arXiv subjects

Siwei Chen

Publications and source records attributed to Siwei Chen.

At least 37 records · Page 2Linked to original sources

arXiv2025

Do Graph Diffusion Models Accurately Capture and Generate Substructure Distributions?

Diffusion models have gained popularity in graph generation tasks; however, the extent of their expressivity concerning the graph distributions they can learn is not fully understood. Unlike models in other domains, popular backbones for graph diffusion models, such as Graph Transformers, do not possess universal expressivity to accurately model the distribution scores of complex graph data. Our work addresses this limitation by focusing on the frequency of specific substructures as a key characteristic of target graph distributions. When evaluating existing models using this metric, we find that they fail to maintain the distribution of substructure counts observed in the training set when generating new graphs. To address this issue, we establish a theoretical connection between the expressivity of Graph Neural Networks (GNNs) and the overall performance of graph diffusion models, demonstrating that more expressive GNN backbones can better capture complex distribution patterns. By integrating advanced GNNs into the backbone architecture, we achieve significant improvements in substructure generation.

cs.LG↗

arXiv2024

Magnetic Switching in Monolayer 2D Diluted Magnetic Semiconductors via Spin-to- Spin Conversion

The integration of two-dimensional (2D) van der Waals (vdW) magnets with topological insulators or heavy metals holds great potential for realizing next-generation spintronic memory devices. However, achieving high-efficiency SOT switching of monolayer vdW magnets at room temperature poses a significant challenge, particularly without an external magnetic field. Here, we show field-free, deterministic, and nonvolatile SOT switching of perpendicular magnetization in the monolayer, diluted magnetic semiconductor (DMS), Fe-doped MoS2(Fe:MoS2) at up to 380 K with a current density of $7\times10^4 A cm^{-2}$. The in situ doping of Fe into monolayer MoS2 via chemical vapor deposition and the geometry-induced strain in the crystal break the rotational switching symmetry in Fe:MoS2, promoting field-free SOT switching by generating out-of-plane spins via spin-to-spin conversion. An apparent anomalous Hall effect (AHE) loop shift at a zero in-plane magnetic field verifies the existence of z spins in Fe:MoS2, inducing an antidamping-like torque that facilitates field-free SOT switching. A strong topological Hall effect (THE) was also observed, attributed to the interfacial Dzyaloshinskii-Moriya interaction (DMI), reducing the energy barrier for SOT switching. This field-free SOT application using a 2D ferromagnetic monolayer provides a new pathway for developing highly power-efficient spintronic memory devices.

cond-mat.mes-hall↗

arXiv2024

Beyond Sight: Towards Cognitive Alignment in LVLM via Enriched Visual Knowledge

Does seeing always mean knowing? Large Vision-Language Models (LVLMs) integrate separately pre-trained vision and language components, often using CLIP-ViT as vision backbone. However, these models frequently encounter a core issue of "cognitive misalignment" between the vision encoder (VE) and the large language model (LLM). Specifically, the VE's representation of visual information may not fully align with LLM's cognitive framework, leading to a mismatch where visual features exceed the language model's interpretive range. To address this, we investigate how variations in VE representations influence LVLM comprehension, especially when the LLM faces VE-Unknown data-images whose ambiguous visual representations challenge the VE's interpretive precision. Accordingly, we construct a multi-granularity landmark dataset and systematically examine the impact of VE-Known and VE-Unknown data on interpretive abilities. Our results show that VE-Unknown data limits LVLM's capacity for accurate understanding, while VE-Known data, rich in distinctive features, helps reduce cognitive misalignment. Building on these insights, we propose Entity-Enhanced Cognitive Alignment (EECA), a method that employs multi-granularity supervision to generate visually enriched, well-aligned tokens that not only integrate within the LLM's embedding space but also align with the LLM's cognitive framework. This alignment markedly enhances LVLM performance in landmark recognition. Our findings underscore the challenges posed by VE-Unknown data and highlight the essential role of cognitive alignment in advancing multimodal systems.

cs.CV↗

arXiv2024

Emergent Topological Hall Effect in Fe-doped Monolayer WSe2

The topological Hall effect (THE) has attracted great attention since it provides an important probe of the interaction between electron and topological spin textures. THE has been considered an experimental signature of the topological spin texture of skyrmions. While THE has been widely reported in chiral magnets, oxide heterostructures, and hybrid systems such as ferromagnet/heavy metal and ferromagnet/topological insulators, the study of monolayer structures is lacking, hindering the understanding of noncollinear spin textures at the atomically thin scale. Here, we show a discernible THE via proximity coupling of Fe-doped monolayer WSe2 (Fe:WSe2) synthesized using chemical vapor deposition on a Pt Hall bar. Multiple characterization methods were employed to demonstrate that Fe atoms substitutionally replace W atoms, making a two-dimensional (2D) van der Waals (vdW) dilute magnetic semiconductor (DMS) at room temperature. Distinct from the intrinsic anomalous Hall effect, we found the transverse Hall resistivity of Fe:WSe2 displaying two additional dip/peak features in the temperature-dependent measurements, consistent with the contribution of THE. The topological Hall effect is attributed to the magnetic skyrmions that emerge from the Dzyaloshinskii-Moriya interactions at the Fe:WSe2 and Pt interface. Our work shows that a DMS synthesized from 2D vdW transition metal dichalcogenides is promising for realizing magnetic skyrmions and spintronic applications.

physics.atom-ph↗

arXiv2024

Enhancing the MILP/MIQCP-based Automatic Search for Differential-Linear Distinguishers of Simon-Like Ciphers

In this paper, we propose an improved method based on Mixed-Integer Linear Programming/Mixed-Integer Quadratic Constraint Programming (MILP/MIQCP) to automatically find better differential-linear (DL) distinguishers for the all members of Simon and Simeck block cipher families. To be specific, we first give the completely precise MILP model to describe the linear part, and explain how to utilize the general expressions of \textsf{Gurobi} solver to model the propagation of continuous difference for the middle part in a quite easy way. Secondly, in order to solve the MILP/MIQCP model in a reasonable time, we propose two heuristic strategies based on the divide-and-conquer idea to speed up the search process. Thirdly, we introduce the transforming technique, which exploits the clustering effect on DL trails, to improve the estimated correlation of the DL approximation. We apply our method to Simon and Simeck block cipher families. Consequently, we find the 14/17/21/26-round theoretical DL distinguishers of Simon32/48/64/96, which extend the previous longest ones of Simon32/48/96 by one round and Simon64 by two rounds, respectively. For Simeck, we do not explore longer distinguishers compared to the currently best results, but refresh all the results of Zhou et al. (the first work to automate finding DL distinguishers for Simon-like ciphers using MILP/MIQCP). Besides, in order to validate the correctness of these distinguishers, the experimental verifications are conducted on Simon32/Simeck32 and Simon48/Simeck48. The results show that our theoretical estimations on correlations are very close to the experimental ones, which can be regarded as a concrete support for the effectiveness of our method.

cs.CR↗

arXiv2024

Differentiable Particles for General-Purpose Deformable Object Manipulation

Deformable object manipulation is a long-standing challenge in robotics. While existing approaches often focus narrowly on a specific type of object, we seek a general-purpose algorithm, capable of manipulating many different types of objects: beans, rope, cloth, liquid, . . . . One key difficulty is a suitable representation, rich enough to capture object shape, dynamics for manipulation and yet simple enough to be acquired effectively from sensor data. Specifically, we propose Differentiable Particles (DiPac), a new algorithm for deformable object manipulation. DiPac represents a deformable object as a set of particles and uses a differentiable particle dynamics simulator to reason about robot manipulation. To find the best manipulation action, DiPac combines learning, planning, and trajectory optimization through differentiable trajectory tree optimization. Differentiable dynamics provides significant benefits and enable DiPac to (i) estimate the dynamics parameters efficiently, thereby narrowing the sim-to-real gap, and (ii) choose the best action by backpropagating the gradient along sampled trajectories. Both simulation and real-robot experiments show promising results. DiPac handles a variety of object types. By combining planning and learning, DiPac outperforms both pure model-based planning methods and pure data-driven learning methods. In addition, DiPac is robust and adapts to changes in dynamics, thereby enabling the transfer of an expert policy from one object to another with different physical properties, e.g., from a rigid rod to a deformable rope.

cs.RO↗

arXiv2024

LLM-State: Open World State Representation for Long-horizon Task Planning with Large Language Model

This work addresses the problem of long-horizon task planning with the Large Language Model (LLM) in an open-world household environment. Existing works fail to explicitly track key objects and attributes, leading to erroneous decisions in long-horizon tasks, or rely on highly engineered state features and feedback, which is not generalizable. We propose an open state representation that provides continuous expansion and updating of object attributes from the LLM's inherent capabilities for context understanding and historical action reasoning. Our proposed representation maintains a comprehensive record of an object's attributes and changes, enabling robust retrospective summary of the sequence of actions leading to the current state. This allows continuously updating world model to enhance context understanding for decision-making in task planning. We validate our model through experiments across simulated and real-world task planning scenarios, demonstrating significant improvements over baseline methods in a variety of tasks requiring long-horizon state tracking and reasoning. (Video\footnote{Video demonstration: \url{https://youtu.be/QkN-8pxV3Mo}.})

cs.RO↗

arXiv2024

Two-relaxation-time regularized lattice Boltzmann model for Navier-Stokes equations

In this paper, we propose a novel two-relaxation-time regularized lattice Boltzmann (TRT-RLB) model for simulating weakly compressible isothermal flows. A free relaxation parameter, $τ_{s,2}$, is employed to relax the regularized non-equilibrium third-order terms. Chapman-Enskog analysis reveals that our model can accurately recover the Navier-Stokes equations (NSEs). Theoretical analysis of the Poiseuille flow problem demonstrates that the slip velocity magnitude in the proposed model is controlled by a magic parameter, which can be entirely eliminated under specific values, consistent with the classical TRT model. Our simulations of the double shear layer problem, Taylor-Green vortex flow, and force-driven Poiseuille flow confirm that the stability and accuracy of our model significantly surpass those of both the regularized lattice Boltzmann (RLB) and two-relaxation-time (TRT) models, even under super-high Reynolds numbers as $Re=10^7$. Concurrently, the TRT-RLB model exhibits superior performance in very high viscosity scenarios. The simulations of creeping flow around a square cylinder demonstrates the model's capability to accurately compute ultra-low Reynolds numbers as $Re=10^{-7}$. This study establishes the TRT-RLB model as a flexible and robust tool in computational fluid dynamics.

physics.flu-dyn↗

arXiv2023

Technical Report for Argoverse Challenges on Unified Sensor-based Detection, Tracking, and Forecasting

This report presents our Le3DE2E solution for unified sensor-based detection, tracking, and forecasting in Argoverse Challenges at CVPR 2023 Workshop on Autonomous Driving (WAD). We propose a unified network that incorporates three tasks, including detection, tracking, and forecasting. This solution adopts a strong Bird's Eye View (BEV) encoder with spatial and temporal fusion and generates unified representations for multi-tasks. The solution was tested in the Argoverse 2 sensor dataset to evaluate the detection, tracking, and forecasting of 26 object categories. We achieved 1st place in Detection, Tracking, and Forecasting on the E2E Forecasting track in Argoverse Challenges at CVPR 2023 WAD.

cs.CV↗

arXiv2023

Technical Report for Argoverse Challenges on 4D Occupancy Forecasting

This report presents our Le3DE2E_Occ solution for 4D Occupancy Forecasting in Argoverse Challenges at CVPR 2023 Workshop on Autonomous Driving (WAD). Our solution consists of a strong LiDAR-based Bird's Eye View (BEV) encoder with temporal fusion and a two-stage decoder, which combines a DETR head and a UNet decoder. The solution was tested on the Argoverse 2 sensor dataset to evaluate the occupancy state 3 seconds in the future. Our solution achieved 18% lower L1 Error (3.57) than the baseline and got the 1 place on the 4D Occupancy Forecasting task in Argoverse Challenges at CVPR 2023.

cs.CV↗

arXiv2023

Effects of Cr content on ion-irradiation hardening of FeCrAl ODS ferritic steels with 9 wt\% Al

FeCrAl ODS steels for accident tolerant fuel claddings are designed to bear high-Cr and Al for enhancing oxidation resistance. In this study, we investigated the effects of Cr content on ion-irradiation hardening of three ODS ferritic steels with different Cr contents added with 9 wt\% Al, Fe12Cr9Al (SP12), Fe15Cr9Al (SP13), and Fe18Cr9Al (SP14). The specimens were irradiated with 6.4MeV Fe\textsuperscript{3+} at 300 \textdegree C to nominal 3 dpa. The irradiation hardening was measured by nanoindentation method, and the Nix-Gao plots were used to evaluate the bulk-equivalent hardness. The results showed that the irradiation hardening decreased with increasing Cr content. The reason is due to the growth of dislocation loops hindered by solute Cr atoms. TEM observations showed both $\langle 100\rangle$ and $1/2\langle 111\rangle$ dislocation loops existed in the irradiated area. The irradiation hardening was estimated by dispersed barrier hardening (DBH) model with dislocation loops.

cond-mat.mtrl-sci↗

arXiv2023

DiffMimic: Efficient Motion Mimicking with Differentiable Physics

Motion mimicking is a foundational task in physics-based character animation. However, most existing motion mimicking methods are built upon reinforcement learning (RL) and suffer from heavy reward engineering, high variance, and slow convergence with hard explorations. Specifically, they usually take tens of hours or even days of training to mimic a simple motion sequence, resulting in poor scalability. In this work, we leverage differentiable physics simulators (DPS) and propose an efficient motion mimicking method dubbed DiffMimic. Our key insight is that DPS casts a complex policy learning task to a much simpler state matching problem. In particular, DPS learns a stable policy by analytical gradients with ground-truth physical priors hence leading to significantly faster and stabler convergence than RL-based methods. Moreover, to escape from local optima, we utilize a Demonstration Replay mechanism to enable stable gradient backpropagation in a long horizon. Extensive experiments on standard benchmarks show that DiffMimic has a better sample efficiency and time efficiency than existing methods (e.g., DeepMimic). Notably, DiffMimic allows a physically simulated character to learn Backflip after 10 minutes of training and be able to cycle it after 3 hours of training, while the existing approach may require about a day of training to cycle Backflip. More importantly, we hope DiffMimic can benefit more differentiable animation systems with techniques like differentiable clothes simulation in future research.

cs.CV↗

arXiv2023

DaXBench: Benchmarking Deformable Object Manipulation with Differentiable Physics

Deformable Object Manipulation (DOM) is of significant importance to both daily and industrial applications. Recent successes in differentiable physics simulators allow learning algorithms to train a policy with analytic gradients through environment dynamics, which significantly facilitates the development of DOM algorithms. However, existing DOM benchmarks are either single-object-based or non-differentiable. This leaves the questions of 1) how a task-specific algorithm performs on other tasks and 2) how a differentiable-physics-based algorithm compares with the non-differentiable ones in general. In this work, we present DaXBench, a differentiable DOM benchmark with a wide object and task coverage. DaXBench includes 9 challenging high-fidelity simulated tasks, covering rope, cloth, and liquid manipulation with various difficulty levels. To better understand the performance of general algorithms on different DOM tasks, we conduct comprehensive experiments over representative DOM methods, ranging from planning to imitation learning and reinforcement learning. In addition, we provide careful empirical studies of existing decision-making algorithms based on differentiable physics, and discuss their limitations, as well as potential future directions.

cs.RO↗

arXiv2022

Imitation Learning via Differentiable Physics

Existing imitation learning (IL) methods such as inverse reinforcement learning (IRL) usually have a double-loop training process, alternating between learning a reward function and a policy and tend to suffer long training time and high variance. In this work, we identify the benefits of differentiable physics simulators and propose a new IL method, i.e., Imitation Learning via Differentiable Physics (ILD), which gets rid of the double-loop design and achieves significant improvements in final performance, convergence speed, and stability. The proposed ILD incorporates the differentiable physics simulator as a physics prior into its computational graph for policy learning. It unrolls the dynamics by sampling actions from a parameterized policy, simply minimizing the distance between the expert trajectory and the agent trajectory, and back-propagating the gradient into the policy via temporal physics operators. With the physics prior, ILD policies can not only be transferable to unseen environment specifications but also yield higher final performance on a variety of tasks. In addition, ILD naturally forms a single-loop structure, which significantly improves the stability and training speed. To simplify the complex optimization landscape induced by temporal physics operations, ILD dynamically selects the learning objectives for each state during optimization. In our experiments, we show that ILD outperforms state-of-the-art methods in a variety of continuous control tasks with Brax, requiring only one expert demonstration. In addition, ILD can be applied to challenging deformable object manipulation tasks and can be generalized to unseen configurations.

cs.LG↗

arXiv2021

Ab Initio Particle-based Object Manipulation

This paper presents Particle-based Object Manipulation (Prompt), a new approach to robot manipulation of novel objects ab initio, without prior object models or pre-training on a large object data set. The key element of Prompt is a particle-based object representation, in which each particle represents a point in the object, the local geometric, physical, and other features of the point, and also its relation with other particles. Like the model-based analytic approaches to manipulation, the particle representation enables the robot to reason about the object's geometry and dynamics in order to choose suitable manipulation actions. Like the data-driven approaches, the particle representation is learned online in real-time from visual sensor input, specifically, multi-view RGB images. The particle representation thus connects visual perception with robot control. Prompt combines the benefits of both model-based reasoning and data-driven learning. We show empirically that Prompt successfully handles a variety of everyday objects, some of which are transparent. It handles various manipulation tasks, including grasping, pushing, etc,. Our experiments also show that Prompt outperforms a state-of-the-art data-driven grasping method on the daily objects, even though it does not use any offline training data.

cs.RO↗

arXiv2021

New axioms for top trading cycles

School choice is of great importance both in theory and practice. This paper studies the (student-optimal) top trading cycles mechanism (TTCM) in an axiomatic way. We introduce two new axioms: MBG (mutual best group)-quota-rationality and MBG-robust efficiency. While stability implies MBG-quota-rationality, MBG-robust efficiency is weaker than robust efficiency, which is stronger than the combination of efficiency and group strategy-proofness. The TTCM is characterized by MBG-quota-rationality and MBG-robust efficiency. Our results construct a new basis to compare the TTCM with the other school choice mechanisms, especially the student-optimal stable mechanism under Ergin but not Kesten-acyclic priority structures.

econ.TH↗

arXiv2020

Improving Layer-wise Adaptive Rate Methods using Trust Ratio Clipping

Training neural networks with large batch is of fundamental significance to deep learning. Large batch training remarkably reduces the amount of training time but has difficulties in maintaining accuracy. Recent works have put forward optimization methods such as LARS and LAMB to tackle this issue through adaptive layer-wise optimization using trust ratios. Though prevailing, such methods are observed to still suffer from unstable and extreme trust ratios which degrades performance. In this paper, we propose a new variant of LAMB, called LAMBC, which employs trust ratio clipping to stabilize its magnitude and prevent extreme values. We conducted experiments on image classification tasks such as ImageNet and CIFAR-10 and our empirical results demonstrate promising improvements across different batch sizes.

cs.LG↗

arXiv2020

Contrastive Variational Reinforcement Learning for Complex Observations

Deep reinforcement learning (DRL) has achieved significant success in various robot tasks: manipulation, navigation, etc. However, complex visual observations in natural environments remains a major challenge. This paper presents Contrastive Variational Reinforcement Learning (CVRL), a model-based method that tackles complex visual observations in DRL. CVRL learns a contrastive variational model by maximizing the mutual information between latent states and observations discriminatively, through contrastive learning. It avoids modeling the complex observation space unnecessarily, as the commonly used generative observation model often does, and is significantly more robust. CVRL achieves comparable performance with state-of-the-art model-based DRL methods on standard Mujoco tasks. It significantly outperforms them on Natural Mujoco tasks and a robot box-pushing task with complex observations, e.g., dynamic shadows. The CVRL code is available publicly at https://github.com/Yusufma03/CVRL.

cs.LG↗