arXiv subjects

Rui Zhong

Publications and source records attributed to Rui Zhong.

34 records · Page 2Linked to original sources

arXiv2025

Attitude Estimation via Matrix Fisher Distributions on SO(3) Using Non-Unit Vector Measurements

This note presents a novel Bayesian attitude estimator with the matrix Fisher distribution on the special orthogonal group, which can smoothly accommodate both unit and non-unit vector measurements. The posterior attitude distribution is proven to be a matrix Fisher distribution with the assumption that non-unit vector measurement errors follow the isotropic Gaussian distributions and unit vector measurements follow the von-Mises Fisher distributions. Next, a global unscented transformation is proposed to approximate the full likelihood distribution with a matrix Fisher distribution for more generic cases of vector measurement errors following the non-isotropic Gaussian distributions. Following these, a Bayesian attitude estimator with the matrix Fisher distribution is constructed. Numerical examples are then presented. The proposed estimator exhibits advantageous performance compared with the previous attitude estimator with matrix Fisher distributions and the classic multiplicative extended Kalman filter in the case of non-unit vector measurements.

eess.SY↗

arXiv2025

NuExo: A Wearable Exoskeleton Covering all Upper Limb ROM for Outdoor Data Collection and Teleoperation of Humanoid Robots

The evolution from motion capture and teleoperation to robot skill learning has emerged as a hotspot and critical pathway for advancing embodied intelligence. However, existing systems still face a persistent gap in simultaneously achieving four objectives: accurate tracking of full upper limb movements over extended durations (Accuracy), ergonomic adaptation to human biomechanics (Comfort), versatile data collection (e.g., force data) and compatibility with humanoid robots (Versatility), and lightweight design for outdoor daily use (Convenience). We present a wearable exoskeleton system, incorporating user-friendly immersive teleoperation and multi-modal sensing collection to bridge this gap. Due to the features of a novel shoulder mechanism with synchronized linkage and timing belt transmission, this system can adapt well to compound shoulder movements and replicate 100% coverage of natural upper limb motion ranges. Weighing 5.2 kg, NuExo supports backpack-type use and can be conveniently applied in daily outdoor scenarios. Furthermore, we develop a unified intuitive teleoperation framework and a comprehensive data collection system integrating multi-modal sensing for various humanoid robots. Experiments across distinct humanoid platforms and different users validate our exoskeleton's superiority in motion range and flexibility, while confirming its stability in data collection and teleoperation accuracy in dynamic scenarios.

cs.RO↗

arXiv2024

LLM-Powered User Simulator for Recommender System

User simulators can rapidly generate a large volume of timely user behavior data, providing a testing platform for reinforcement learning-based recommender systems, thus accelerating their iteration and optimization. However, prevalent user simulators generally suffer from significant limitations, including the opacity of user preference modeling and the incapability of evaluating simulation accuracy. In this paper, we introduce an LLM-powered user simulator to simulate user engagement with items in an explicit manner, thereby enhancing the efficiency and effectiveness of reinforcement learning-based recommender systems training. Specifically, we identify the explicit logic of user preferences, leverage LLMs to analyze item characteristics and distill user sentiments, and design a logical model to imitate real human engagement. By integrating a statistical model, we further enhance the reliability of the simulation, proposing an ensemble model that synergizes logical and statistical insights for user interaction simulations. Capitalizing on the extensive knowledge and semantic generation capabilities of LLMs, our user simulator faithfully emulates user behaviors and preferences, yielding high-fidelity training data that enrich the training of recommendation algorithms. We establish quantifying and qualifying experiments on five datasets to validate the simulator's effectiveness and stability across various recommendation scenarios.

cs.IR↗

arXiv2024

Large Language Model Assisted Adversarial Robustness Neural Architecture Search

Motivated by the potential of large language models (LLMs) as optimizers for solving combinatorial optimization problems, this paper proposes a novel LLM-assisted optimizer (LLMO) to address adversarial robustness neural architecture search (ARNAS), a specific application of combinatorial optimization. We design the prompt using the standard CRISPE framework (i.e., Capacity and Role, Insight, Statement, Personality, and Experiment). In this study, we employ Gemini, a powerful LLM developed by Google. We iteratively refine the prompt, and the responses from Gemini are adapted as solutions to ARNAS instances. Numerical experiments are conducted on NAS-Bench-201-based ARNAS tasks with CIFAR-10 and CIFAR-100 datasets. Six well-known meta-heuristic algorithms (MHAs) including genetic algorithm (GA), particle swarm optimization (PSO), differential evolution (DE), and its variants serve as baselines. The experimental results confirm the competitiveness of the proposed LLMO and highlight the potential of LLMs as effective combinatorial optimizers. The source code of this research can be downloaded from \url{https://github.com/RuiZhong961230/LLMO}.

cs.NE↗

arXiv2024

Introducing Competitive Mechanism to Differential Evolution for Numerical Optimization

This paper introduces a novel competitive mechanism into differential evolution (DE), presenting an effective DE variant named competitive DE (CDE). CDE features a simple yet efficient mutation strategy: DE/winner-to-best/1. Essentially, the proposed DE/winner-to-best/1 strategy can be recognized as an intelligent integration of the existing mutation strategies of DE/rand-to-best/1 and DE/cur-to-best/1. The incorporation of DE/winner-to-best/1 and the competitive mechanism provide new avenues for advancing DE techniques. Moreover, in CDE, the scaling factor $F$ and mutation rate $Cr$ are determined by a random number generator following a normal distribution, as suggested by previous research. To investigate the performance of the proposed CDE, comprehensive numerical experiments are conducted on CEC2017 and engineering simulation optimization tasks, with CMA-ES, JADE, and other state-of-the-art optimizers and DE variants employed as competitor algorithms. The experimental results and statistical analyses highlight the promising potential of CDE as an alternative optimizer for addressing diverse optimization challenges.

cs.NE↗

arXiv2024

Leveraging Large Language Model to Generate a Novel Metaheuristic Algorithm with CRISPE Framework

In this paper, we borrow the large language model (LLM) ChatGPT-3.5 to automatically and quickly design a new metaheuristic algorithm (MA) with only a small amount of input. The novel animal-inspired MA named zoological search optimization (ZSO) draws inspiration from the collective behaviors of animals for solving continuous optimization problems. Specifically, the basic ZSO algorithm involves two search operators: the prey-predator interaction operator and the social flocking operator to balance exploration and exploitation well. Besides, the standard prompt engineering framework CRISPE (i.e., Capacity and Role, Insight, Statement, Personality, and Experiment) is responsible for the specific prompt design. Furthermore, we designed four variants of the ZSO algorithm with slight human-interacted adjustment. In numerical experiments, we comprehensively investigate the performance of ZSO-derived algorithms on CEC2014 benchmark functions, CEC2022 benchmark functions, and six engineering optimization problems. 20 popular and state-of-the-art MAs are employed as competitors. The experimental results and statistical analysis confirm the efficiency and effectiveness of ZSO-derived algorithms. At the end of this paper, we explore the prospects for the development of the metaheuristics community under the LLM era.

cs.NE↗

arXiv2024

Efficient Multiplayer Battle Game Optimizer for Adversarial Robust Neural Architecture Search

This paper introduces a novel metaheuristic algorithm, known as the efficient multiplayer battle game optimizer (EMBGO), specifically designed for addressing complex numerical optimization tasks. The motivation behind this research stems from the need to rectify identified shortcomings in the original MBGO, particularly in search operators during the movement phase, as revealed through ablation experiments. EMBGO mitigates these limitations by integrating the movement and battle phases to simplify the original optimization framework and improve search efficiency. Besides, two efficient search operators: differential mutation and Lévy flight are introduced to increase the diversity of the population. To evaluate the performance of EMBGO comprehensively and fairly, numerical experiments are conducted on benchmark functions such as CEC2017, CEC2020, and CEC2022, as well as engineering problems. Twelve well-established MA approaches serve as competitor algorithms for comparison. Furthermore, we apply the proposed EMBGO to the complex adversarial robust neural architecture search (ARNAS) tasks and explore its robustness and scalability. The experimental results and statistical analyses confirm the efficiency and effectiveness of EMBGO across various optimization tasks. As a potential optimization technique, EMBGO holds promise for diverse applications in real-world problems and deep learning scenarios. The source code of EMBGO is made available in \url{https://github.com/RuiZhong961230/EMBGO}.

cs.NE↗

arXiv2023

Multiplayer Battle Game-Inspired Optimizer for Complex Optimization Problems

Various popular multiplayer battle royale games share a lot of common elements. Drawing from our observations, we summarized these shared characteristics and subsequently proposed a novel heuristic algorithm named multiplayer battle game-inspired optimizer (MBGO). The proposed MBGO streamlines mainstream multiplayer battle royale games into two discrete phases: movement and battle. Specifically, the movement phase incorporates the principles of commonly encountered ``safe zones'' to incentivize participants to relocate to areas with a higher survival potential. The battle phase simulates a range of strategies adopted by players in various situations to enhance the diversity of the population. To evaluate and analyze the performance of the proposed MBGO, we executed it alongside eight other algorithms, including three classics and five latest ones, across multiple diverse dimensions within the CEC2017 and CEC2020 benchmark functions. In addition, we employed several industrial design problems to evaluate the scalability and practicality of the proposed MBGO. The results of the statistical analysis reveal that the novel MBGO demonstrates significant competitiveness, excelling not only in convergence speed, but also in achieving high levels of convergence accuracy across both benchmark functions and real-world problems.

cs.NE↗

arXiv2022

Accelerating the Evolutionary Algorithms by Gaussian Process Regression with $ε$-greedy acquisition function

In this paper, we propose a novel method to estimate the elite individual to accelerate the convergence of optimization. Inspired by the Bayesian Optimization Algorithm (BOA), the Gaussian Process Regression (GPR) is applied to approximate the fitness landscape of original problems based on every generation of optimization. And simple but efficient $ε$-greedy acquisition function is employed to find a promising solution in the surrogate model. Proximity Optimal Principle (POP) states that well-performed solutions have a similar structure, and there is a high probability of better solutions existing around the elite individual. Based on this hypothesis, in each generation of optimization, we replace the worst individual in Evolutionary Algorithms (EAs) with the elite individual to participate in the evolution process. To illustrate the scalability of our proposal, we combine our proposal with the Genetic Algorithm (GA), Differential Evolution (DE), and CMA-ES. Experimental results in CEC2013 benchmark functions show our proposal has a broad prospect to estimate the elite individual and accelerate the convergence of optimization.

cs.NE↗

arXiv2022

Accelerating the Genetic Algorithm for Large-scale Traveling Salesman Problems by Cooperative Coevolutionary Pointer Network with Reinforcement Learning

In this paper, we propose a two-stage optimization strategy for solving the Large-scale Traveling Salesman Problems (LSTSPs) named CCPNRL-GA. First, we hypothesize that the participation of a well-performed individual as an elite can accelerate the convergence of optimization. Based on this hypothesis, in the first stage, we cluster the cities and decompose the LSTSPs into multiple subcomponents, and each subcomponent is optimized with a reusable Pointer Network (PtrNet). After subcomponents optimization, we combine all sub-tours to form a valid solution, this solution joins the second stage of optimization with GA. We validate the performance of our proposal on 10 LSTSPs and compare it with traditional EAs. Experimental results show that the participation of an elite individual can greatly accelerate the optimization of LSTSPs, and our proposal has broad prospects for dealing with LSTSPs.

cs.NE↗

arXiv2022

Cooperative coevolutionary Modified Differential Evolution with Distance-based Selection for Large-Scale Optimization Problems in noisy environments through an automatic Random Grouping

Many optimization problems suffer from noise, and nonlinearity check-based decomposition methods (e.g. Differential Grouping) will completely fail to detect the interactions between variables in multiplicative noisy environments, thus, it is difficult to decompose the large-scale optimization problems (LSOPs) in noisy environments. In this paper, we propose an automatic Random Grouping (aRG), which does not need any explicit hyperparameter specified by users. Simulation experiments and mathematical analysis show that aRG can detect the interactions between variables without the fitness landscape knowledge, and the sub-problems decomposed by aRG have smaller scales, which is easier for EAs to optimize. Based on the cooperative coevolution (CC) framework, we introduce an advanced optimizer named Modified Differential Evolution with Distance-based Selection (MDE-DS) to enhance the search ability in noisy environments. Compared with canonical DE, the parameter self-adaptation, the balance between diversification and intensification, and the distance-based probability selection endow MDE-DS with stronger ability in exploration and exploitation. To evaluate the performance of our proposal, we design $500$-D and $1000$-D problems with various separability in noisy environments based on the CEC2013 LSGO Suite. Numerical experiments show that our proposal has broad prospects to solve LSOPs in noisy environments and can be easily extended to higher-dimensional problems.

cs.NE↗

arXiv2022

Accelerating differential evolution algorithm with Gaussian sampling based on estimating the convergence points

In this paper, we propose a simple strategy for estimating the convergence point approximately by averaging the elite sub-population. Based on this idea, we derive two methods, which are ordinary averaging strategy, and weighted averaging strategy. We also design a Gaussian sampling operator with the mean of the estimated convergence point with a certain standard deviation. This operator is combined with the traditional differential evolution algorithm (DE) to accelerate the convergence. Numerical experiments show that our proposal can accelerate the DE on most functions of 28 low-dimensional test functions on the CEC2013 Suite, and our proposal can easily be extended to combine with other population-based evolutionary algorithms with a simple modification.

cs.NE↗

arXiv2022

Cooperative coevolutionary hybrid NSGA-II with Linkage Measurement Minimization for Large-scale Multi-objective optimization

In this paper, we propose a variable grouping method based on cooperative coevolution for large-scale multi-objective problems (LSMOPs), named Linkage Measurement Minimization (LMM). And for the sub-problem optimization stage, a hybrid NSGA-II with a Gaussian sampling operator based on an estimated convergence point is proposed. In the variable grouping stage, according to our previous research, we treat the variable grouping problem as a combinatorial optimization problem, and the linkage measurement function is designed based on linkage identification by the nonlinearity check on real code (LINC-R). We extend this variable grouping method to LSMOPs. In the sub-problem optimization stage, we hypothesize that there is a higher probability of existing better solutions around the Pareto Front (PF). Based on this hypothesis, we estimate a convergence point at every generation of optimization and perform Gaussian sampling around the convergence point. The samples with good objective value will participate in the optimization as elites. Numerical experiments show that our variable grouping method is better than some popular variable grouping methods, and hybrid NSGA-II has broad prospects for multi-objective problem optimization.

cs.NE↗

arXiv2022

Adversarial Filtering Modeling on Long-term User Behavior Sequences for Click-Through Rate Prediction

Rich user behavior information is of great importance for capturing and understanding user interest in click-through rate (CTR) prediction. To improve the richness, collecting long-term behaviors becomes a typical approach in academy and industry but at the cost of increasing online storage and latency. Recently, researchers have proposed several approaches to shorten long-term behavior sequence and then model user interests. These approaches reduce online cost efficiently but do not well handle the noisy information in long-term user behavior, which may deteriorate the performance of CTR prediction significantly. To obtain better cost/performance trade-off, we propose a novel Adversarial Filtering Model (ADFM) to model long-term user behavior. ADFM uses a hierarchical aggregation representation to compress raw behavior sequence and then learns to remove useless behavior information with an adversarial filtering mechanism. The selected user behaviors are fed into interest extraction module for CTR prediction. Experimental results on public datasets and industrial dataset demonstrate that our method achieves significant improvements over state-of-the-art models.

cs.IR↗

arXiv2020

SQUIRREL: Testing Database Management Systems with Language Validity and Coverage Feedback

Fuzzing is an increasingly popular technique for verifying software functionalities and finding security vulnerabilities. However, current mutation-based fuzzers cannot effectively test database management systems (DBMSs), which strictly check inputs for valid syntax and semantics. Generation-based testing can guarantee the syntax correctness of the inputs, but it does not utilize any feedback, like code coverage, to guide the path exploration. In this paper, we develop Squirrel, a novel fuzzing framework that considers both language validity and coverage feedback to test DBMSs. We design an intermediate representation (IR) to maintain SQL queries in a structural and informative manner. To generate syntactically correct queries, we perform type-based mutations on IR, including statement insertion, deletion and replacement. To mitigate semantic errors, we analyze each IR to identify the logical dependencies between arguments, and generate queries that satisfy these dependencies. We evaluated Squirrel on four popular DBMSs: SQLite, MySQL, PostgreSQL and MariaDB. Squirrel found 51 bugs in SQLite, 7 in MySQL and 5 in MariaDB. 52 of the bugs are fixed with 12 CVEs assigned. In our experiment, Squirrel achieves 2.4x-243.9x higher semantic correctness than state-of-the-art fuzzers, and explores 2.0x-10.9x more new edges than mutation-based tools. These results show that Squirrel is effective in finding memory errors of database management systems.

cs.CR↗

arXiv2015

On the fraction-dimension migration of self-interstitials in zirconium

MD simulations were conducted to study the self-interstitial migration in zirconium. By defining the crystal lattice point, at which more than one atom fall in the Wigner-Seitz cell of the lattice point, for the location of interstitial atoms (LSIA), three types of events were identified for LSIA migration: the jump remaining in one <112_0> direction (ILJ), the jump from one <112_0> to another <112_0> direction in the same basal plane (OLJ) and the jump from one basal plane to an adjacent basal plane (OPJ). The occurrence frequencies of the three types were calculated. ILJ was found to be the dominant event in the temperature range (300K to 1200K), but the occurrence frequencies of OLJ and OPJ increased with increasing temperature. Although the three types of jumps may not follow Brownian and Arrhenius behavior, on the whole, the migration of the LSIAs tend to be Brownian-like. Moreover, the migration trajectories of LSAs in the hcp basal-plane are not what are observed if only conventional one- or two-dimensional migrations exist; rather, they exhibit the feature we call fraction-dimensional. Namely, the trajectories are composed of line segments in <112_0> directions with the average length of the line segments varying with the temperature. Using MC simulations, the potential kinetic impacts of the fraction-dimensional migration, measured by the average number of lattice sites visited per jump event n_SPE was analyzed. The significant differences between the n_SPE value of the fraction-dimensional migration and those of the conventional one- and two-dimensional migrations suggest that the conventional diffusion coefficient, which cannot reflect the feature of fraction-dimensional migration, cannot give an accurate description of the underlying kinetics of SIAs in Zr.

cond-mat.mtrl-sci↗