arXiv subjects

Xin Zhou

Publications and source records attributed to Xin Zhou.

At least 307 records · Page 17Linked to original sources

arXiv2022

Enhanced Decentralized Autonomous Aerial Robot Teams with Group Planning

Designing autonomous aerial robot team systems remains a grand challenge in robotics. Existing works in this field can be categorized as centralized and decentralized. Centralized methods suffer from scale dilemmas, while decentralized ones often lead to poor planning quality. In this paper, we propose an enhanced decentralized autonomous aerial robot team system with group planning. According to the spatial distribution of agents, the system dynamically divides the team into several groups and isolated agents. For conflicts within each group, we propose a novel coordination mechanism named group planning. The group planning consists of efficient multi-agent pathfinding (MAPF) and trajectory joint optimization, which can significantly improve planning quality and success rate. We demonstrate through simulations and real-world experiments that our method not only has applicability for a large-scale team but also has top-level planning quality

cs.RO↗

arXiv2022

SoccerNet 2022 Challenges Results

The SoccerNet 2022 challenges were the second annual video understanding challenges organized by the SoccerNet team. In 2022, the challenges were composed of 6 vision-based tasks: (1) action spotting, focusing on retrieving action timestamps in long untrimmed videos, (2) replay grounding, focusing on retrieving the live moment of an action shown in a replay, (3) pitch localization, focusing on detecting line and goal part elements, (4) camera calibration, dedicated to retrieving the intrinsic and extrinsic camera parameters, (5) player re-identification, focusing on retrieving the same players across multiple views, and (6) multiple object tracking, focusing on tracking players and the ball through unedited video streams. Compared to last year's challenges, tasks (1-2) had their evaluation metrics redefined to consider tighter temporal accuracies, and tasks (3-6) were novel, including their underlying data and annotations. More information on the tasks, challenges and leaderboards are available on https://www.soccer-net.org. Baselines and development kits are available on https://github.com/SoccerNet.

cs.CV↗

arXiv2022

Answer Summarization for Technical Queries: Benchmark and New Approach

Prior studies have demonstrated that approaches to generate an answer summary for a given technical query in Software Question and Answer (SQA) sites are desired. We find that existing approaches are assessed solely through user studies. There is a need for a benchmark with ground truth summaries to complement assessment through user studies. Unfortunately, such a benchmark is non-existent for answer summarization for technical queries from SQA sites. To fill the gap, we manually construct a high-quality benchmark to enable automatic evaluation of answer summarization for technical queries for SQA sites. Using the benchmark, we comprehensively evaluate the performance of existing approaches and find that there is still a big room for improvement. Motivated by the results, we propose a new approach TechSumBot with three key modules:1) Usefulness Ranking module, 2) Centrality Estimation module, and 3) Redundancy Removal module. We evaluate TechSumBot in both automatic (i.e., using our benchmark) and manual (i.e., via a user study) manners. The results from both evaluations consistently demonstrate that TechSumBot outperforms the best performing baseline approaches from both SE and NLP domains by a large margin, i.e., 10.83%-14.90%, 32.75%-36.59%, and 12.61%-17.54%, in terms of ROUGE-1, ROUGE-2, and ROUGE-L on automatic evaluation, and 5.79%-9.23% and 17.03%-17.68%, in terms of average usefulness and diversity score on human evaluation. This highlights that the automatic evaluation of our benchmark can uncover findings similar to the ones found through user studies. More importantly, automatic evaluation has a much lower cost, especially when it is used to assess a new approach. Additionally, we also conducted an ablation study, which demonstrates that each module in TechSumBot contributes to boosting the overall performance of TechSumBot.

cs.SE↗

arXiv2022

Min-max theory for capillary surfaces

We develop a min-max theory for the construction of capillary surfaces in 3-manifolds with smooth boundary. In particular, for a generic set of ambient metrics, we prove the existence of nontrivial, smooth, almost properly embedded surfaces with any given constant mean curvature $c$, and with smooth boundary contacting at any given constant angle $θ$. Moreover, if $c$ is nonzero and $θ$ is not $\fracπ{2}$, then our min-max solution always has multiplicity one. We also establish a stable Bernstein theorem for minimal hypersurfaces with certain contact angles in higher dimensions.

math.DG↗

arXiv2022

CO(J = 1-0) Observations toward the Filamentary Cloud in the Galactic Region of $153.60^{\circ} \leqslant l \leqslant 156.50^{\circ}$ and $1.85^{\circ} \leqslant b \leqslant 3.50^{\circ}$

We present observations of $J$=1-0 transition lines of ${ }^{12} \mathrm{CO}$, ${ }^{13} \mathrm{CO}$, and $\mathrm{C}^{18} \mathrm{O}$ towards the Galactic region of $153.60^{\circ} \leqslant l \leqslant 156.50^{\circ}$ and $1.85^{\circ} \leqslant b \leqslant 3.50^{\circ}$, using the Purple Mountain Observatory (PMO) 13.7 m millimeter telescope. Based on the \tht data, one main filament and five sub-filaments are found together as a network structure in the velocity interval of $[-42.5, -30.0] \,\mathrm{km} \mathrm{\,s}^{-1}$. The kinematic distance of this molecular cloud (MC) is estimated to be $\sim4.5 \mathrm{\,kpc}$. The median length, width, excitation temperature, line mass of these filaments are $\sim49 \mathrm{\,pc}$, $\sim2.9 \mathrm{\,pc}$, $\sim8.9 \mathrm{\,K}$, and $\sim39 \,M_{\odot} \mathrm{pc}^{-1}$, respectively. The velocity structures along these filaments exhibit oscillatory patterns, which are likely caused by the fragmentation or accretion process along these filaments. The maximum accretion rate is estimated to be as high as $\sim700 \,M_{\odot} \mathrm{pc}^{-1}$. A total of $\sim162$ \tht clumps and $\sim 103$ young stellar objects (YSOs) are identified in this region. Most of the clumps are in gravitationally bound states. Three \hii regions (G154.359+2.606, SH2-211, SH2-212) are found to be located in the apexes of the filaments. Intense star forming activities are found along the entire filamentary cloud. The observed results may help us to better understand the link between filaments and massive star formation.

astro-ph.GA↗

arXiv2022

Enhancing Image Rescaling using Dual Latent Variables in Invertible Neural Network

Normalizing flow models have been used successfully for generative image super-resolution (SR) by approximating complex distribution of natural images to simple tractable distribution in latent space through Invertible Neural Networks (INN). These models can generate multiple realistic SR images from one low-resolution (LR) input using randomly sampled points in the latent space, simulating the ill-posed nature of image upscaling where multiple high-resolution (HR) images correspond to the same LR. Lately, the invertible process in INN has also been used successfully by bidirectional image rescaling models like IRN and HCFlow for joint optimization of downscaling and inverse upscaling, resulting in significant improvements in upscaled image quality. While they are optimized for image downscaling too, the ill-posed nature of image downscaling, where one HR image could be downsized to multiple LR images depending on different interpolation kernels and resampling methods, is not considered. A new downscaling latent variable, in addition to the original one representing uncertainties in image upscaling, is introduced to model variations in the image downscaling process. This dual latent variable enhancement is applicable to different image rescaling models and it is shown in extensive experiments that it can improve image upscaling accuracy consistently without sacrificing image quality in downscaled LR images. It is also shown to be effective in enhancing other INN-based models for image restoration applications like image hiding.

cs.CV↗

arXiv2022

The coherent motions of thermal active Brownian particles

Active matter exhibits many intriguing non-equilibrium character, \emph{e.g.}, the active Brownian particles (ABP) without any attractive and aligned interactions can occur the mobility-induced phase transition to form some dense domains with both the structural ordering and dynamical coherence. Recently, the velocity correlation among the particles in the dense and ordered clusters was found in athermal ABP systems, however, seemed to disappear if including the thermal noises to describe microscopic ABPs, bringing some confusion about the generality of the consistence between structure and dynamics in ABPs. Here we demonstrate that the thermal noises imposing a large random term on the instantaneous velocity of ABPs hinder the observation of the (small) correlation in motions of ABPs. By averaging the instantaneous velocity (or equivalently, calculating the displacement) in various lag times, we show that the motions of thermal-fluctuated ABPs in the one order of magnitude smaller than the translational characteristic time are highly coherent and consistent spatially with the structural ordering of the ABPs.

cond-mat.soft↗

arXiv2022

Automatic Parameter Adaptation for Quadrotor Trajectory Planning

Online trajectory planners enable quadrotors to safely and smoothly navigate in unknown cluttered environments. However, tuning parameters is challenging since modern planners have become too complex to mathematically model and predict their interaction with unstructured environments. This work takes humans out of the loop by proposing a planner parameter adaptation framework that formulates objectives into two complementary categories and optimizes them asynchronously. Objectives evaluated with and without trajectory execution are optimized using Bayesian Optimization (BayesOpt) and Particle Swarm Optimization (PSO), respectively. By combining two kinds of objectives, the total convergence rate of the black-box optimization is accelerated while the dimension of optimized parameters can be increased. Benchmark comparisons demonstrate its superior performance over other strategies. Tests with changing obstacle densities validate its real-time environment adaption, which is difficult for prior manual tuning. Real-world flights with different drone platforms, environments, and planners show the proposed framework's scalability and effectiveness.

cs.RO↗

arXiv2022

Molecular Gas Structures traced by $^{13}$CO Emission in the 18,190 $^{12}$CO Molecular Clouds from the MWISP Survey

After the morphological classification of the 18,190 $^{12}$CO molecular clouds, we further investigate the properties of their internal molecular gas structures traced by the $^{13}$CO($J=$ 1$-$0) line emissions. Using three different methods to extract the $^{13}$CO gas structures within each $^{12}$CO cloud, we find that $\sim$ 15$\%$ of $^{12}$CO clouds (2851) have $^{13}$CO gas structures and these $^{12}$CO clouds contribute about 93$\%$ of the total integrated flux of $^{12}$CO emission. In each of 2851 $^{12}$CO clouds with $^{13}$CO gas structures, the $^{13}$CO emission area generally does not exceed 70$\%$ of the $^{12}$CO emission area, and the $^{13}$CO integrated flux does not exceed 20$\%$ of the $^{12}$CO integrated flux. We reveal a strong correlation between the velocity-integrated intensities of $^{12}$CO lines and those of $^{13}$CO lines in both $^{12}$CO and $^{13}$CO emission regions. This indicates the H$_{2}$ column densities of molecular clouds are crucial for the $^{13}$CO lines emission. After linking the $^{13}$CO structure detection rates of the 18,190 $^{12}$CO molecular clouds to their morphologies, i.e. nonfilaments and filaments, we find that the $^{13}$CO gas structures are primarily detected in the $^{12}$CO clouds with filamentary morphologies. Moreover, these filaments tend to harbor more than one $^{13}$CO structure. That demonstrates filaments not only have larger spatial scales, but also have more molecular gas structures traced by $^{13}$CO lines, i.e. the local gas density enhancements. Our results favor the turbulent compression scenario for filament formation, in which dynamical compression of turbulent flows induces the local density enhancements. The nonfilaments tend to be in the low-pressure and quiescent turbulent environments of the diffuse interstellar medium.

astro-ph.GA↗

arXiv2022

Dependence of Molecular Cloud Samples on Angular Resolution, Sensitivity, and Algorithms

In this work, we investigate the observational and algorithmic effects on molecular cloud samples identified from position-position-velocity (PPV) space. By smoothing and cutting off the high quality data of the Milky Way Imaging Scroll Painting (MWISP) survey, we extract various molecular cloud samples from those altered data with the DBSCAN (density-based spatial clustering of applications with noise) algorithm. Those molecular cloud samples are subsequently used to gauge the significance of sensitivity, angular/velocity resolution, and DBSCAN parameters. Two additional surveys, the FCRAO Outer Galaxy Survey (OGS) and the CfA-Chile 1.2 m complete CO (CfA-Chile) survey, are used to verify the MWISP results. We found that molecular cloud catalogs are not unique and the boundary and therefore the number shows strong variation with angular resolution and sensitivity. At low angular resolution (large beam sizes), molecular clouds merge together in PPV space, while low sensitivity (high cutoffs) misses small faint molecular clouds and takes bright parts of large molecular clouds as single ones. At high angular resolution and sensitivity, giant molecular clouds (GMCs) are resolved into individual clouds, and their diffuse components are also revealed. Consequently, GMCs are more appropriately interpreted as clusters or aggregates of molecular clouds, i.e., GMCs represent molecular cloud samples themselves.

astro-ph.GA↗

arXiv2022

Searching for Optimal Subword Tokenization in Cross-domain NER

Input distribution shift is one of the vital problems in unsupervised domain adaptation (UDA). The most popular UDA approaches focus on domain-invariant representation learning, trying to align the features from different domains into similar feature distributions. However, these approaches ignore the direct alignment of input word distributions between domains, which is a vital factor in word-level classification tasks such as cross-domain NER. In this work, we shed new light on cross-domain NER by introducing a subword-level solution, X-Piece, for input word-level distribution shift in NER. Specifically, we re-tokenize the input words of the source domain to approach the target subword distribution, which is formulated and solved as an optimal transport problem. As this approach focuses on the input level, it can also be combined with previous DIRL methods for further improvement. Experimental results show the effectiveness of the proposed method based on BERT-tagger on four benchmark NER datasets. Also, the proposed method is proved to benefit DIRL methods such as DANN.

cs.CL↗

arXiv2022

Unusually high HCO+/CO ratios in and outside supernova remnant W49B

Galactic supernova remnants (SNRs) and their environments provide the nearest laboratories to study SN feedback. We performed molecular observations toward SNR W49B, the most luminous Galactic SNR in the X-ray band, aiming to explore signs of multiple feedback channels of SNRs on nearby molecular clouds (MCs). We found very broad HCO+ lines with widths of dv = 48--75 km/s in the SNR southwest, providing strong evidence that W49B is perturbing MCs at a systemic velocity of $V_{LSR}=61$--65 km/s, and placing W49B at a distance of $7.9\pm 0.6$ kpc. We observed unusually high-intensity ratios of HCO+ J=1-0/CO J=1-0 not only at shocked regions ($1.1\pm 0.4$ and $0.70\pm 0.16$), but also in quiescent clouds over 1 pc away from the SNR's eastern boundary (> 0.2). By comparing with the magnetohydrodynamics shock models, we interpret that the high ratio in the broad-line regions can result from a cosmic-ray (CR) induced chemistry in shocked MCs, where the CR ionization rate is enhanced to around 10--100 times of the Galactic level. The high HCO+/CO ratio outside the SNR is probably caused by the radiation precursor, while the luminous X-ray emission of W49B can explain a few properties in this region. The above results provide observational evidence that SNRs can strongly influence the molecular chemistry in and outside the shock boundary via their shocks, CRs, and radiation. We propose that the HCO+/CO ratio is a potentially useful tool to probe an SNR's multichannel influence on MCs.

astro-ph.GA↗

arXiv2022

CO Emission Delineating the Interface between the Milky Way Nuclear Wind Cavity and the Gaseous Disk

Based on the MWISP survey, we study high-z CO emission toward the tangent points, in which the distances of the molecular clouds (MCs) are well determined. In the region of l=12-26 deg and |b|<5.1 deg, a total of 321 MCs with |z|> 110 pc are identified, of which nearly 30 extreme high-z MCs (EHMCs at |z|> 260 pc) are concentrated in a narrow region of R_GC=2.6-3.1 kpc. The EHMC concentrations, together with other high-z MCs at R_GC=2.3-2.6 kpc, constitute molecular crater-wall structures surrounding the edges of the HI voids that are physically associated with the Fermi bubbles. Intriguingly, some large high-z MCs, which lie in the crater walls above and below the Galactic plane, show cometary structures with the head toward the plane, favouring the scenario that the entrained molecular gas moves with the multi-phase flows from the plane to the high-z regions. We suggest that the Milky Way nuclear wind has a significant impact on the Galactic gaseous disk. The powerful nuclear wind at ~3-6 Myr ago is likely responsible for the observational features, (1) the enhanced CO gas lying in the edges of the HI voids, (2) the deficiency of atomic and molecular gas within R_GC<3 kpc, (3) the possible connection between the EHMC concentrations and the 3-kpc arm, and (4) the elongated high-z MCs with the tail pointing away from the Galactic plane.

astro-ph.GA↗

arXiv2022

A Cross-Company Ethnographic Study on Software Teams for DevOps and Microservices: Organization, Benefits, and Issues

Context: DevOps and microservices are acknowledged to be important new paradigms to tackle contemporary software demands and provide capabilities for rapid and reliable software development. Industrial reports show that they are quickly adopted together in massive software companies. However, because of the technical and organizational requirements, many difficulties against efficient implementation of the both emerge in real software teams. Objectives: This study aims to discover the organization, benefits and issues of software teams using DevOps & microservices from an immersive perspective. Method: An ethnographic study was carried out in three companies with different business, size, products, customers, and degree of globalization. All the three companies claimed their adoption of DevOps and microservices. Seven months (cumulative) of participant observations and nine interviews with practitioners were conducted to collect the data of software teams related to DevOps and microservices. A cross-company empirical investigation using grounded theory was done by analyzing the archive data. Results: The adoption of DevOps and microservices brings benefits to rapid delivery, ability improvements and burden reduction, whilst the high cost and lack of practical guidance were emerged. Moreover, our observations and interviews reflect that in software teams, the relationship between DevOps and microservices is not significant, which differs from the relationship described in the previous studies. Four lessons for practitioners and four implications for researchers were discussed based on our findings. Conclusion: Our findings contribute to the understanding of the organization, benefits and issues of adopting DevOps and microservices from an immersive perspective of software teams.

cs.SE↗

arXiv2022

SoccerNet-Tracking: Multiple Object Tracking Dataset and Benchmark in Soccer Videos

Tracking objects in soccer videos is extremely important to gather both player and team statistics, whether it is to estimate the total distance run, the ball possession or the team formation. Video processing can help automating the extraction of those information, without the need of any invasive sensor, hence applicable to any team on any stadium. Yet, the availability of datasets to train learnable models and benchmarks to evaluate methods on a common testbed is very limited. In this work, we propose a novel dataset for multiple object tracking composed of 200 sequences of 30s each, representative of challenging soccer scenarios, and a complete 45-minutes half-time for long-term tracking. The dataset is fully annotated with bounding boxes and tracklet IDs, enabling the training of MOT baselines in the soccer domain and a full benchmarking of those methods on our segregated challenge sets. Our analysis shows that multiple player, referee and ball tracking in soccer videos is far from being solved, with several improvement required in case of fast motion or in scenarios of severe occlusion.

cs.CV↗

arXiv2022

Geometrically Constrained Trajectory Optimization for Multicopters

We present an optimization-based framework for multicopter trajectory planning subject to geometrical configuration constraints and user-defined dynamic constraints. The basis of the framework is a novel trajectory representation built upon our novel optimality conditions for unconstrained control effort minimization. We design linear-complexity operations on this representation to conduct spatial-temporal deformation under various planning requirements. Smooth maps are utilized to exactly eliminate geometrical constraints in a lightweight fashion. A variety of state-input constraints are supported by the decoupling of dense constraint evaluation from sparse parameterization, and backward differentiation of flatness map. As a result, this framework transforms a generally constrained multicopter planning problem into an unconstrained optimization that can be solved reliably and efficiently. Our framework bridges the gaps among solution quality, planning efficiency, and constraint fidelity for a multicopter with limited resources and maneuvering capability. Its generality and robustness are both demonstrated by applications to different flight tasks. Extensive simulations and benchmarks are also conducted to show its capability of generating high-quality solutions while retaining the computation speed against other specialized methods by orders of magnitude. The source code of our framework is available at: https://github.com/ZJU-FAST-Lab/GCOPTER

cs.RO↗

arXiv2022

Capacitively coupled distinct mechanical resonators for room temperature phonon-cavity electromechanics

Coupled electromechanical resonators that can be independently driven/detected and easily integrated with external circuits are essential for exploring mechanical modes based signal processing. Here, we present a room temperature phonon-cavity electromechanical system, consisting of two distinct resonators: a silicon nitride electromechanical drum capacitively coupled to an aluminum one. We demonstrate electromechanically induced transparency and amplification in a two-tone driving scheme and observe the phonon-cavity force affecting the mechanical damping rates of both movable objects. We also develop an analytical model based on linearly coupled motion equations, which captures the optomechanical features in the classical limit and enables to fit quantitatively our measurements. Our results open up new possibilities in the study of phonon-cavity based signal processing in the classical and potentially in the future in the quantum regimes.

cond-mat.mes-hall↗

arXiv2022

Predicting and Explaining Mobile UI Tappability with Vision Modeling and Saliency Analysis

We use a deep learning based approach to predict whether a selected element in a mobile UI screenshot will be perceived by users as tappable, based on pixels only instead of view hierarchies required by previous work. To help designers better understand model predictions and to provide more actionable design feedback than predictions alone, we additionally use ML interpretability techniques to help explain the output of our model. We use XRAI to highlight areas in the input screenshot that most strongly influence the tappability prediction for the selected region, and use k-Nearest Neighbors to present the most similar mobile UIs from the dataset with opposing influences on tappability perception.

cs.HC↗