arXiv subjects

You Li

Publications and source records attributed to You Li.

At least 73 records · Page 4Linked to original sources

arXiv2023

A Machine Learning Approach Based on Range Corrected Deep Potential Model for Efficient Vibrational Frequency Computation

As an ensemble average result, vibrational spectrum simulation can be time-consuming with high accuracy methods. We present a machine learning approach based on the range-corrected deep potential (DPRc) model to improve computing efficiency. DPRc method divides the system into ``probe region'' and ``solvent region''; ``solvent-solvent'' interactions are not counted in the neural network. We applied the approach to two systems: formic acid \ch{C=O} stretching and MeCN \ch{C+N} stretching vibrational frequency shifts in water. All data sets were prepared using Quantum Vibration Perturbation (QVP) approach. Effects of different region divisions, one-body correction, cut-range, and training data size were tested. The model with a single molecule ``probe region'' showed stable accuracy; it ran roughly ten times faster than regular DP and reduced the training time by about four. The approach is efficient, easy to apply, and extendable to calculating various spectra.

physics.chem-ph↗

arXiv2023

Protecting the Future: Neonatal Seizure Detection with Spatial-Temporal Modeling

A timely detection of seizures for newborn infants with electroencephalogram (EEG) has been a common yet life-saving practice in the Neonatal Intensive Care Unit (NICU). However, it requires great human efforts for real-time monitoring, which calls for automated solutions to neonatal seizure detection. Moreover, the current automated methods focusing on adult epilepsy monitoring often fail due to (i) dynamic seizure onset location in human brains; (ii) different montages on neonates and (iii) huge distribution shift among different subjects. In this paper, we propose a deep learning framework, namely STATENet, to address the exclusive challenges with exquisite designs at the temporal, spatial and model levels. The experiments over the real-world large-scale neonatal EEG dataset illustrate that our framework achieves significantly better seizure detection performance.

eess.SP↗

arXiv2023

Emergent Visual Sensors for Autonomous Vehicles

Autonomous vehicles rely on perception systems to understand their surroundings for further navigation missions. Cameras are essential for perception systems due to the advantages of object detection and recognition provided by modern computer vision algorithms, comparing to other sensors, such as LiDARs and radars. However, limited by its inherent imaging principle, a standard RGB camera may perform poorly in a variety of adverse scenarios, including but not limited to: low illumination, high contrast, bad weather such as fog/rain/snow, etc. Meanwhile, estimating the 3D information from the 2D image detection is generally more difficult when compared to LiDARs or radars. Several new sensing technologies have emerged in recent years to address the limitations of conventional RGB cameras. In this paper, we review the principles of four novel image sensors: infrared cameras, range-gated cameras, polarization cameras, and event cameras. Their comparative advantages, existing or potential applications, and corresponding data processing algorithms are all presented in a systematic manner. We expect that this study will assist practitioners in the autonomous driving society with new perspectives and insights.

cs.CV↗

arXiv2023

Multi-View Graph Representation Learning Beyond Homophily

Unsupervised graph representation learning(GRL) aims to distill diverse graph information into task-agnostic embeddings without label supervision. Due to a lack of support from labels, recent representation learning methods usually adopt self-supervised learning, and embeddings are learned by solving a handcrafted auxiliary task(so-called pretext task). However, partially due to the irregular non-Euclidean data in graphs, the pretext tasks are generally designed under homophily assumptions and cornered in the low-frequency signals, which results in significant loss of other signals, especially high-frequency signals widespread in graphs with heterophily. Motivated by this limitation, we propose a multi-view perspective and the usage of diverse pretext tasks to capture different signals in graphs into embeddings. A novel framework, denoted as Multi-view Graph Encoder(MVGE), is proposed, and a set of key designs are identified. More specifically, a set of new pretext tasks are designed to encode different types of signals, and a straightforward operation is propxwosed to maintain both the commodity and personalization in both the attribute and the structural levels. Extensive experiments on synthetic and real-world network datasets show that the node representations learned with MVGE achieve significant performance improvements in three different downstream tasks, especially on graphs with heterophily. Source code is available at \url{https://github.com/G-AILab/MVGE}.

cs.LG↗

arXiv2023

Peng: A program for transport properties of low-density binary gas mixtures

The fundamental properties of molecules bridge experiment and theory. Transport properties (diffusion, thermal diffusion, thermal conductivity and viscosity) of binary mixtures are measurable in experiments, and well-defined in theory, but difficult to compute with high accuracy. In addition to high-accuracy inter-molecular potential energy curves (PECs), a reliable and high-order solution program that compute the properties based on the PECs is required. In this work, we present a computer program called Peng that performs the collision integration numerically, and solves the Boltzmann equation in Chapman-Enskog fashion. The program has been devised to perform both parts of the solution procedure to arbitrary order, so that no hard-coded limitation will prevent a user from computing at higher precision, except the amount of RAM and the required computational time. Peng is well-designed in an Object-Oriented Programming (OOP) fashion, which make the program clear and easy to modify. In addition to the end-user oriented program, Peng is also compiled as a dynamic shared library that may readily be extended and embedded in users' programs.

physics.chem-ph↗

arXiv2022

Supporting GNSS Baseband Using Smartphone IMU and Ultra-Tight Integration

A great surge in the development of global navigation satellite systems (GNSS) excavates the potential for prosperity in many state-of-the-art technologies, e.g., autonomous ground vehicle navigation. Nevertheless, the GNSS is vulnerable to various ground interferences, which significantly break down the continuity of the navigation system. Meanwhile, the GNSS-based next-generation navigation devices are being developed to be smaller, more low-cost, and lightweight, as the commercial market forecasts. This work aims to answer whether the smartphone inertial measurement unit (IMU) is sufficient to support the GNSS baseband. Thus, a cascaded ultra-tightly coupled GNSS/inertial navigation system (INS) technique, where consumer-level smartphone sensors are used, is applied to improve the baseband of GNSS software-defined radios (SDRs). A Doppler value is predicted based on an integrated extended Kalman filter (EKF) navigator where the pseudorange-state-based measurements of GNSS and INS are fused. It is used to assist numerically controlled oscillators (NCOs) in the GNSS baseband. Then, an ultra-tight integration platform is built with the upgraded GNSS SDR, of which baseband processing is integrated with INS mechanization. Finally, tracking and carrier-based positioning performances are assessed in the proposed platform for the smartphone-IMU-aided GNSS baseband via kinematic field tests. The experimental results prove that extra hardware with only a few dollars instead of more expensive ones can improve the GNSS baseband efficiently.

eess.SY↗

arXiv2022

Incentivizing Federated Learning

Federated Learning is an emerging distributed collaborative learning paradigm used by many of applications nowadays. The effectiveness of federated learning relies on clients' collective efforts and their willingness to contribute local data. However, due to privacy concerns and the costs of data collection and model training, clients may not always contribute all the data they possess, which would negatively affect the performance of the global model. This paper presents an incentive mechanism that encourages clients to contribute as much data as they can obtain. Unlike previous incentive mechanisms, our approach does not monetize data. Instead, we implicitly use model performance as a reward, i.e., significant contributors are paid off with better models. We theoretically prove that clients will use as much data as they can possibly possess to participate in federated learning under certain conditions with our incentive mechanism

cs.GT↗

arXiv2022

Graph Representation Learning Beyond Node and Homophily

Unsupervised graph representation learning aims to distill various graph information into a downstream task-agnostic dense vector embedding. However, existing graph representation learning approaches are designed mainly under the node homophily assumption: connected nodes tend to have similar labels and optimize performance on node-centric downstream tasks. Their design is apparently against the task-agnostic principle and generally suffers poor performance in tasks, e.g., edge classification, that demands feature signals beyond the node-view and homophily assumption. To condense different feature signals into the embeddings, this paper proposes PairE, a novel unsupervised graph embedding method using two paired nodes as the basic unit of embedding to retain the high-frequency signals between nodes to support node-related and edge-related tasks. Accordingly, a multi-self-supervised autoencoder is designed to fulfill two pretext tasks: one retains the high-frequency signal better, and another enhances the representation of commonality. Our extensive experiments on a diversity of benchmark datasets clearly show that PairE outperforms the unsupervised state-of-the-art baselines, with up to 101.1\% relative improvement on the edge classification tasks that rely on both the high and low-frequency signals in the pair and up to 82.5\% relative performance gain on the node classification tasks.

cs.LG↗

arXiv2022

3D ToF LiDAR in Mobile Robotics: A Review

In the past ten years, the use of 3D Time-of-Flight (ToF) LiDARs in mobile robotics has grown rapidly. Based on our accumulation of relevant research, this article systematically reviews and analyzes the use 3D ToF LiDARs in research and industrial applications. The former includes object detection, robot localization, long-term autonomy, LiDAR data processing under adverse weather conditions, and sensor fusion. The latter encompasses service robots, assisted and autonomous driving, and recent applications performed in response to public health crises. We hope that our efforts can effectively provide readers with relevant references and promote the deployment of existing mature technologies in real-world systems.

cs.RO↗

arXiv2021

Global well-posedness to the two-dimensional incompressible vorticity equation in the half plane

This paper is concerned with the global well-posedness of the two-dimensional incompressible vorticity equation in the half plane. Under the assumption that the initial vorticity $ω_0\in W^{k,p}(\R^{2}_+)$ with $k\geq3$ and $1 0$. An elementary and self-contained proof is presented and delicate estimates of the velocity and its derivatives are obtained in this paper. It should be emphasized that the uniform estimate on $\int^t_0\|u(τ)\|_{W^{1,\infty}(\R^2_+)}dτ$ is required to complete the global regularity of the solution. To do that, the double exponential growth in time of the gradient of the vorticity in the half plane is established and applied. This is different from the proof of global well-posedness of the Euler velocity equations in the Sobolev spaces, in which a Kato-type or logarithmic-type estimate of the gradient of the velocity is enough to close the energy estimates.

math.AP↗

arXiv2021

OdoNet: Untethered Speed Aiding for Vehicle Navigation Without Hardware Wheeled Odometer

Odometer has been proven to significantly improve the accuracy of the Global Navigation Satellite System / Inertial Navigation System (GNSS/INS) integrated vehicle navigation in GNSS-challenged environments. However, the odometer is inaccessible in many applications, especially for aftermarket devices. To apply forward speed aiding without hardware wheeled odometer, we propose OdoNet, an untethered one-dimensional Convolution Neural Network (CNN)-based pseudo-odometer model learning from a single Inertial Measurement Unit (IMU), which can act as an alternative to the wheeled odometer. Dedicated experiments have been conducted to verify the feasibility and robustness of the OdoNet. The results indicate that the IMU individuality, the vehicle loads, and the road conditions have little impact on the robustness and precision of the OdoNet, while the IMU biases and the mounting angles may notably ruin the OdoNet. Thus, a data-cleaning procedure is added to effectively mitigate the impacts of the IMU biases and the mounting angles. Compared to the process using only non-holonomic constraint (NHC), after employing the pseudo-odometer, the positioning error is reduced by around 68%, while the percentage is around 74% for the hardware wheeled odometer. In conclusion, the proposed OdoNet can be employed as an untethered pseudo-odometer for vehicle navigation, which can efficiently improve the accuracy and reliability of the positioning in GNSS-denied environments.

cs.RO↗

arXiv2021

Fusion of neural networks, for LIDAR-based evidential road mapping

LIDAR sensors are usually used to provide autonomous vehicles with 3D representations of their environment. In ideal conditions, geometrical models could detect the road in LIDAR scans, at the cost of a manual tuning of numerical constraints, and a lack of flexibility. We instead propose an evidential pipeline, to accumulate road detection results obtained from neural networks. First, we introduce RoadSeg, a new convolutional architecture that is optimized for road detection in LIDAR scans. RoadSeg is used to classify individual LIDAR points as either belonging to the road, or not. Yet, such point-level classification results need to be converted into a dense representation, that can be used by an autonomous vehicle. We thus secondly present an evidential road mapping algorithm, that fuses consecutive road detection results. We benefitted from a reinterpretation of logistic classifiers, which can be seen as generating a collection of simple evidential mass functions. An evidential grid map that depicts the road can then be obtained, by projecting the classification results from RoadSeg into grid cells, and by handling moving objects via conflict analysis. The system was trained and evaluated on real-life data. A python implementation maintains a 10 Hz framerate. Since road labels were needed for training, a soft labelling procedure, relying lane-level HD maps, was used to generate coarse training and validation sets. An additional test set was manually labelled for evaluation purposes. So as to reach satisfactory results, the system fuses road detection results obtained from three variants of RoadSeg, processing different LIDAR features.

cs.CV↗

arXiv2020

Pair-view Unsupervised Graph Representation Learning

Low-dimension graph embeddings have proved extremely useful in various downstream tasks in large graphs, e.g., link-related content recommendation and node classification tasks, etc. Most existing embedding approaches take nodes as the basic unit for information aggregation, e.g., node perception fields in GNN or con-textual nodes in random walks. The main drawback raised by such node-view is its lack of support for expressing the compound relationships between nodes, which results in the loss of a certain degree of graph information during embedding. To this end, this paper pro-poses PairE(Pair Embedding), a solution to use "pair", a higher level unit than a "node" as the core for graph embeddings. Accordingly, a multi-self-supervised auto-encoder is designed to fulfill two pretext tasks, to reconstruct the feature distribution for respective pairs and their surrounding context. PairE has three major advantages: 1) Informative, embedding beyond node-view are capable to preserve richer information of the graph; 2) Simple, the solutions provided by PairE are time-saving, storage-efficient, and require the fewer hyper-parameters; 3) High adaptability, with the introduced translator operator to map pair embeddings to the node embeddings, PairE can be effectively used in both the link-based and the node-based graph analysis. Experiment results show that PairE consistently outperforms the state of baselines in all four downstream tasks, especially with significant edges in the link-prediction and multi-label node classification tasks.

cs.LG↗

arXiv2020

KNN-enhanced Deep Learning Against Noisy Labels

Supervised learning on Deep Neural Networks (DNNs) is data hungry. Optimizing performance of DNN in the presence of noisy labels has become of paramount importance since collecting a large dataset will usually bring in noisy labels. Inspired by the robustness of K-Nearest Neighbors (KNN) against data noise, in this work, we propose to apply deep KNN for label cleanup. Our approach leverages DNNs for feature extraction and KNN for ground-truth label inference. We iteratively train the neural network and update labels to simultaneously proceed towards higher label recovery rate and better classification performance. Experiment results show that under the same setting, our approach outperforms existing label correction methods and achieves better accuracy on multiple datasets, e.g.,76.78% on Clothing1M dataset.

cs.CV↗

arXiv2020

Melody Classifier with Stacked-LSTM

Attempts to use generative models for music generation have been common in recent years, and some of them have achieved good results. Pieces generated by some of these models are almost indistinguishable from those being composed by human composers. However, the research on the evaluation system for machine-generated music is still at a relatively early stage, and there is no uniform standard for such tasks. This paper proposes a stacked-LSTM binary classifier based on a language model, which can be used to distinguish the human composer's work from the machine-generated melody by learning the MIDI file's pitch, position, and duration.

cs.SD↗

arXiv2020

InsClustering: Instantly Clustering LiDAR Range Measures for Autonomous Vehicle

LiDARs are usually more accurate than cameras in distance measuring. Hence, there is strong interest to apply LiDARs in autonomous driving. Different existing approaches process the rich 3D point clouds for object detection, tracking and recognition. These methods generally require two initial steps: (1) filter points on the ground plane and (2) cluster non-ground points into objects. This paper proposes a field-tested fast 3D point cloud segmentation method for these two steps. Our specially designed algorithms allow instantly process raw LiDAR data packets, which significantly reduce the processing delay. In our tests on Velodyne UltraPuck, a 32 layers spinning LiDAR, the processing delay of clustering all the $360^\circ$ LiDAR measures is less than 1ms. Meanwhile, a coarse-to-fine scheme is applied to ensure the clustering quality. Our field experiments in public roads have shown that the proposed method significantly improves the speed of 3D point cloud clustering whilst maintains good accuracy.

cs.RO↗

arXiv2020

Driving among Flatmobiles: Bird-Eye-View occupancy grids from a monocular camera for holistic trajectory planning

Camera-based end-to-end driving neural networks bring the promise of a low-cost system that maps camera images to driving control commands. These networks are appealing because they replace laborious hand engineered building blocks but their black-box nature makes them difficult to delve in case of failure. Recent works have shown the importance of using an explicit intermediate representation that has the benefits of increasing both the interpretability and the accuracy of networks' decisions. Nonetheless, these camera-based networks reason in camera view where scale is not homogeneous and hence not directly suitable for motion forecasting. In this paper, we introduce a novel monocular camera-only holistic end-to-end trajectory planning network with a Bird-Eye-View (BEV) intermediate representation that comes in the form of binary Occupancy Grid Maps (OGMs). To ease the prediction of OGMs in BEV from camera images, we introduce a novel scheme where the OGMs are first predicted as semantic masks in camera view and then warped in BEV using the homography between the two planes. The key element allowing this transformation to be applied to 3D objects such as vehicles, consists in predicting solely their footprint in camera-view, hence respecting the flat world hypothesis implied by the homography.

cs.CV↗

arXiv2020

Inertial Sensing Meets Artificial Intelligence: Opportunity or Challenge?

The inertial navigation system (INS) has been widely used to provide self-contained and continuous motion estimation in intelligent transportation systems. Recently, the emergence of chip-level inertial sensors has expanded the relevant applications from positioning, navigation, and mobile mapping to location-based services, unmanned systems, and transportation big data. Meanwhile, benefit from the emergence of big data and the improvement of algorithms and computing power, artificial intelligence (AI) has become a consensus tool that has been successfully applied in various fields. This article reviews the research on using AI technology to enhance inertial sensing from various aspects, including sensor design and selection, calibration and error modeling, navigation and motion-sensing algorithms, multi-sensor information fusion, system evaluation, and practical application. Based on the over 30 representative articles selected from the nearly 300 related publications, this article summarizes the state of the art, advantages, and challenges on each aspect. Finally, it summarizes nine advantages and nine challenges of AI-enhanced inertial sensing and then points out future research directions.

eess.SP↗