arXiv subjects

Yan Wang

Publications and source records attributed to Yan Wang.

At least 919 records · Page 51Linked to original sources

arXiv2020

Updates-Aware Graph Pattern based Node Matching

Graph Pattern based Node Matching (GPNM) is to find all the matches of the nodes in a data graph GD based on a given pattern graph GP. GPNM has become increasingly important in many applications, e.g., group finding and expert recommendation. In real scenarios, both GP and GD are updated frequently. However, the existing GPNM methods either need to perform a new GPNM procedure from scratch to deliver the node matching results based on the updated GP and GD or incrementally perform the GPNM procedure for each of the updates, leading to low efficiency. Therefore, there is a pressing need for a new method to efficiently deliver the node matching results on the updated graphs. In this paper, we first analyze and detect the elimination relationships between the updates. Then, we construct an Elimination Hierarchy Tree (EH-Tree) to index these elimination relationships. In order to speed up the GPNM process, we propose a graph partition method and then propose a new updates-aware GPNM method, called UA-GPNM, considering the single-graph elimination relationships among the updates in a single graph of GP or GD, and also the cross-graph elimination relationships between the updates in GP and the updates in GD. UA-GPNM first delivers the GPNM result of an initial query, and then delivers the GPNM result of a subsequent query, based on the initial GPNM result and the multiple updates that occur between two queries. The experimental results on five real-world social graphs demonstrate that our proposed UA-GPNM is much more efficient than the state-of-the-art GPNM methods.

cs.DB↗

arXiv2020

Pseudo-LiDAR++: Accurate Depth for 3D Object Detection in Autonomous Driving

Detecting objects such as cars and pedestrians in 3D plays an indispensable role in autonomous driving. Existing approaches largely rely on expensive LiDAR sensors for accurate depth information. While recently pseudo-LiDAR has been introduced as a promising alternative, at a much lower cost based solely on stereo images, there is still a notable performance gap. In this paper we provide substantial advances to the pseudo-LiDAR framework through improvements in stereo depth estimation. Concretely, we adapt the stereo network architecture and loss function to be more aligned with accurate depth estimation of faraway objects --- currently the primary weakness of pseudo-LiDAR. Further, we explore the idea to leverage cheaper but extremely sparse LiDAR sensors, which alone provide insufficient information for 3D detection, to de-bias our depth estimation. We propose a depth-propagation algorithm, guided by the initial depth estimates, to diffuse these few exact measurements across the entire depth map. We show on the KITTI object detection benchmark that our combined approach yields substantial improvements in depth estimation and stereo-based 3D object detection --- outperforming the previous state-of-the-art detection accuracy for faraway objects by 40%. Our code is available at https://github.com/mileyan/Pseudo_Lidar_V2.

cs.CV↗

arXiv2020

$b$-invariant edges in essentially 4-edge-connected near-bipartite cubic bricks

A {\em brick} is a non-bipartite matching covered graph without non-trivial tight cuts. Bricks are building blocks of matching covered graphs. We say that an edge $e$ in a brick $G$ is {\em $b$-invariant} if $G-e$ is matching covered and a tight cut decomposition of $G-e$ contains exactly one brick. A 2-edge-connected cubic graph is {\em essentially 4-edge-connected} if it does not contain nontrivial 3-cuts. A brick $G$ is {\em near-bipartite} if it has a pair of edges $\{e_1, e_2\}$ such that $G-\{e_1,e_2\}$ is bipartite and matching covered. Kothari, de Carvalho, Lucchesi and Little proved that each essentially 4-edge-connected cubic non-near-bipartite brick $G$, distinct from the Petersen graph, has at least $|V(G)|$ $b$-invariant edges. Moreover, they made a conjecture: every essentially 4-edge-connected cubic near-bipartite brick $G$, distinct from $K_4$, has at least $|V(G)|/2$ $b$-invariant edges. We confirm the conjecture in this paper. Furthermore, all the essentially 4-edge-connected cubic near-bipartite bricks, the numbers of $b$-invariant edges of which attain the lower bound, are presented.

math.CO↗

arXiv2020

A Reliable Gravity Compensation Control Strategy for dVRK Robotic Arms With Nonlinear Disturbance Forces

External disturbance forces caused by nonlinear springy electrical cables in the Master Tool Manipulator (MTM) of the da Vinci Research Kit (dVRK) limits the usage of the existing gravity compensation methods. Significant motion drifts at the MTM tip are often observed when the MTM is located far from its identification trajectory, preventing the usage of these methods for the entire workspace reliably. In this paper, we propose a general and systematic framework to address the problems of the gravity compensation for the MTM of the dVRK. Particularly, high order polynomial models were used to capture the highly nonlinear disturbance forces and integrated with the Multi-step Least Square Estimation (MLSE) framework. This method allows us to identify the parameters of both the gravitational and disturbance forces for each link sequentially, preventing residual error passing among the links of the MTM with uneven mass distribution. A corresponding gravity compensation controller was developed to compensate the gravitational and disturbance forces. The method was validated with extensive experiments in the majority of the manipulator's workspace, showing significant performance enhancements over existing methods. Finally, a deliverable software package in MATLAB and C++ was integrated with dVRK and published in the dVRK community for open-source research and development.

cs.RO↗

arXiv2020

Cross-dataset Training for Class Increasing Object Detection

We present a conceptually simple, flexible and general framework for cross-dataset training in object detection. Given two or more already labeled datasets that target for different object classes, cross-dataset training aims to detect the union of the different classes, so that we do not have to label all the classes for all the datasets. By cross-dataset training, existing datasets can be utilized to detect the merged object classes with a single model. Further more, in industrial applications, the object classes usually increase on demand. So when adding new classes, it is quite time-consuming if we label the new classes on all the existing datasets. While using cross-dataset training, we only need to label the new classes on the new dataset. We experiment on PASCAL VOC, COCO, WIDER FACE and WIDER Pedestrian with both solo and cross-dataset settings. Results show that our cross-dataset pipeline can achieve similar impressive performance simultaneously on these datasets compared with training independently.

cs.CV↗

arXiv2020

On the Improved Rates of Convergence for Matérn-type Kernel Ridge Regression, with Application to Calibration of Computer Models

Kernel ridge regression is an important nonparametric method for estimating smooth functions. We introduce a new set of conditions, under which the actual rates of convergence of the kernel ridge regression estimator under both the L_2 norm and the norm of the reproducing kernel Hilbert space exceed the standard minimax rates. An application of this theory leads to a new understanding of the Kennedy-O'Hagan approach for calibrating model parameters of computer simulation. We prove that, under certain conditions, the Kennedy-O'Hagan calibration estimator with a known covariance function converges to the minimizer of the norm of the residual function in the reproducing kernel Hilbert space.

math.ST↗

arXiv2019

Effective Model Calibration via Sensible Variable Identification and Adjustment, with Application to Composite Fuselage Simulation

Estimation of model parameters of computer simulators, also known as calibration, is an important topic in many engineering applications. In this paper, we consider the calibration of computer model parameters with the help of engineering design knowledge. We introduce the concept of sensible (calibration) variables. Sensible variables are model parameters which are sensitive in the engineering modeling, and whose optimal values differ from the engineering design values.We propose an effective calibration method to identify and adjust the sensible variables with limited physical experimental data. The methodology is applied to a composite fuselage simulation problem.

stat.AP↗

arXiv2019

Sequential Recommender Systems: Challenges, Progress and Prospects

The emerging topic of sequential recommender systems has attracted increasing attention in recent years.Different from the conventional recommender systems including collaborative filtering and content-based filtering, SRSs try to understand and model the sequential user behaviors, the interactions between users and items, and the evolution of users preferences and item popularity over time. SRSs involve the above aspects for more precise characterization of user contexts, intent and goals, and item consumption trend, leading to more accurate, customized and dynamic recommendations.In this paper, we provide a systematic review on SRSs.We first present the characteristics of SRSs, and then summarize and categorize the key challenges in this research area, followed by the corresponding research progress consisting of the most recent and representative developments on this topic.Finally, we discuss the important research directions in this vibrant area.

cs.IR↗

arXiv2019

Deep Distance Transform for Tubular Structure Segmentation in CT Scans

Tubular structure segmentation in medical images, e.g., segmenting vessels in CT scans, serves as a vital step in the use of computers to aid in screening early stages of related diseases. But automatic tubular structure segmentation in CT scans is a challenging problem, due to issues such as poor contrast, noise and complicated background. A tubular structure usually has a cylinder-like shape which can be well represented by its skeleton and cross-sectional radii (scales). Inspired by this, we propose a geometry-aware tubular structure segmentation method, Deep Distance Transform (DDT), which combines intuitions from the classical distance transform for skeletonization and modern deep segmentation networks. DDT first learns a multi-task network to predict a segmentation mask for a tubular structure and a distance map. Each value in the map represents the distance from each tubular structure voxel to the tubular structure surface. Then the segmentation mask is refined by leveraging the shape prior reconstructed from the distance map. We apply our DDT on six medical image datasets. The experiments show that (1) DDT can boost tubular structure segmentation performance significantly (e.g., over 13% improvement measured by DSC for pancreatic duct segmentation), and (2) DDT additionally provides a geometrical measurement for a tubular structure, which is important for clinical diagnosis (e.g., the cross-sectional scale of a pancreatic duct can be an indicator for pancreatic cancer).

cs.CV↗

arXiv2019

SimpleShot: Revisiting Nearest-Neighbor Classification for Few-Shot Learning

Few-shot learners aim to recognize new object classes based on a small number of labeled training examples. To prevent overfitting, state-of-the-art few-shot learners use meta-learning on convolutional-network features and perform classification using a nearest-neighbor classifier. This paper studies the accuracy of nearest-neighbor baselines without meta-learning. Surprisingly, we find simple feature transformations suffice to obtain competitive few-shot learning accuracies. For example, we find that a nearest-neighbor classifier used in combination with mean-subtraction and L2-normalization outperforms prior results in three out of five settings on the miniImageNet dataset.

cs.CV↗

arXiv2019

Adaptive Portfolio by Solving Multi-armed Bandit via Thompson Sampling

As the cornerstone of modern portfolio theory, Markowitz's mean-variance optimization is considered a major model adopted in portfolio management. However, due to the difficulty of estimating its parameters, it cannot be applied to all periods. In some cases, naive strategies such as Equally-weighted and Value-weighted portfolios can even get better performance. Under these circumstances, we can use multiple classic strategies as multiple strategic arms in multi-armed bandit to naturally establish a connection with the portfolio selection problem. This can also help to maximize the rewards in the bandit algorithm by the trade-off between exploration and exploitation. In this paper, we present a portfolio bandit strategy through Thompson sampling which aims to make online portfolio choices by effectively exploiting the performances among multiple arms. Also, by constructing multiple strategic arms, we can obtain the optimal investment portfolio to adapt different investment periods. Moreover, we devise a novel reward function based on users' different investment risk preferences, which can be adaptive to various investment styles. Our experimental results demonstrate that our proposed portfolio strategy has marked superiority across representative real-world market datasets in terms of extensive evaluation criteria.

cs.LG↗

arXiv2019

LDLS: 3-D Object Segmentation Through Label Diffusion From 2-D Images

Object segmentation in three-dimensional (3-D) point clouds is a critical task for robots capable of 3-D perception. Despite the impressive performance of deep learning-based approaches on object segmentation in 2-D images, deep learning has not been applied nearly as successfully for 3-D point cloud segmentation. Deep networks generally require large amounts of labeled training data, which are readily available for 2-D images but are difficult to produce for 3-D point clouds. In this letter, we present Label Diffusion Lidar Segmentation (LDLS), a novel approach for 3-D point cloud segmentation, which leverages 2-D segmentation of an RGB image from an aligned camera to avoid the need for training on annotated 3-D data. We obtain 2-D segmentation predictions by applying Mask-RCNN to the RGB image, and then link this image to a 3-D lidar point cloud by building a graph of connections among 3-D points and 2-D pixels. This graph then directs a semi-supervised label diffusion process, where the 2-D pixels act as source nodes that diffuse object label information through the 3-D point cloud, resulting in a complete 3-D point cloud segmentation. We conduct empirical studies on the KITTI benchmark dataset and on a mobile robot, demonstrating wide applicability and superior performance of LDLS compared with the previous state of the art in 3-D point cloud segmentation, without any need for either 3-D training data or fine tuning of the 2-D image segmentation model.

eess.IV↗

arXiv2019

Applications of Generative Adversarial Models in Visual Search Reformulation

Query reformulation is the process by which a input search query is refined by the user to match documents outside the original top-n results. On average, roughly 50% of text search queries involve some form of reformulation, and term suggestion tools are used 35% of the time when offered to users. As prevalent as text search queries are, however, such a feature has yet to be explored at scale for visual search. This is because reformulation for images presents a novel challenge to seamlessly transform visual features to match user intent within the context of a typical user session. In this paper, we present methods of semantically transforming visual queries, such as utilizing operations in the latent space of a generative adversarial model for the scenarios of fashion and product search.

cs.CV↗

arXiv2019

Metric Classification Network in Actual Face Recognition Scene

In order to make facial features more discriminative, some new models have recently been proposed. However, almost all of these models use the traditional face verification method, where the cosine operation is performed using the features of the bottleneck layer output. However, each of these models needs to change a threshold each time it is operated on a different test set. This is very inappropriate for application in real-world scenarios. In this paper, we train a validation classifier to normalize the decision threshold, which means that the result can be obtained directly without replacing the threshold. We refer to our model as validation classifier, which achieves best result on the structure consisting of one convolution layer and six fully connected layers. To test our approach, we conduct extensive experiments on Labeled Face in the Wild (LFW) and Youtube Faces (YTF), and the relative error reduction is 25.37% and 26.60% than traditional method respectively. These experiments confirm the effectiveness of validation classifier on face recognition task.

cs.CV↗

arXiv2019

Hadamard Codebook Based Deep Hashing

As an approximate nearest neighbor search technique, hashing has been widely applied in large-scale image retrieval due to its excellent efficiency. Most supervised deep hashing methods have similar loss designs with embedding learning, while quantizing the continuous high-dim feature into compact binary space. We argue that the existing deep hashing schemes are defective in two issues that seriously affect the performance, i.e., bit independence and bit balance. The former refers to hash codes of different classes should be independent of each other, while the latter means each bit should have a balanced distribution of +1s and -1s. In this paper, we propose a novel supervised deep hashing method, termed Hadamard Codebook based Deep Hashing (HCDH), which solves the above two problems in a unified formulation. Specifically, we utilize an off-the-shelf algorithm to generate a binary Hadamard codebook to satisfy the requirement of bit independence and bit balance, which subsequently serves as the desired outputs of the hash functions learning. We also introduce a projection matrix to solve the inconsistency between the order of Hadamard matrix and the number of classes. Besides, the proposed HCDH further exploits the supervised labels by constructing a classifier on top of the outputs of hash functions. Extensive experiments demonstrate that HCDH can yield discriminative and balanced binary codes, which well outperforms many state-of-the-arts on three widely-used benchmarks.

cs.CV↗

arXiv2019

Co-optimization of Speed and Gearshift Control for Battery Electric Vehicles Using Preview Information

This paper addresses the co-optimization of speed and gearshift control for battery electric vehicles using short-range traffic information. To achieve greater electric motor efficiency, a multi-speed transmission is employed, whose control involves discrete-valued gearshift signals. To overcome the computational difficulties in solving the integrated speed-and-gearshift optimal control problem that involves both continuous and discrete-valued optimization variables, we propose a hierarchical procedure to decompose the integrated hybrid problem into purely continuous and discrete sub-problems, each of which can be efficiently solved. We show, by simulations in various driving scenarios, that the co-optimization of speed and gearshift control using our proposed hierarchical procedure can achieve greater energy efficiency than other typical approaches.

eess.SY↗

arXiv2019

Motion Planning through Demonstration to Deal with Complex Motions in Assembly Process

Complex and skillful motions in actual assembly process are challenging for the robot to generate with existing motion planning approaches, because some key poses during the human assembly can be too skillful for the robot to realize automatically. In order to deal with this problem, this paper develops a motion planning method using skillful motions from demonstration, which can be applied to complete robotic assembly process including complex and skillful motions. In order to demonstrate conveniently without redundant third-party devices, we attach augmented reality (AR) markers to the manipulated object to track and capture poses of the object during the human assembly process, which are employed as key poses to execute motion planning by the planner. Derivative of every key pose serves as criterion to determine the priority of use of key poses in order to accelerate the motion planning. The effectiveness of the presented method is verified through some numerical examples and actual robot experiments.

cs.RO↗

arXiv2019

Robust and highly-efficient discrimination of chiral molecules through three-mode parallel paths

We propose to discriminate chiral molecules by combining one- and two-photon processes in a closed-loop configuration. The one-photon-coupling intrinsic π-phase difference between two enantiomers leads to their different superposition states, which is then followed by a two-photon process through three-mode parallel paths (3MPPs), enabling the discrimination of enantiomers by inducing their entirely-different population distributions. The 3MPPs are constructed by "chosen paths", a method of shortcuts to adiabaticity (STA), exhibiting a fast two-photon process. As an example, we propose to perform the scheme in 1, 2-propanediol molecules, which shows relatively robust and highly-efficient results under considering the experimental issues concerning unwanted transitions, imperfect initial state, pulse shaping, control errors and the effect of energy relaxations. The present work may provide help for laboratory researchers in a robust separation of chiral molecules.

quant-ph↗