arXiv subjects

Yuchen Li

Publications and source records attributed to Yuchen Li.

At least 145 records · Page 8Linked to original sources

arXiv2023

Milestones in Autonomous Driving and Intelligent Vehicles Part II: Perception and Planning

Growing interest in autonomous driving (AD) and intelligent vehicles (IVs) is fueled by their promise for enhanced safety, efficiency, and economic benefits. While previous surveys have captured progress in this field, a comprehensive and forward-looking summary is needed. Our work fills this gap through three distinct articles. The first part, a "Survey of Surveys" (SoS), outlines the history, surveys, ethics, and future directions of AD and IV technologies. The second part, "Milestones in Autonomous Driving and Intelligent Vehicles Part I: Control, Computing System Design, Communication, HD Map, Testing, and Human Behaviors" delves into the development of control, computing system, communication, HD map, testing, and human behaviors in IVs. This part, the third part, reviews perception and planning in the context of IVs. Aiming to provide a comprehensive overview of the latest advancements in AD and IVs, this work caters to both newcomers and seasoned researchers. By integrating the SoS and Part I, we offer unique insights and strive to serve as a bridge between past achievements and future possibilities in this dynamic field.

cs.RO↗

arXiv2023

Milestones in Autonomous Driving and Intelligent Vehicles Part I: Control, Computing System Design, Communication, HD Map, Testing, and Human Behaviors

Interest in autonomous driving (AD) and intelligent vehicles (IVs) is growing at a rapid pace due to the convenience, safety, and economic benefits. Although a number of surveys have reviewed research achievements in this field, they are still limited in specific tasks and lack systematic summaries and research directions in the future. Our work is divided into 3 independent articles and the first part is a Survey of Surveys (SoS) for total technologies of AD and IVs that involves the history, summarizes the milestones, and provides the perspectives, ethics, and future research directions. This is the second part (Part I for this technical survey) to review the development of control, computing system design, communication, High Definition map (HD map), testing, and human behaviors in IVs. In addition, the third part (Part II for this technical survey) is to review the perception and planning sections. The objective of this paper is to involve all the sections of AD, summarize the latest technical milestones, and guide abecedarians to quickly understand the development of AD and IVs. Combining the SoS and Part II, we anticipate that this work will bring novel and diverse insights to researchers and abecedarians, and serve as a bridge between past and future.

cs.AI↗

arXiv2023

Motion Planning for Autonomous Driving: The State of the Art and Future Perspectives

Intelligent vehicles (IVs) have gained worldwide attention due to their increased convenience, safety advantages, and potential commercial value. Despite predictions of commercial deployment by 2025, implementation remains limited to small-scale validation, with precise tracking controllers and motion planners being essential prerequisites for IVs. This paper reviews state-of-the-art motion planning methods for IVs, including pipeline planning and end-to-end planning methods. The study examines the selection, expansion, and optimization operations in a pipeline method, while it investigates training approaches and validation scenarios for driving tasks in end-to-end methods. Experimental platforms are reviewed to assist readers in choosing suitable training and validation strategies. A side-by-side comparison of the methods is provided to highlight their strengths and limitations, aiding system-level design choices. Current challenges and future perspectives are also discussed in this survey.

cs.RO↗

arXiv2023

Milestones in Autonomous Driving and Intelligent Vehicles: Survey of Surveys

cs.RO↗

arXiv2023

SFF-DA: Sptialtemporal Feature Fusion for Detecting Anxiety Nonintrusively

Early detection of anxiety is crucial for reducing the suffering of individuals with mental disorders and improving treatment outcomes. Utilizing an mHealth platform for anxiety screening can be particularly practical in improving screening efficiency and reducing costs. However, the effectiveness of existing methods has been hindered by differences in mobile devices used to capture subjects' physical and mental evaluations, as well as by the variability in data quality and small sample size problems encountered in real-world settings. To address these issues, we propose a framework with spatiotemporal feature fusion for detecting anxiety nonintrusively. We use a feature extraction network based on a 3D convolutional network and long short-term memory ("3DCNN+LSTM") to fuse the spatiotemporal features of facial behavior and noncontact physiology, which reduces the impact of uneven data quality. Additionally, we design a similarity assessment strategy to address the issue of deteriorating model accuracy due to small sample sizes. Our framework is validated with a crew dataset from the real world and two public datasets: the University of Burgundy Franche-Comté Psychophysiological (UBFC-Phys) dataset and the Smart Reasoning for Well-being at Home and at Work for Knowledge Work (SWELL-KW) dataset. The experimental results indicate that our framework outperforms the comparison methods.

cs.CV↗

arXiv2022

CAT: Learning to Collaborate Channel and Spatial Attention from Multi-Information Fusion

Channel and spatial attention mechanism has proven to provide an evident performance boost of deep convolution neural networks (CNNs). Most existing methods focus on one or run them parallel (series), neglecting the collaboration between the two attentions. In order to better establish the feature interaction between the two types of attention, we propose a plug-and-play attention module, which we term "CAT"-activating the Collaboration between spatial and channel Attentions based on learned Traits. Specifically, we represent traits as trainable coefficients (i.e., colla-factors) to adaptively combine contributions of different attention modules to fit different image hierarchies and tasks better. Moreover, we propose the global entropy pooling (GEP) apart from global average pooling (GAP) and global maximum pooling (GMP) operators, an effective component in suppressing noise signals by measuring the information disorder of feature maps. We introduce a three-way pooling operation into attention modules and apply the adaptive mechanism to fuse their outcomes. Extensive experiments on MS COCO, Pascal-VOC, Cifar-100, and ImageNet show that our CAT outperforms existing state-of-the-art attention mechanisms in object detection, instance segmentation, and image classification. The model and code will be released soon.

cs.CV↗

arXiv2022

Efficient Sampling Algorithms for Approximate Motif Counting in Temporal Graph Streams

A great variety of complex systems, from user interactions in communication networks to transactions in financial markets, can be modeled as temporal graphs consisting of a set of vertices and a series of timestamped and directed edges. Temporal motifs are generalized from subgraph patterns in static graphs which consider edge orderings and durations in addition to topologies. Counting the number of occurrences of temporal motifs is a fundamental problem for temporal network analysis. However, existing methods either cannot support temporal motifs or suffer from performance issues. Moreover, they cannot work in the streaming model where edges are observed incrementally over time. In this paper, we focus on approximate temporal motif counting via random sampling. We first propose two sampling algorithms for temporal motif counting in the offline setting. The first is an edge sampling (ES) algorithm for estimating the number of instances of any temporal motif. The second is an improved edge-wedge sampling (EWS) algorithm that hybridizes edge sampling with wedge sampling for counting temporal motifs with $3$ vertices and $3$ edges. Furthermore, we propose two algorithms to count temporal motifs incrementally in temporal graph streams by extending the ES and EWS algorithms referred to as SES and SEWS. We provide comprehensive analyses of the theoretical bounds and complexities of our proposed algorithms. Finally, we perform extensive experimental evaluations of our proposed algorithms on several real-world temporal graphs. The results show that ES and EWS have higher efficiency, better accuracy, and greater scalability than state-of-the-art sampling methods for temporal motif counting in the offline setting. Moreover, SES and SEWS achieve up to three orders of magnitude speedups over ES and EWS while having comparable estimation errors for temporal motif counting in the streaming setting.

cs.SI↗

arXiv2022

EDUKG: a Heterogeneous Sustainable K-12 Educational Knowledge Graph

Web and artificial intelligence technologies, especially semantic web and knowledge graph (KG), have recently raised significant attention in educational scenarios. Nevertheless, subject-specific KGs for K-12 education still lack sufficiency and sustainability from knowledge and data perspectives. To tackle these issues, we propose EDUKG, a heterogeneous sustainable K-12 Educational Knowledge Graph. We first design an interdisciplinary and fine-grained ontology for uniformly modeling knowledge and resource in K-12 education, where we define 635 classes, 445 object properties, and 1314 datatype properties in total. Guided by this ontology, we propose a flexible methodology for interactively extracting factual knowledge from textbooks. Furthermore, we establish a general mechanism based on our proposed generalized entity linking system for EDUKG's sustainable maintenance, which can dynamically index numerous heterogeneous resources and data with knowledge topics in EDUKG. We further evaluate EDUKG to illustrate its sufficiency, richness, and variability. We publish EDUKG with more than 252 million entities and 3.86 billion triplets. Our code and data repository is now available at https://github.com/THU-KEG/EDUKG.

cs.CL↗

arXiv2022

PointNeXt: Revisiting PointNet++ with Improved Training and Scaling Strategies

PointNet++ is one of the most influential neural architectures for point cloud understanding. Although the accuracy of PointNet++ has been largely surpassed by recent networks such as PointMLP and Point Transformer, we find that a large portion of the performance gain is due to improved training strategies, i.e. data augmentation and optimization techniques, and increased model sizes rather than architectural innovations. Thus, the full potential of PointNet++ has yet to be explored. In this work, we revisit the classical PointNet++ through a systematic study of model training and scaling strategies, and offer two major contributions. First, we propose a set of improved training strategies that significantly improve PointNet++ performance. For example, we show that, without any change in architecture, the overall accuracy (OA) of PointNet++ on ScanObjectNN object classification can be raised from 77.9% to 86.1%, even outperforming state-of-the-art PointMLP. Second, we introduce an inverted residual bottleneck design and separable MLPs into PointNet++ to enable efficient and effective model scaling and propose PointNeXt, the next version of PointNets. PointNeXt can be flexibly scaled up and outperforms state-of-the-art methods on both 3D classification and segmentation tasks. For classification, PointNeXt reaches an overall accuracy of 87.7 on ScanObjectNN, surpassing PointMLP by 2.3%, while being 10x faster in inference. For semantic segmentation, PointNeXt establishes a new state-of-the-art performance with 74.9% mean IoU on S3DIS (6-fold cross-validation), being superior to the recent Point Transformer. The code and models are available at https://github.com/guochengqian/pointnext.

cs.CV↗

arXiv2022

Detection of arbitrary quantum correlations via synthesized quantum channels

Quantum correlations are key information about the structures and dynamics of quantum many-body systems. There are many types of high-order quantum correlations with different time orderings, but only a few of them are accessible to the existing detection methods. Recently, a quantum-sensing approach based on sequential weak measurement was proposed to selectively extract arbitrary types of correlations. However, its experimental implementation is still elusive. Here we demonstrate the extraction of arbitrary types of quantum correlations. We generalized the original weak measurement scheme to a protocol using synthesized quantum channels, which can be applied to more universal scenarios including both single and ensemble quantum systems. In this quantum channel method, various controls on the sensors are superimposed to select the sensor-target evolution along a specific path for measuring a desired quantum correlation. Using the versatility of nuclear magnetic resonance techniques, we successfully extract the second- and fourth-order correlations of a nuclear-spin target by another nuclear-spin sensor. The full characterization of quantum correlations provides a new tool for understanding quantum many-body systems, exploring fundamental quantum physics, and developing quantum technologies.

quant-ph↗

arXiv2022

Contrasting the landscape of contrastive and non-contrastive learning

A lot of recent advances in unsupervised feature learning are based on designing features which are invariant under semantic data augmentations. A common way to do this is contrastive learning, which uses positive and negative samples. Some recent works however have shown promising results for non-contrastive learning, which does not require negative samples. However, the non-contrastive losses have obvious "collapsed" minima, in which the encoders output a constant feature embedding, independent of the input. A folk conjecture is that so long as these collapsed solutions are avoided, the produced feature representations should be good. In our paper, we cast doubt on this story: we show through theoretical results and controlled experiments that even on simple data models, non-contrastive losses have a preponderance of non-collapsed bad minima. Moreover, we show that the training process does not avoid these minima.

cs.LG↗

arXiv2022

Improving greedy core-set configurations for active learning with uncertainty-scaled distances

We scale perceived distances of the core-set algorithm by a factor of uncertainty and search for low-confidence configurations, finding significant improvements in sample efficiency across CIFAR10/100 and SVHN image classification, especially in larger acquisition sizes. We show the necessity of our modifications and explain how the improvement is due to a probabilistic quadratic speed-up in the convergence of core-set loss, under assumptions about the relationship of model uncertainty and misclassification.

cs.LG↗

arXiv2021

ThunderRW: An In-Memory Graph Random Walk Engine (Complete Version)

As random walk is a powerful tool in many graph processing, mining and learning applications, this paper proposes an efficient in-memory random walk engine named ThunderRW. Compared with existing parallel systems on improving the performance of a single graph operation, ThunderRW supports massive parallel random walks. The core design of ThunderRW is motivated by our profiling results: common RW algorithms have as high as 73.1% CPU pipeline slots stalled due to irregular memory access, which suffers significantly more memory stalls than the conventional graph workloads such as BFS and SSSP. To improve the memory efficiency, we first design a generic step-centric programming model named Gather-Move-Update to abstract different RW algorithms. Based on the programming model, we develop the step interleaving technique to hide memory access latency by switching the executions of different random walk queries. In our experiments, we use four representative RW algorithms including PPR, DeepWalk, Node2Vec and MetaPath to demonstrate the efficiency and programming flexibility of ThunderRW. Experimental results show that ThunderRW outperforms state-of-the-art approaches by an order of magnitude, and the step interleaving technique significantly reduces the CPU pipeline stall from 73.1% to 15.0%.

cs.DB↗

arXiv2021

Privacy Threats Analysis to Secure Federated Learning

Federated learning is emerging as a machine learning technique that trains a model across multiple decentralized parties. It is renowned for preserving privacy as the data never leaves the computational devices, and recent approaches further enhance its privacy by hiding messages transferred in encryption. However, we found that despite the efforts, federated learning remains privacy-threatening, due to its interactive nature across different parties. In this paper, we analyze the privacy threats in industrial-level federated learning frameworks with secure computation, and reveal such threats widely exist in typical machine learning models such as linear regression, logistic regression and decision tree. For the linear and logistic regression, we show through theoretical analysis that it is possible for the attacker to invert the entire private input of the victim, given very few information. For the decision tree model, we launch an attack to infer the range of victim's private inputs. All attacks are evaluated on popular federated learning frameworks and real-world datasets.

cs.LG↗

arXiv2021

The Limitations of Limited Context for Constituency Parsing

Incorporating syntax into neural approaches in NLP has a multitude of practical and scientific benefits. For instance, a language model that is syntax-aware is likely to be able to produce better samples; even a discriminative model like BERT with a syntax module could be used for core NLP tasks like unsupervised syntactic parsing. Rapid progress in recent years was arguably spurred on by the empirical success of the Parsing-Reading-Predict architecture of (Shen et al., 2018a), later simplified by the Order Neuron LSTM of (Shen et al., 2019). Most notably, this is the first time neural approaches were able to successfully perform unsupervised syntactic parsing (evaluated by various metrics like F-1 score). However, even heuristic (much less fully mathematical) understanding of why and when these architectures work is lagging severely behind. In this work, we answer representational questions raised by the architectures in (Shen et al., 2018a, 2019), as well as some transition-based syntax-aware language models (Dyer et al., 2016): what kind of syntactic structure can current neural approaches to syntax represent? Concretely, we ground this question in the sandbox of probabilistic context-free-grammars (PCFGs), and identify a key aspect of the representational power of these approaches: the amount and directionality of context that the predictor has access to when forced to make parsing decision. We show that with limited context (either bounded, or unidirectional), there are PCFGs, for which these approaches cannot represent the max-likelihood parse; conversely, if the context is unlimited, they can represent the max-likelihood parse of any PCFG.

cs.CL↗

arXiv2021

An Efficient Continuous Data Assimilation Algorithm for the Sabra Shell Model of Turbulence

Complex nonlinear turbulent dynamical systems are ubiquitous in many areas. Recovering unobserved state variables is an important topic for the data assimilation of turbulent systems. In this article, an efficient continuous in time data assimilation scheme is developed, which exploits closed analytic formulae for updating the unobserved state variables. Therefore, it is computationally efficient and accurate. The new data assimilation scheme is combined with a simple reduced order modeling technique that involves a cheap closure approximation and a noise inflation. In such a way, many complicated turbulent dynamical systems can satisfy the requirements of the mathematical structures for the proposed efficient data assimilation scheme. The new data assimilation scheme is then applied to the Sabra shell model, which is a conceptual model for nonlinear turbulence. The goal is to recover the unobserved shell velocities across different spatial scales. It has been shown that the new data assimilation scheme is skillful in capturing the nonlinear features of turbulence including the intermittency and extreme events in both the chaotic and the turbulent dynamical regimes. It has also been shown that the new data assimilation scheme is more accurate and computationally cheaper than the standard ensemble Kalman filter and nudging data assimilation schemes for assimilating the Sabra shell model.

physics.flu-dyn↗

arXiv2021

DBL: Efficient Reachability Queries on Dynamic Graphs (Complete Version)

Reachability query is a fundamental problem on graphs, which has been extensively studied in academia and industry. Since graphs are subject to frequent updates in many applications, it is essential to support efficient graph updates while offering good performance in reachability queries. Existing solutions compress the original graph with the Directed Acyclic Graph (DAG) and propose efficient query processing and index update techniques. However, they focus on optimizing the scenarios where the Strong Connected Components(SCCs) remain unchanged and have overlooked the prohibitively high cost of the DAG maintenance when SCCs are updated. In this paper, we propose DBL, an efficient DAG-free index to support the reachability query on dynamic graphs with insertion-only updates. DBL builds on two complementary indexes: Dynamic Landmark (DL) label and Bidirectional Leaf (BL) label. The former leverages landmark nodes to quickly determine reachable pairs whereas the latter prunes unreachable pairs by indexing the leaf nodes in the graph. We evaluate DBL against the state-of-the-art approaches on dynamic reachability index with extensive experiments on real-world datasets. The results have demonstrated that DBL achieves orders of magnitude speedup in terms of index update, while still producing competitive query efficiency.

cs.DB↗

arXiv2021

Cache-Efficient Fork-Processing Patterns on Large Graphs

As large graph processing emerges, we observe a costly fork-processing pattern (FPP) that is common in many graph algorithms. The unique feature of the FPP is that it launches many independent queries from different source vertices on the same graph. For example, an algorithm in analyzing the network community profile can execute Personalized PageRanks that start from tens of thousands of source vertices at the same time. We study the efficiency of handling FPPs in state-of-the-art graph processing systems on multi-core architectures. We find that those systems suffer from severe cache miss penalty because of the irregular and uncoordinated memory accesses in processing FPPs. In this paper, we propose ForkGraph, a cache-efficient FPP processing system on multi-core architectures. To improve the cache reuse, we divide the graph into partitions each sized of LLC capacity, and the queries in an FPP are buffered and executed on the partition basis. We further develop efficient intra- and inter-partition execution strategies for efficiency. For intra-partition processing, since the graph partition fits into LLC, we propose to execute each graph query with efficient sequential algorithms (in contrast with parallel algorithms in existing parallel graph processing systems) and present an atomic-free query processing by consolidating contending operations to cache-resident graph partition. For inter-partition processing, we propose yielding and priority-based scheduling, to reduce redundant work in processing. Besides, we theoretically prove that ForkGraph performs the same amount of work, to within a constant factor, as the fastest known sequential algorithms in FPP queries processing, which is work efficient. Our evaluations on real-world graphs show that ForkGraph significantly outperforms state-of-the-art graph processing systems with two orders of magnitude speedups.

cs.DB↗