arXiv subjects

Yu Xiang

Publications and source records attributed to Yu Xiang.

At least 109 records · Page 6Linked to original sources

arXiv2022

A Manifold-based Airfoil Geometric-feature Extraction and Discrepant Data Fusion Learning Method

Geometrical shape of airfoils, together with the corresponding flight conditions, are crucial factors for aerodynamic performances prediction. The obtained airfoils geometrical features in most existing approaches (e.g., geometrical parameters extraction, polynomial description and deep learning) are in Euclidean space. State-of-the-art studies showed that curves or surfaces of an airfoil formed a manifold in Riemannian space. Therefore, the features extracted by existing methods are not sufficient to reflect the geometric-features of airfoils. Meanwhile, flight conditions and geometric features are greatly discrepant with different types, the relevant knowledge of the influence of these two factors that on final aerodynamic performances predictions must be evaluated and learned to improve prediction accuracy. Motivated by the advantages of manifold theory and multi-task learning, we propose a manifold-based airfoil geometric-feature extraction and discrepant data fusion learning method (MDF) to extract geometric-features of airfoils in Riemannian space (we call them manifold-features) and further fuse the manifold-features with flight conditions to predict aerodynamic performances. Experimental results show that our method could extract geometric-features of airfoils more accurately compared with existing methods, that the average MSE of re-built airfoils is reduced by 56.33%, and while keeping the same predicted accuracy level of CL, the MSE of CD predicted by MDF is further reduced by 35.37%.

cs.LG↗

arXiv2022

An Invariant Matching Property for Distribution Generalization under Intervened Response

The task of distribution generalization concerns making reliable prediction of a response in unseen environments. The structural causal models are shown to be useful to model distribution changes through intervention. Motivated by the fundamental invariance principle, it is often assumed that the conditional distribution of the response given its predictors remains the same across environments. However, this assumption might be violated in practical settings when the response is intervened. In this work, we investigate a class of model with an intervened response. We identify a novel form of invariance by incorporating the estimates of certain features as additional predictors. Effectively, we show this invariance is equivalent to having a deterministic linear matching that makes the generalization possible. We provide an explicit characterization of the linear matching and present our simulation results under various intervention settings.

stat.ME↗

arXiv2022

HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers

We introduce a new simulation benchmark "HandoverSim" for human-to-robot object handovers. To simulate the giver's motion, we leverage a recent motion capture dataset of hand grasping of objects. We create training and evaluation environments for the receiver with standardized protocols and metrics. We analyze the performance of a set of baselines and show a correlation with a real-world evaluation. Code is open sourced at https://handover-sim.github.io.

cs.RO↗

arXiv2022

Experimental demonstration of remotely creating Wigner negativity via quantum steering

Non-Gaussian states with Wigner negativity are of particular interest in quantum technology due to their potential applications in quantum computing and quantum metrology. However, how to create such states at a remote location remains a challenge, which is important for efficiently distributing quantum resource between distant nodes in a network. Here, we experimentally prepare optical non-Gaussian state with negative Wigner function at a remote node via local non-Gaussian operation and shared Gaussian entangled state existing quantum steering. By performing photon subtraction on one mode, Wigner negativity is created in the remote target mode. We show that the Wigner negativity is sensitive to loss on the target mode, but robust to loss on the mode performing photon subtraction. This experiment confirms the connection between the remotely created Wigner negativity and quantum steering. As an application, we present that the generated non-Gaussian state exhibits metrological power in quantum phase estimation.

quant-ph↗

arXiv2022

A Multi-Characteristic Learning Method with Micro-Doppler Signatures for Pedestrian Identification

The identification of pedestrians using radar micro-Doppler signatures has become a hot topic in recent years. In this paper, we propose a multi-characteristic learning (MCL) model with clusters to jointly learn discrepant pedestrian micro-Doppler signatures and fuse the knowledge learned from each cluster into final decisions. Time-Doppler spectrogram (TDS) and signal statistical features extracted from FMCW radar, as two categories of micro-Doppler signatures, are used in MCL to learn the micro-motion information inside pedestrians' free walking patterns. The experimental results show that our model achieves a higher accuracy rate and is more stable for pedestrian identification than other studies, which make our model more practical.

eess.SP↗

arXiv2022

Differentially Private Variable Selection via the Knockoff Filter

The knockoff filter, recently developed by Barber and Candes, is an effective procedure to perform variable selection with a controlled false discovery rate (FDR). We propose a private version of the knockoff filter by incorporating Gaussian and Laplace mechanisms, and show that variable selection with controlled FDR can be achieved. Simulations demonstrate that our setting has reasonable statistical power.

stat.ML↗

arXiv2022

Hierarchical Policies for Cluttered-Scene Grasping with Latent Plans

6D grasping in cluttered scenes is a longstanding problem in robotic manipulation. Open-loop manipulation pipelines may fail due to inaccurate state estimation, while most end-to-end grasping methods have not yet scaled to complex scenes with obstacles. In this work, we propose a new method for end-to-end learning of 6D grasping in cluttered scenes. Our hierarchical framework learns collision-free target-driven grasping based on partial point cloud observations. We learn an embedding space to encode expert grasping plans during training and a variational autoencoder to sample diverse grasping trajectories at test time. Furthermore, we train a critic network for plan selection and an option classifier for switching to an instance grasping policy through hierarchical reinforcement learning. We evaluate our method and compare against several baselines in simulation, as well as demonstrate that our latent planning can generalize to real-world cluttered-scene grasping tasks. Our videos and code can be found at https://sites.google.com/view/latent-grasping .

cs.RO↗

arXiv2021

iCaps: Iterative Category-level Object Pose and Shape Estimation

This paper proposes a category-level 6D object pose and shape estimation approach iCaps, which allows tracking 6D poses of unseen objects in a category and estimating their 3D shapes. We develop a category-level auto-encoder network using depth images as input, where feature embeddings from the auto-encoder encode poses of objects in a category. The auto-encoder can be used in a particle filter framework to estimate and track 6D poses of objects in a category. By exploiting an implicit shape representation based on signed distance functions, we build a LatentNet to estimate a latent representation of the 3D shape given the estimated pose of an object. Then the estimated pose and shape can be used to update each other in an iterative way. Our category-level 6D object pose and shape estimation pipeline only requires 2D detection and segmentation for initialization. We evaluate our approach on a publicly available dataset and demonstrate its effectiveness. In particular, our method achieves comparably high accuracy on shape estimation.

cs.CV↗

arXiv2021

Unseen Object Instance Segmentation for Robotic Environments

In order to function in unstructured environments, robots need the ability to recognize unseen objects. We take a step in this direction by tackling the problem of segmenting unseen object instances in tabletop environments. However, the type of large-scale real-world dataset required for this task typically does not exist for most robotic settings, which motivates the use of synthetic data. Our proposed method, UOIS-Net, separately leverages synthetic RGB and synthetic depth for unseen object instance segmentation. UOIS-Net is comprised of two stages: first, it operates only on depth to produce object instance center votes in 2D or 3D and assembles them into rough initial masks. Secondly, these initial masks are refined using RGB. Surprisingly, our framework is able to learn from synthetic RGB-D data where the RGB is non-photorealistic. To train our method, we introduce a large-scale synthetic dataset of random objects on tabletops. We show that our method can produce sharp and accurate segmentation masks, outperforming state-of-the-art methods on unseen object instance segmentation. We also show that our method can segment unseen objects for robot grasping.

cs.CV↗

arXiv2021

Causal Inference from Slowly Varying Nonstationary Processes

Causal inference from observational data following the restricted structural causal model (SCM) framework hinges largely on the asymmetry between cause and effect from the data generating mechanisms, such as non-Gaussianity or nonlinearity. This methodology can be adapted to stationary time series, yet inferring causal relationships from nonstationary time series remains a challenging task. In this work, we propose a new class of restricted SCM, via a time-varying filter and stationary noise, and exploit the asymmetry from nonstationarity for causal identification in both bivariate and network settings. We propose efficient procedures by leveraging powerful estimates of the bivariate evolutionary spectra for slowly varying processes. Various synthetic and real datasets that involve high-order and non-smooth filters are evaluated to demonstrate the effectiveness of our proposed methodology.

stat.ME↗

arXiv2021

A Subsampling-Based Method for Causal Discovery on Discrete Data

Inferring causal directions on discrete and categorical data is an important yet challenging problem. Even though the additive noise models (ANMs) approach can be adapted to the discrete data, the functional structure assumptions make it not applicable on categorical data. Inspired by the principle that the cause and mechanism are independent, various methods have been developed, leveraging independence tests such as the distance correlation measure. In this work, we take an alternative perspective and propose a subsampling-based method to test the independence between the generating schemes of the cause and that of the mechanism. Our methodology works for both discrete and categorical data and does not imply any functional model on the data, making it a more flexible approach. To demonstrate the efficacy of our methodology, we compare it with existing baselines over various synthetic data and real data experiments.

stat.ML↗

arXiv2021

Demonstration that Einstein-Podolsky-Rosen steering requires more than one bit of faster-than-light information transmission

Schrödinger held that a local quantum system has some objectively real quantum state and no other (hidden) properties. He therefore took the Einstein-Podolsky-Rosen (EPR) phenomenon, which he generalized and called `steering', to require nonlocal wavefunction collapse. Because this would entail faster-than-light (FTL) information transmission, he doubted that it would be seen experimentally. Here we report a demonstration of EPR steering with entangled photon pairs that puts--in Schrödinger's interpretation--a non-zero lower bound on the amount of FTL information transmission. We develop a family of $n$-setting loss-tolerant EPR-steering inequalities allowing for a size-$d$ classical message sent from Alice's laboratory to Bob's. For the case $n=3$ and $d=2$ (one bit) we observe a statistically significant violation. Our experiment closes the efficiency and locality loopholes, and we address the freedom-of-choice loophole by using quantum random number generators to independently choose Alice's and Bob's measurement basis settings. To close the efficiency and locality loopholes simultaneously, we introduce methods for quickly switching between three mutually unbiased measurement bases and for accurately characterizing the efficiency of detectors. From the space-time arrangement of our experiment, we can conclude that if the mechanism for the observed bipartite correlations is that Alice's measurement induces wave-function collapse of Bob's particle, then more than one bit of information must travel from Alice to Bob at more than three times the speed of light.

quant-ph↗

arXiv2021

Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds

6D robotic grasping beyond top-down bin-picking scenarios is a challenging task. Previous solutions based on 6D grasp synthesis with robot motion planning usually operate in an open-loop setting, which are sensitive to grasp synthesis errors. In this work, we propose a new method for learning closed-loop control policies for 6D grasping. Our policy takes a segmented point cloud of an object from an egocentric camera as input, and outputs continuous 6D control actions of the robot gripper for grasping the object. We combine imitation learning and reinforcement learning and introduce a goal-auxiliary actor-critic algorithm for policy learning. We demonstrate that our learned policy can be integrated into a tabletop 6D grasping system and a human-robot handover system to improve the grasping performance of unseen objects. Our videos and code can be found at https://sites.google.com/view/gaddpg .

cs.RO↗

arXiv2021

RICE: Refining Instance Masks in Cluttered Environments with Graph Neural Networks

Segmenting unseen object instances in cluttered environments is an important capability that robots need when functioning in unstructured environments. While previous methods have exhibited promising results, they still tend to provide incorrect results in highly cluttered scenes. We postulate that a network architecture that encodes relations between objects at a high-level can be beneficial. Thus, in this work, we propose a novel framework that refines the output of such methods by utilizing a graph-based representation of instance masks. We train deep networks capable of sampling smart perturbations to the segmentations, and a graph neural network, which can encode relations between objects, to evaluate the perturbed segmentations. Our proposed method is orthogonal to previous works and achieves state-of-the-art performance when combined with them. We demonstrate an application that uses uncertainty estimates generated by our method to guide a manipulator, leading to efficient understanding of cluttered scenes. Code, models, and video can be found at https://github.com/chrisdxie/rice .

cs.CV↗

arXiv2021

DexYCB: A Benchmark for Capturing Hand Grasping of Objects

We introduce DexYCB, a new dataset for capturing hand grasping of objects. We first compare DexYCB with a related one through cross-dataset evaluation. We then present a thorough benchmark of state-of-the-art approaches on three relevant tasks: 2D object and keypoint detection, 6D object pose estimation, and 3D hand pose estimation. Finally, we evaluate a new robotics-relevant task: generating safe robot grasps in human-to-robot object handover. Dataset and code are available at https://dex-ycb.github.io.

cs.CV↗

arXiv2021

Quantification of Wigner Negativity Remotely Generated via Einstein-Podolsky-Rosen Steering

Wigner negativity, as a well-known indicator of nonclassicality, plays an essential role in quantum computing and simulation using continuous-variable systems. Recently, it has been proven that Einstein-Podolsky-Rosen steering is a prerequisite to generate Wigner negativity between two remote modes. Motivated by the demand of real-world quantum network, here we investigate the shareability of generated Wigner negativity in the multipartite scenario from a quantitative perspective. By establishing a monogamy relation akin to the generalized Coffman-Kundu-Wootters inequality, we show that the amount of Wigner negativity cannot be freely distributed among different modes. Moreover, for photon subtraction -- one of the main experimentally realized non-Gaussian operations -- we provide a general method to quantify the remotely generated Wigner negativity. With this method, we find that there is no direct quantitative relation between the Gaussian steerability and the amount of generated Wigner negativity. Our results pave the way for exploiting Wigner negativity as a valuable resource for numerous quantum information protocols based on non-Gaussian scenario.

quant-ph↗

arXiv2021

RGB-D Local Implicit Function for Depth Completion of Transparent Objects

Majority of the perception methods in robotics require depth information provided by RGB-D cameras. However, standard 3D sensors fail to capture depth of transparent objects due to refraction and absorption of light. In this paper, we introduce a new approach for depth completion of transparent objects from a single RGB-D image. Key to our approach is a local implicit neural representation built on ray-voxel pairs that allows our method to generalize to unseen objects and achieve fast inference speed. Based on this representation, we present a novel framework that can complete missing depth given noisy RGB-D input. We further improve the depth estimation iteratively using a self-correcting refinement model. To train the whole pipeline, we build a large scale synthetic dataset with transparent objects. Experiments demonstrate that our method performs significantly better than the current state-of-the-art methods on both synthetic and real world data. In addition, our approach improves the inference speed by a factor of 20 compared to the previous best method, ClearGrasp. Code and dataset will be released at https://research.nvidia.com/publication/2021-03_RGB-D-Local-Implicit.

cs.CV↗

arXiv2021

Learning RGB-D Feature Embeddings for Unseen Object Instance Segmentation

Segmenting unseen objects in cluttered scenes is an important skill that robots need to acquire in order to perform tasks in new environments. In this work, we propose a new method for unseen object instance segmentation by learning RGB-D feature embeddings from synthetic data. A metric learning loss function is utilized to learn to produce pixel-wise feature embeddings such that pixels from the same object are close to each other and pixels from different objects are separated in the embedding space. With the learned feature embeddings, a mean shift clustering algorithm can be applied to discover and segment unseen objects. We further improve the segmentation accuracy with a new two-stage clustering algorithm. Our method demonstrates that non-photorealistic synthetic RGB and depth images can be used to learn feature embeddings that transfer well to real-world images for unseen object instance segmentation.

cs.RO↗