arXiv subjects

Yang Xu

Publications and source records attributed to Yang Xu.

At least 307 records · Page 17Linked to original sources

arXiv2023

Bayesian Generalized Kernel Inference for Exploration of Autonomous Robots

This paper concerns realizing highly efficient information-theoretic robot exploration with desired performance in complex scenes. We build a continuous lightweight inference model to predict the mutual information (MI) and the associated prediction confidence of the robot's candidate actions which have not been evaluated explicitly. This allows the decision-making stage in robot exploration to run with a logarithmic complexity approximately, this will also benefit online exploration in large unstructured, and cluttered places that need more spatial samples to assess and decide. We also develop an objective function to balance the local optimal action with the highest MI value and the global choice with high prediction variance. Extensive numerical and dataset simulations show the desired efficiency of our proposed method without losing exploration performance in different environments. We also provide our open-source implementation codes released on GitHub for the robot community.

cs.RO↗

arXiv2022

Quantile Off-Policy Evaluation via Deep Conditional Generative Learning

Off-Policy evaluation (OPE) is concerned with evaluating a new target policy using offline data generated by a potentially different behavior policy. It is critical in a number of sequential decision making problems ranging from healthcare to technology industries. Most of the work in existing literature is focused on evaluating the mean outcome of a given policy, and ignores the variability of the outcome. However, in a variety of applications, criteria other than the mean may be more sensible. For example, when the reward distribution is skewed and asymmetric, quantile-based metrics are often preferred for their robustness. In this paper, we propose a doubly-robust inference procedure for quantile OPE in sequential decision making and study its asymptotic properties. In particular, we propose utilizing state-of-the-art deep conditional generative learning methods to handle parameter-dependent nuisance function estimation. We demonstrate the advantages of this proposed estimator through both simulations and a real-world dataset from a short-video platform. In particular, we find that our proposed estimator outperforms classical OPE estimators for the mean in settings with heavy-tailed reward distributions.

stat.ML↗

arXiv2022

Adaptive Control of Client Selection and Gradient Compression for Efficient Federated Learning

Federated learning (FL) allows multiple clients cooperatively train models without disclosing local data. However, the existing works fail to address all these practical concerns in FL: limited communication resources, dynamic network conditions and heterogeneous client properties, which slow down the convergence of FL. To tackle the above challenges, we propose a heterogeneity-aware FL framework, called FedCG, with adaptive client selection and gradient compression. Specifically, the parameter server (PS) selects a representative client subset considering statistical heterogeneity and sends the global model to them. After local training, these selected clients upload compressed model updates matching their capabilities to the PS for aggregation, which significantly alleviates the communication load and mitigates the straggler effect. We theoretically analyze the impact of both client selection and gradient compression on convergence performance. Guided by the derived convergence rate, we develop an iteration-based algorithm to jointly optimize client selection and compression ratio decision using submodular maximization and linear programming. Extensive experiments on both real-world prototypes and simulations show that FedCG can provide up to 5.3$\times$ speedup compared to other methods.

cs.DC↗

arXiv2022

MOB-FL: Mobility-Aware Federated Learning for Intelligent Connected Vehicles

Federated learning (FL) is a promising approach to enable the future Internet of vehicles consisting of intelligent connected vehicles (ICVs) with powerful sensing, computing and communication capabilities. We consider a base station (BS) coordinating nearby ICVs to train a neural network in a collaborative yet distributed manner, in order to limit data traffic and privacy leakage. However, due to the mobility of vehicles, the connections between the BS and ICVs are short-lived, which affects the resource utilization of ICVs, and thus, the convergence speed of the training process. In this paper, we propose an accelerated FL-ICV framework, by optimizing the duration of each training round and the number of local iterations, for better convergence performance of FL. We propose a mobility-aware optimization algorithm called MOB-FL, which aims at maximizing the resource utilization of ICVs under short-lived wireless connections, so as to increase the convergence speed. Simulation results based on the beam selection and the trajectory prediction tasks verify the effectiveness of the proposed solution.

cs.LG↗

arXiv2022

Adaptive Configuration for Heterogeneous Participants in Decentralized Federated Learning

Data generated at the network edge can be processed locally by leveraging the paradigm of edge computing (EC). Aided by EC, decentralized federated learning (DFL), which overcomes the single-point-of-failure problem in the parameter server (PS) based federated learning, is becoming a practical and popular approach for machine learning over distributed data. However, DFL faces two critical challenges, \ie, system heterogeneity and statistical heterogeneity introduced by edge devices. To ensure fast convergence with the existence of slow edge devices, we present an efficient DFL method, termed FedHP, which integrates adaptive control of both local updating frequency and network topology to better support the heterogeneous participants. We establish a theoretical relationship between local updating frequency and network topology regarding model training performance and obtain a convergence upper bound. Upon this, we propose an optimization algorithm, that adaptively determines local updating frequencies and constructs the network topology, so as to speed up convergence and improve the model accuracy. Evaluation results show that the proposed FedHP can reduce the completion time by about 51% and improve model accuracy by at least 5% in heterogeneous scenarios, compared with the baselines.

cs.NI↗

arXiv2022

Tracing Semantic Variation in Slang

The meaning of a slang term can vary in different communities. However, slang semantic variation is not well understood and under-explored in the natural language processing of slang. One existing view argues that slang semantic variation is driven by culture-dependent communicative needs. An alternative view focuses on slang's social functions suggesting that the desire to foster semantic distinction may have led to the historical emergence of community-specific slang senses. We explore these theories using computational models and test them against historical slang dictionary entries, with a focus on characterizing regularity in the geographical variation of slang usages attested in the US and the UK over the past two centuries. We show that our models are able to predict the regional identity of emerging slang word meanings from historical slang records. We offer empirical evidence that both communicative need and semantic distinction play a role in the variation of slang meaning yet their relative importance fluctuates over the course of history. Our work offers an opportunity for incorporating historical cultural elements into the natural language processing of slang.

cs.CL↗

arXiv2022

Anomalous anisotropy of spin current in a cubic spin source with noncollinear antiferromagnetism

Cubic materials host high crystal symmetry and hence are not expected to support anisotropy in transport phenomena. In contrast to this common expectation, here we report an anomalous anisotropy of spin current can emerge in the (001) film of Mn${_3}$Pt, a noncollinear antiferromagnetic spin source with face-centered cubic structure. Such spin current anisotropy originates from the intertwined time reversal-odd ($T$-odd) and time reversal-even ($T$-even) spin Hall effects. Based on symmetry analyses and experimental characterizations of the current-induced spin torques in Mn${_3}$Pt-based heterostructures, we find that the spin current generated by Mn${_3}$Pt (001) exhibits exotic dependences on the current direction for all the spin components, deviating from that in conventional cubic systems. We also demonstrate that such an anisotropic spin current can be used to realize low-power spintronic applications such as the efficient field-free switching of the perpendicular magnetizations.

cond-mat.mtrl-sci↗

arXiv2022

Charge Crowding in Graphene-Silicon Diodes

The performance of nanoscale electronic devices based on a two-three dimensional (2D-3D) interface is significantly affected by the electrical contacts that interconnect these materials with external circuitry. This work investigates charge transport effects at the 2D-3D ohmic contact coupled with the thermionic injection model for graphene/Si Schottky junction. Here, w e focus on the intrinsic properties of graphene-metal contacts, paying particular attention to the nature of the contact failure mechanism under high electrical stress. According to our findings, severe current crowding (CC) effects in highly conductive electrical contact significantly affect device failure that can be reduced by spatially varying the contact properties and geometry. The impact of electrical breakdown on material degradation is systematically analyzed by atomic force, Raman, scanning electron, and energy dispersive X-ray spectroscopies. Our devices withstand high electrostatic discharge spikes over a longer period, manifesting high robustness and operational stability. This research paves the way towards a highly robust and reliable graphene/Si heterostructure in futuristic on-chip integration in dynamic switching. The methods we employed here can be extended for other nanoscale electronic devices based on 2D-3D interfaces

physics.app-ph↗

arXiv2022

Spin filtering effect in intrinsic 2D magnetic semiconductor Cr2Ge2Te6

All van der Waals (vdW) Fe3GeTe2/Cr2Ge2Te6/graphite magnetic heterojunctions have been fabricated via mechanical exfoliation and stacking, and their magnetotransport properties are studied in detail. At low bias voltages large negative junction magnetoresistances have been observed and are attributed to spin-conserving tunneling transport across the insulating Cr2Ge2Te6 layer. With increasing bias, a crossover to Fowler-Nordheim tunneling takes place. The negative sign of the tunneling magnetoresistance (TMR) suggests that the bottom of conduction band in Cr2Ge2Te6 belongs to minority spins, opposite to the findings of some first-principles calculations. This work shows that the vdW heterostructures based on 2D magnetic insulators are a valuable platform to gain further insight into spin polarized tunneling transport, which is the basis for pursuing high performance spintronic devices and a large variety of quantum phenomena.

cond-mat.mtrl-sci↗

arXiv2022

ReAFFPN: Rotation-equivariant Attention Feature Fusion Pyramid Networks for Aerial Object Detection

This paper proposes a Rotation-equivariant Attention Feature Fusion Pyramid Networks for Aerial Object Detection named ReAFFPN. ReAFFPN aims at improving the effect of rotation-equivariant features fusion between adjacent layers which suffers from the semantic and scale discontinuity. Due to the particularity of rotational equivariant convolution, general methods are unable to achieve their original effect while ensuring rotation equivariance of the network. To solve this problem, we design a new Rotation-equivariant Channel Attention which has the ability to both generate channel attention and keep rotation equivariance. Then we embed a new channel attention function into Iterative Attentional Feature Fusion (iAFF) module to realize Rotation-equivariant Attention Feature Fusion. Experimental results demonstrate that ReAFFPN achieves a better rotation-equivariant feature fusion ability and significantly improve the accuracy of the Rotation-equivariant Convolutional Networks.

cs.CV↗

arXiv2022

KE-QI: A Knowledge Enhanced Article Quality Identification Dataset

With so many articles of varying qualities being produced every moment, it is a very urgent task to screen outstanding articles and commit them to social media. To our best knowledge, there is a lack of datasets and mature research works in identifying high-quality articles. Consequently, we conduct some surveys and finalize 7 objective indicators to annotate the quality of 10k articles. During annotation, we find that many characteristics of high-quality articles (e.g., background) rely more on extensive external knowledge than inner semantic information of articles. In response, we link extracted article entities to Baidu Encyclopedia, then propose Knowledge Enhanced article Quality Identification (KE-QI) dataset. To make better use of external knowledge, we propose a compound model which fuses the text and external knowledge information via a gate unit to classify the quality of an article. Our experimental results on KE-QI show that with initialization of our pre-trained Node2Vec model, our model achieves about 78\% $F_1$, outperforming other baselines.

cs.CL↗

arXiv2022

Revisiting the Persson theory of elastoplastic contact: A simpler closed-form solution and a rigorous proof of boundary conditions

Persson's theory of contact is extensively used in the study of the purely normal interaction between a nominally flat rough surface and a rigid flat. In the literature, Persson's theory was successfully applied to the elastoplastic contact problem with a scale-independent hardness $H$. However, it yields a closed-form solution, $P(p, ξ)$, in terms of an infinite sum of sines. In this study, $P(p, ξ)$ is found to have a simpler form which is a superposition of three Gaussian functions. A rigorous proof of the boundary condition $P(p=0, ξ)=P(p=H, ξ) = 0$ is given based on the new solution.

cond-mat.soft↗

arXiv2022

Confidence-rich Localization and Mapping based on Particle Filter for Robotic Exploration

This paper mainly studies the localization and mapping of range sensing robots in the confidence-rich map (CRM) and then extends it to provide a full state estimate for information-theoretic exploration. Most previous works about active simultaneous localization and mapping and exploration always assumed the known robot poses or utilized inaccurate information metrics to approximate pose uncertainty, resulting in imbalanced exploration performance and efficiency in the unknown environment. This inspires us to extend the confidence-rich mutual information (CRMI) with measurable pose uncertainty. Specifically, we propose a Rao-Blackwellized particle filter-based localization and mapping scheme (RBPF-CLAM) for CRM, then we develop a new closed-form weighting method to improve the localization accuracy without scan matching. We further derive the uncertain CRMI (UCRMI) with the weighted particles by a more accurate approximation. Simulations and experimental evaluations show the localization accuracy and exploration performance of the proposed methods.

cs.RO↗

arXiv2022

An asperity-based statistical model for the adhesive friction of elastic nominally flat rough contact interfaces

Contact mechanics-based models for the friction of nominally flat rough surfaces have not been able to adequately capture certain key experimentally observed phenomenona, such as the transition from a static friction peak to a lower level of sliding friction and the shear-induced contact area reduction that has been observed in the pre-sliding regime especially for soft materials. Here, we propose a statistical model based on physically-rooted contact mechanics laws describing the micromechanics of individual junctions. The model considers the quasi-static tangential loading, up to full sliding, of the contact between a smooth rigid flat surface and a nominally flat linear elastic rough surface comprising random independent spherical asperities, and accounts for the coupling between adhesion and friction at the micro-junction level. The model qualitatively reproduces both the macroscopic shear-induced contact area reduction and, remarkably, the static friction peak without the need to explicitly introduce two different friction levels. It also demonstrates how the static friction peak and contact area evolution depend on the normal load and certain key microscale interface properties such as surface energy, mode mixity and frictional shear strength. "Tougher" interfaces (i.e. with larger surface energy and smaller mode mixity parameter) are shown to result in a larger real contact area and a more pronounced static friction peak. Overall, this work provides important insights about how key microscale properties operating at the asperity level can combine with the surface statistics to reproduce important macroscopic responses observed in rough frictionalsoft contact experiments.

cond-mat.soft↗

arXiv2022

Reflexivity of Partitions Induced by Weighted Poset Metric and Combinatorial Metric

Let $\mathbf{H}$ be the Cartesian product of a family of finite abelian groups. Via a polynomial approach, we give sufficient conditions for a partition of $\mathbf{H}$ induced by weighted poset metric to be reflexive, which also become necessary for some special cases. Moreover, by examining the roots of the Krawtchouk polynomials, we establish non-reflexive partitions of $\mathbf{H}$ induced by combinatorial metric. When $\mathbf{H}$ is a vector space over a finite field $\mathbb{F}$, we consider the property of admitting MacWilliams identity (PAMI) and the MacWilliams extension property (MEP) for partitions of $\mathbf{H}$. With some invariance assumptions, we show that two partitions of $\mathbf{H}$ admit MacWilliams identity if and only if they are mutually dual and reflexive, and any partition of $\mathbf{H}$ satisfying the MEP is in fact an orbit partition induced by some subgroup of $\Aut_{\mathbb{F}}(\mathbf{H})$, which is necessarily reflexive. As an application of the aforementioned results, we establish partitions of $\mathbf{H}$ induced by combinatorial metric that do not satisfy the MEP, which further enable us to provide counter-examples to a conjecture proposed by Pinheiro, Machado and Firer in \cite{39}.

cs.IT↗

arXiv2022

Isometries and MacWilliams Extension Property for Weighted Poset Metric

Let $\mathbf{H}$ be the cartesian product of a family of left modules over a ring $S$, indexed by a finite set $Ω$. We are concerned with the $(\mathbf{P},ω)$-weight on $\mathbf{H}$, where $\mathbf{P}=(Ω,\preccurlyeq_{\mathbf{P}})$ is a poset and $ω:Ω\longrightarrow\mathbb{R}^{+}$ is a weight function. We characterize the group of $(\mathbf{P},ω)$-weight isometries of $\mathbf{H}$, and give a canonical decomposition for semi-simple subcodes of $\mathbf{H}$ when $\mathbf{P}$ is hierarchical. We then study the MacWilliams extension property (MEP) for $(\mathbf{P},ω)$-weight. We show that the MEP implies the unique decomposition property (UDP) of $(\mathbf{P},ω)$, which further implies that $\mathbf{P}$ is hierarchical if $ω$ is identically $1$. For the case that either $\mathbf{P}$ is hierarchical or $ω$ is identically $1$, we show that the MEP for $(\mathbf{P},ω)$-weight can be characterized in terms of the MEP for Hamming weight, and give necessary and sufficient conditions for $\mathbf{H}$ to satisfy the MEP for $(\mathbf{P},ω)$-weight when $S$ is an Artinian simple ring (either finite or infinite). When $S$ is a finite field, in the context of $(\mathbf{P},ω)$-weight, we compare the MEP with other coding theoretic properties including the MacWilliams identity, Fourier-reflexivity of partitions and the UDP, and show that the MEP is strictly stronger than all the rest among them.

cs.IT↗

arXiv2022

Optimization of rule-based energy management strategies for hybrid vehicles using dynamic programming

Reducing energy consumption is a key focus for hybrid electric vehicle (HEV) development. The popular vehicle dynamic model used in many energy management optimization studies does not capture the vehicle dynamics that the in-vehicle measurement system does. However, feedback from the measurement system is what the vehicle controller actually uses to manage energy consumption. Therefore, the optimization solely using the model does not represent what the vehicle controller sees in the vehicle. This paper reports the utility factor-weighted energy consumption using a rule-based strategy under a real-world representative drive cycle. In addition, the vehicle test data was used to perform the optimization approach. By comparing results from both rule-based and optimization-based strategies, the areas for further improving rule-based strategy are discussed. Furthermore, recent development of OBD raises a concern about the increase of energy consumption. This paper investigates the energy consumption increase with extensive OBD usage.

eess.SY↗

arXiv2022

Crosslinguistic word order variation reflects evolutionary pressures of dependency and information locality

Languages vary considerably in syntactic structure. About 40% of the world's languages have subject-verb-object order, and about 40% have subject-object-verb order. Extensive work has sought to explain this word order variation across languages. However, the existing approaches are not able to explain coherently the frequency distribution and evolution of word order in individual languages. We propose that variation in word order reflects different ways of balancing competing pressures of dependency locality and information locality, whereby languages favor placing elements together when they are syntactically related or contextually informative about each other. Using data from 80 languages in 17 language families and phylogenetic modeling, we demonstrate that languages evolve to balance these pressures, such that word order change is accompanied by change in the frequency distribution of the syntactic structures which speakers communicate to maintain overall efficiency. Variability in word order thus reflects different ways in which languages resolve these evolutionary pressures. We identify relevant characteristics that result from this joint optimization, particularly the frequency with which subjects and objects are expressed together for the same verb. Our findings suggest that syntactic structure and usage across languages co-adapt to support efficient communication under limited cognitive resources.

cs.CL↗