follow a multivariate Gaussian distribution. We generalize the state-of-the-art IP model for DAG learning problems and derive new classes of valid inequalities to formulate an IP model for ADMG learning. Empirically, our model can be solved efficiently for medium-sized problems and achieves better accuracy than state-of-the-art score-based methods as well as benchmark constraint-based methods.

cs.LG↗
arXiv2021

Disorder-induced chiral and helical Majorana edge modes in a two-dimensional Ammann-Beenker quasicrystal

Recent research on disorder effects in topological phases in quasicrystalline systems has received much attention. In this work, by numerically computing the (spin) Bott index and the thermal conductance, we reveal the effects of disorder on a class D chiral topological superconductor and a class DIII time-reversal-invariant topological superconductor in a two-dimensional Ammann-Beenker tiling quasicrystalline lattice. We demonstrate that both the topologically protected chiral and helical Majorana edge modes are robust against weak disorder in the quasicrystalline lattice. More fascinating is the discovery of disorder-induced topologically nontrivial phases exhibiting chiral and helical Majorana edge modes in class D and DIII topological superconductor systems, respectively. Our findings open the door for the research on disorder-induced Majorana edge modes in quasicrystalline systems.

cond-mat.mes-hall↗
arXiv2021

Systematics of the heavy flavor hadronic molecules

With a quark level interaction, we give a unified description of the loosely bound molecular systems composed of the heavy flavor hadrons $(\bar{D},\bar{D}^*)$, $(Λ_c, Σ_c, Σ_c^*)$, and $(Ξ_c, Ξ_c^\prime,Ξ_c^*)$. Using the $P_c$ states as inputs to fix the interaction strength of light quark-quark pairs, we reproduce the observed $P_{cs}$ and $T_{cc}^+$ states and predict another narrow $T_{cc}^{\prime+}$ state with quantum numbers $[D^*D^*]_{J=1}^{I=0}$. If we require a satisfactory description of the $T_{cc}^+$ and $P_c$ states simultaneously, our framework prefers the assignments of the $P_{c}(4440)$ and $P_{c}(4457)$ as the $[Σ_c\bar{D}^*]_{J=1/2}^{I=1/2}$ and $[Σ_c\bar{D}^*]_{J=3/2}^{I=1/2}$ states, respectively. We propose the isospin criterion to explain naturally why the experimentally observed $T_{cc}$, $P_c$, and $P_{cs}$ molecular candidates prefer the lowest isospin numbers. We also predict the loosely bound states for the bottom di-hadrons.

hep-ph↗
arXiv2021

Magnetic moments and transition magnetic moments of $P_c$ and $P_{cs}$ states

We study the magnetic moments and transition magnetic moments of $P_c$ and $P_{cs}$ states in the molecular picture. We first revisit the magnetic moments of $P_c$ states as the $S$ wave molecular states without coupled channel effects. The coupled channel effects and the $D$ wave contributions are then investigated carefully. The coupled channel effects contribute to the change of $0.1\sim 0.4$ nuclear magneton $μ_N$ for most cases while the $D$ wave only induces the variation of less than $0.03 ~μ_N$. In addition, we obtain the transition magnetic moments between different $P_c$ states and the related electromagnetic decay widths of $P_c'\to P_cγ$. The magnetic moments of $P_{cs}$ are much different for the assumption of spin being 1/2 and 3/2. The study of electromagnetic properties will help us disclose further the structure of these unconventional states.

hep-ph↗
arXiv2021

Local Langlands Correspondence for Even Orthogonal Groups via Theta Lifts

Using theta correspondence, we obtain a classification of irreducible representations of an arbitrary even orthogonal group (i.e. the local Langlands correspondence) by deducing it from the local Langlands correspondence for symplectic groups due to Arthur. Moreover,we show that our classifications coincide with the local Langlands correspondence established by Arthur and formulated precisely by Atobe-Gan for quasi-split even orthogonal groups.

math.RT↗
arXiv2021

Adaptive Label Smoothing To Regularize Large-Scale Graph Training

Graph neural networks (GNNs), which learn the node representations by recursively aggregating information from its neighbors, have become a predominant computational tool in many domains. To handle large-scale graphs, most of the existing methods partition the input graph into multiple sub-graphs (e.g., through node clustering) and apply batch training to save memory cost. However, such batch training will lead to label bias within each batch, and then result in over-confidence in model predictions. Since the connected nodes with positively related labels tend to be assigned together, the traditional cross-entropy minimization process will attend on the predictions of biased classes in the batch, and may intensify the overfitting issue. To overcome the label bias problem, we propose the adaptive label smoothing (ALS) method to replace the one-hot hard labels with smoothed ones, which learns to allocate label confidences from the biased classes to the others. Specifically, ALS propagates node labels to aggregate the neighborhood label distribution in a pre-processing step, and then updates the optimal smoothed labels online to adapt to specific graph structure. Experiments on the real-world datasets demonstrate that ALS can be generally applied to the main scalable learning frameworks to calibrate the biased labels and improve generalization performances.

cs.LG↗
arXiv2021

Doubly charmed molecular pentaquarks

We perform a systematic exploration of the possible doubly charmed molecular pentaquarks composed of $Σ_c^{(*)}D^{(*)}$ with the one-boson-exchange potential model. After taking into account the $S-D$ wave mixing and the coupled channel effects, we predict several possible doubly charmed molecular pentaquarks, which include the $Σ_cD$ with $I(J^P) = 1/2(1/2^-)$, $Σ_c^*D$ with $1/2(3/2^-)$, and $Σ_cD^*$ with $1/2(1/2^-)$, $1/2(3/2^-)$. The $Σ_cD$ state with $3/2(1/2^-)$ and $Σ_cD^*$ state with $3/2(1/2^-)$ may also be suggested as candidates of doubly charmed molecular pentaquarks. The $Σ_cD$ and $Σ_c^*D$ states can be searched for by analyzing the $Λ_cDπ$ invariant mass spectrum of the bottom baryon and $B$ meson decays. The $Σ_cD^*$ states can be searched for in the invariant mass spectrum of $Λ_cD^*π$, $Λ_cDππ$ and $Λ_cDπγ$. Since the width of $Σ_c^*$ is much larger than that of $D^*$, $Σ_c^*D\rightarrow Λ_cDπ$ will be the dominant decay mode. We sincerely hope these candidates for the doubly charmed molecular pentaqurks will be searched by LHCb or BelleII collaboration in the near future.

hep-ph↗
arXiv2021

Convexifying Multilinear Sets with Cardinality Constraints: Structural Properties, Nested Case and Extensions

The problem of minimizing a multilinear function of binary variables is a well-studied NP-hard problem. The set of solutions of the standard linearization of this problem is called the multilinear set. We study a cardinality constrained version of it with upper and lower bounds on the number of nonzero variables. We call the set of solutions of the standard linearization of this problem a multilinear set with cardinality constraints. We characterize a set of conditions on these multilinear terms (called properness) and observe that under these conditions the convex hull description of the set is tractable via an extended formulation. We then give an explicit polyhedral description of the convex hull when the multilinear terms have a nested structure. Our description has an exponential number of inequalities which can be separated in polynomial time. Finally, we generalize these inequalities to obtain valid inequalities for the general case.

math.OC↗