arXiv subjects

Yue Wang

Publications and source records attributed to Yue Wang.

At least 469 records · Page 26Linked to original sources

arXiv2024

Pretraining-finetuning Framework for Efficient Co-design: A Case Study on Quadruped Robot Parkour

In nature, animals with exceptional locomotion abilities, such as cougars, often possess asymmetric fore and hind legs. This observation inspired us: could optimizing the leg length of quadruped robots endow them with similar locomotive capabilities? In this paper, we propose an approach that co-optimizes the mechanical structure and control policy to boost the locomotive prowess of quadruped robots. Specifically, we introduce a novel pretraining-finetuning framework, which not only guarantees optimal control strategies for each mechanical candidate but also ensures time efficiency. Additionally, we have devised an innovative training method for our pretraining network, integrating spatial domain randomization with regularization methods, markedly improving the network's generalizability. Our experimental results indicate that the proposed pretraining-finetuning framework significantly enhances the overall co-design performance with less time consumption. Moreover, the co-design strategy substantially exceeds the conventional method of independently optimizing control strategies, further improving the robot's locomotive performance and providing an innovative approach to enhancing the extreme parkour capabilities of quadruped robots.

cs.RO↗

arXiv2024

Multi-scale decomposition of sea surface height snapshots using machine learning

Knowledge of ocean circulation is important for understanding and predicting weather and climate, and managing the blue economy. This circulation can be estimated through Sea Surface Height (SSH) observations, but requires decomposing the SSH into contributions from balanced and unbalanced motions (BMs and UBMs). This decomposition is particularly pertinent for the novel SWOT satellite, which measures SSH at an unprecedented spatial resolution. Specifically, the requirement, and the goal of this work, is to decompose instantaneous SSH into BMs and UBMs. While a few studies using deep learning (DL) approaches have shown promise in framing this decomposition as an image-to-image translation task, these models struggle to work well across a wide range of spatial scales and require extensive training data, which is scarce in this domain. These challenges are not unique to our task, and pervade many problems requiring multi-scale fidelity. We show that these challenges can be addressed by using zero-phase component analysis (ZCA) whitening and data augmentation; making this a viable option for SSH decomposition across scales.

physics.ao-ph↗

arXiv2024

AI and MBTI: A Synergistic Framework for Enhanced Team Dynamics

This paper proposes a theoretical framework for understanding and leveraging the synergy between artificial intelligence (AI) and personality types as defined by the Myers-Briggs Type Indicator (MBTI) in organizational team settings. We argue that AI capabilities can complement and enhance different MBTI types, leading to improved team performance. The AI-MBTI Synergy Framework is introduced, focusing on the Intuition-Sensing and Thinking-Feeling dimensions. We present propositions about how AI can augment team dynamics across four team types: Visionary, Strategic, Supportive, and Operational. A novel implementation is proposed to create an intelligent team optimization algorithm. Implications for theory and practice are discussed, along with directions for future research.

cs.HC↗

arXiv2024

DORec: Decomposed Object Reconstruction and Segmentation Utilizing 2D Self-Supervised Features

Recovering 3D geometry and textures of individual objects is crucial for many robotics applications, such as manipulation, pose estimation, and autonomous driving. However, decomposing a target object from a complex background is challenging. Most existing approaches rely on costly manual labels to acquire object instance perception. Recent advancements in 2D self-supervised learning offer new prospects for identifying objects of interest, yet leveraging such noisy 2D features for clean decomposition remains difficult. In this paper, we propose a Decomposed Object Reconstruction (DORec) network based on neural implicit representations. Our key idea is to use 2D self-supervised features to create two levels of masks for supervision: a binary mask for foreground regions and a K-cluster mask for semantically similar regions. These complementary masks result in robust decomposition. Experimental results on different datasets show DORec's superiority in segmenting and reconstructing diverse foreground objects from varied backgrounds enabling downstream tasks such as pose estimation.

cs.CV↗

arXiv2024

Recent Advances on Machine Learning for Computational Fluid Dynamics: A Survey

This paper explores the recent advancements in enhancing Computational Fluid Dynamics (CFD) tasks through Machine Learning (ML) techniques. We begin by introducing fundamental concepts, traditional methods, and benchmark datasets, then examine the various roles ML plays in improving CFD. The literature systematically reviews papers in recent five years and introduces a novel classification for forward modeling: Data-driven Surrogates, Physics-Informed Surrogates, and ML-assisted Numerical Solutions. Furthermore, we also review the latest ML methods in inverse design and control, offering a novel classification and providing an in-depth discussion. Then we highlight real-world applications of ML for CFD in critical scientific and engineering disciplines, including aerodynamics, combustion, atmosphere & ocean science, biology fluid, plasma, symbolic regression, and reduced order modeling. Besides, we identify key challenges and advocate for future research directions to address these challenges, such as multi-scale representation, physical knowledge encoding, scientific foundation model and automatic scientific discovery. This review serves as a guide for the rapidly expanding ML for CFD community, aiming to inspire insights for future advancements. We draw the conclusion that ML is poised to significantly transform CFD research by enhancing simulation accuracy, reducing computational time, and enabling more complex analyses of fluid dynamics. The paper resources can be viewed at https://github.com/WillDreamer/Awesome-AI4CFD.

cs.LG↗

arXiv2024

NGEL-SLAM: Neural Implicit Representation-based Global Consistent Low-Latency SLAM System

Neural implicit representations have emerged as a promising solution for providing dense geometry in Simultaneous Localization and Mapping (SLAM). However, existing methods in this direction fall short in terms of global consistency and low latency. This paper presents NGEL-SLAM to tackle the above challenges. To ensure global consistency, our system leverages a traditional feature-based tracking module that incorporates loop closure. Additionally, we maintain a global consistent map by representing the scene using multiple neural implicit fields, enabling quick adjustment to the loop closure. Moreover, our system allows for fast convergence through the use of octree-based implicit representations. The combination of rapid response to loop closure and fast convergence makes our system a truly low-latency system that achieves global consistency. Our system enables rendering high-fidelity RGB-D images, along with extracting dense and complete surfaces. Experiments on both synthetic and real-world datasets suggest that our system achieves state-of-the-art tracking and mapping accuracy while maintaining low latency.

cs.RO↗

arXiv2024

An Augmented Lagrangian Method for Training Recurrent Neural Networks

Recurrent Neural Networks (RNNs) are widely used to model sequential data in a wide range of areas, such as natural language processing, speech recognition, machine translation, and time series analysis. In this paper, we model the training process of RNNs with the ReLU activation function as a constrained optimization problem with a smooth nonconvex objective function and piecewise smooth nonconvex constraints. We prove that any feasible point of the optimization problem satisfies the no nonzero abnormal multiplier constraint qualification (NNAMCQ), and any local minimizer is a Karush-Kuhn-Tucker (KKT) point of the problem. Moreover, we propose an augmented Lagrangian method (ALM) and design an efficient block coordinate descent (BCD) method to solve the subproblems of the ALM. The update of each block of the BCD method has a closed-form solution. The stop criterion for the inner loop is easy to check and can be stopped in finite steps. Moreover, we show that the BCD method can generate a directional stationary point of the subproblem. Furthermore, we establish the global convergence of the ALM to a KKT point of the constrained optimization problem. Compared with the state-of-the-art algorithms, numerical results demonstrate the efficiency and effectiveness of the ALM for training RNNs.

math.OC↗

arXiv2024

Relation between the keV-MeV and TeV emission of GRB 221009A and its implications

Gamma-ray bursts (GRBs) are believed to launch relativistic jets, which generate prompt emission by internal processes, and produce long-lasting afterglows by driving external shocks into surrounding medium. However, how the jet powers the external shock is poorly known. The unprecedented observations of the keV-MeV emission with GECAM and the TeV emission with LHAASO of the brightest-of-all-time GRB 221009A offer a great opportunity to study the prompt-to-afterglow transition and the impact of jet on the early dynamics of external shock. In this letter, we find that the cumulative light curve of keV-MeV emission could well fit the rising stage of the TeV light curve of GRB 221009A, with a time delay, $4.45^{+0.26}_{-0.26}$\,s, of TeV emission. Moreover, both the rapid increase in the initial stage and the excess from about \T+260\,s to 270\,s in the TeV light curve are tracking the light-curve bumps in the prompt keV-MeV emission. The close relation between the keV-MeV and TeV emission reveals the continuous energy-injection into the external shock. Assuming an energy-injection rate exactly following the keV-MeV flux of GRB 221009A, including the very early precursor, we build a continuous energy-injection model where the jet Lorentz factor is derived from the TeV time delay, and the TeV data is well fitted, with the TeV excesses interpreted by inverse Compton (IC) scatterings of the inner-coming prompt emission by the energetic electrons in external shock.

astro-ph.HE↗

arXiv2024

A Stress Induced Source of Phonon Bursts and Quasiparticle Poisoning

The performance of superconducting qubits is degraded by a poorly characterized set of energy sources breaking the Cooper pairs responsible for superconductivity, creating a condition often called ``quasiparticle poisoning". Both superconducting qubits and low threshold dark matter calorimeters have observed excess bursts of quasiparticles or phonons that decrease in rate with time. Here, we show that a silicon crystal glued to its holder exhibits a rate of low-energy phonon events that is more than two orders of magnitude larger than in a functionally identical crystal suspended from its holder in a low-stress state. The excess phonon event rate in the glued crystal decreases with time since cooldown, consistent with a source of phonon bursts which contributes to quasiparticle poisoning in quantum circuits and the low-energy events observed in cryogenic calorimeters. We argue that relaxation of thermally induced stress between the glue and crystal is the source of these events.

physics.ins-det↗

arXiv2024

AKBR: Learning Adaptive Kernel-based Representations for Graph Classification

In this paper, we propose a new model to learn Adaptive Kernel-based Representations (AKBR) for graph classification. Unlike state-of-the-art R-convolution graph kernels that are defined by merely counting any pair of isomorphic substructures between graphs and cannot provide an end-to-end learning mechanism for the classifier, the proposed AKBR approach aims to define an end-to-end representation learning model to construct an adaptive kernel matrix for graphs. To this end, we commence by leveraging a novel feature-channel attention mechanism to capture the interdependencies between different substructure invariants of original graphs. The proposed AKBR model can thus effectively identify the structural importance of different substructures, and compute the R-convolution kernel between pairwise graphs associated with the more significant substructures specified by their structural attentions. Since each row of the resulting kernel matrix can be theoretically seen as the embedding vector of a sample graph, the proposed AKBR model is able to directly employ the resulting kernel matrix as the graph feature matrix and input it into the classifier for classification (i.e., the SoftMax layer), naturally providing an end-to-end learning architecture between the kernel computation as well as the classifier. Experimental results show that the proposed AKBR model outperforms existing state-of-the-art graph kernels and deep learning methods on standard graph benchmarks.

cs.LG↗

arXiv2024

SSHPool: The Separated Subgraph-based Hierarchical Pooling

In this paper, we develop a novel local graph pooling method, namely the Separated Subgraph-based Hierarchical Pooling (SSHPool), for graph classification. We commence by assigning the nodes of a sample graph into different clusters, resulting in a family of separated subgraphs. We individually employ the local graph convolution units as the local structure to further compress each subgraph into a coarsened node, transforming the original graph into a coarsened graph. Since these subgraphs are separated by different clusters and the structural information cannot be propagated between them, the local convolution operation can significantly avoid the over-smoothing problem caused by message passing through edges in most existing Graph Neural Networks (GNNs). By hierarchically performing the proposed procedures on the resulting coarsened graph, the proposed SSHPool can effectively extract the hierarchical global features of the original graph structure, encapsulating rich intrinsic structural characteristics. Furthermore, we develop an end-to-end GNN framework associated with the SSHPool module for graph classification. Experimental results demonstrate the superior performance of the proposed model on real-world datasets.

cs.AI↗

arXiv2024

Single photon emitters in monolayer semiconductors coupled to transition metal dichalcogenide nanoantennas on silica and gold substrates

Transition metal dichalcogenide (TMD) single photon emitters (SPEs) offer numerous advantages to quantum information applications, such as high single photon purity and deterministic positioning. Strain in the host monolayer, induced by underlying dielectric Mie resonators, is known to localize their formation to positions co-located with near-field photonic hotspots providing further control over their optical properties. However, traditional materials used for the fabrication of nanoresonators, such as silicon or gallium phosphide (GaP), often require a high refractive index substrate resulting in losses of the emitted light and limited photonic enhancement. Here, we use nanoantennas (NAs) fabricated from multilayer TMDs, which allow complete flexibility with the choice of substrate due to the adhesive van der Waals forces, enabling high refractive index contrast or the use of highly reflective metallic surfaces. We demonstrate the localized formation of SPEs in WSe$_2$ monolayers transferred onto WS$_2$ NAs on both SiO$_2$ and Au substrates, enabling strong photonic enhancements and increased single photon collection. We provide evidence for enhanced quantum efficiencies (QE) reaching an average value of 43% (7%) for SPEs on WS$_2$ NAs on a SiO$_2$ (Au) substrate. We further combine the advantages offered by both dielectric and metallic substrates to numerically simulate an optimized NA geometry for maximum WSe$_2$ single photon excitation, emission, collection. Thus, the fluorescence is enhanced by a factor of over 4 orders of magnitude compared to vacuum and 5 orders of magnitude compared to a flat SiO$_2$/Si surface. Our work showcases the advantages offered by employing TMD material nanoresonators on various substrates for SPE formation and photonic enhancement.

cond-mat.mes-hall↗

arXiv2024

A Language Agent for Autonomous Driving

Human-level driving is an ultimate goal of autonomous driving. Conventional approaches formulate autonomous driving as a perception-prediction-planning framework, yet their systems do not capitalize on the inherent reasoning ability and experiential knowledge of humans. In this paper, we propose a fundamental paradigm shift from current pipelines, exploiting Large Language Models (LLMs) as a cognitive agent to integrate human-like intelligence into autonomous driving systems. Our approach, termed Agent-Driver, transforms the traditional autonomous driving pipeline by introducing a versatile tool library accessible via function calls, a cognitive memory of common sense and experiential knowledge for decision-making, and a reasoning engine capable of chain-of-thought reasoning, task planning, motion planning, and self-reflection. Powered by LLMs, our Agent-Driver is endowed with intuitive common sense and robust reasoning capabilities, thus enabling a more nuanced, human-like approach to autonomous driving. We evaluate our approach on the large-scale nuScenes benchmark, and extensive experiments substantiate that our Agent-Driver significantly outperforms the state-of-the-art driving methods by a large margin. Our approach also demonstrates superior interpretability and few-shot learning ability to these methods.

cs.CV↗

arXiv2024

Gene Regulatory Network Inference from Pre-trained Single-Cell Transcriptomics Transformer with Joint Graph Learning

Inferring gene regulatory networks (GRNs) from single-cell RNA sequencing (scRNA-seq) data is a complex challenge that requires capturing the intricate relationships between genes and their regulatory interactions. In this study, we tackle this challenge by leveraging the single-cell BERT-based pre-trained transformer model (scBERT), trained on extensive unlabeled scRNA-seq data, to augment structured biological knowledge from existing GRNs. We introduce a novel joint graph learning approach that combines the rich contextual representations learned by pre-trained single-cell language models with the structured knowledge encoded in GRNs using graph neural networks (GNNs). By integrating these two modalities, our approach effectively reasons over boththe gene expression level constraints provided by the scRNA-seq data and the structured biological knowledge inherent in GRNs. We evaluate our method on human cell benchmark datasets from the BEELINE study with cell type-specific ground truth networks. The results demonstrate superior performance over current state-of-the-art baselines, offering a deeper understanding of cellular regulatory mechanisms.

cs.LG↗

arXiv2024

BEV$^2$PR: BEV-Enhanced Visual Place Recognition with Structural Cues

In this paper, we propose a new image-based visual place recognition (VPR) framework by exploiting the structural cues in bird's-eye view (BEV) from a single monocular camera. The motivation arises from two key observations about place recognition methods based on both appearance and structure: 1) For the methods relying on LiDAR sensors, the integration of LiDAR in robotic systems has led to increased expenses, while the alignment of data between different sensors is also a major challenge. 2) Other image-/camera-based methods, involving integrating RGB images and their derived variants (eg, pseudo depth images, pseudo 3D point clouds), exhibit several limitations, such as the failure to effectively exploit the explicit spatial relationships between different objects. To tackle the above issues, we design a new BEV-enhanced VPR framework, namely BEV$^2$PR, generating a composite descriptor with both visual cues and spatial awareness based on a single camera. The key points lie in: 1) We use BEV features as an explicit source of structural knowledge in constructing global features. 2) The lower layers of the pre-trained backbone from BEV generation are shared for visual and structural streams in VPR, facilitating the learning of fine-grained local features in the visual stream. 3) The complementary visual and structural features can jointly enhance VPR performance. Our BEV$^2$PR framework enables consistent performance improvements over several popular aggregation modules for RGB global features. The experiments on our collected VPR-NuScenes dataset demonstrate an absolute gain of 2.47% on Recall@1 for the strong Conv-AP baseline to achieve the best performance in our setting, and notably, a 18.06% gain on the hard set. The code and dataset will be available at https://github.com/FudongGe/BEV2PR.

cs.CV↗

arXiv2024

Denoising Vision Transformers

We study a crucial yet often overlooked issue inherent to Vision Transformers (ViTs): feature maps of these models exhibit grid-like artifacts, which hurt the performance of ViTs in downstream dense prediction tasks such as semantic segmentation, depth prediction, and object discovery. We trace this issue down to the positional embeddings at the input stage. To mitigate this, we propose a two-stage denoising approach, termed Denoising Vision Transformers (DVT). In the first stage, we separate the clean features from those contaminated by positional artifacts by enforcing cross-view feature consistency with neural fields on a per-image basis. This per-image optimization process extracts artifact-free features from raw ViT outputs, providing clean feature estimates for offline applications. In the second stage, we train a lightweight transformer block to predict clean features from raw ViT outputs, leveraging the derived estimates of the clean features as supervision. Our method, DVT, does not require re-training the existing pre-trained ViTs, and is immediately applicable to any Vision Transformer architecture. We evaluate our method on a variety of representative ViTs (DINO, DeiT-III, EVA02, CLIP, DINOv2, DINOv2-reg) and demonstrate that DVT consistently improves existing state-of-the-art general-purpose models in semantic and geometric tasks across multiple datasets. We hope our study will encourage a re-evaluation of ViT design, especially regarding the naive use of positional embeddings. Our code and checkpoints are publicly available.

cs.CV↗

arXiv2024

Scale Disparity of Instances in Interactive Point Cloud Segmentation

Interactive point cloud segmentation has become a pivotal task for understanding 3D scenes, enabling users to guide segmentation models with simple interactions such as clicks, therefore significantly reducing the effort required to tailor models to diverse scenarios and new categories. However, in the realm of interactive segmentation, the meaning of instance diverges from that in instance segmentation, because users might desire to segment instances of both thing and stuff categories that vary greatly in scale. Existing methods have focused on thing categories, neglecting the segmentation of stuff categories and the difficulties arising from scale disparity. To bridge this gap, we propose ClickFormer, an innovative interactive point cloud segmentation model that accurately segments instances of both thing and stuff categories. We propose a query augmentation module to augment click queries by a global query sampling strategy, thus maintaining consistent performance across different instance scales. Additionally, we employ global attention in the query-voxel transformer to mitigate the risk of generating false positives, along with several other network structure improvements to further enhance the model's segmentation performance. Experiments demonstrate that ClickFormer outperforms existing interactive point cloud segmentation methods across both indoor and outdoor datasets, providing more accurate segmentation results with fewer user clicks in an open-world setting.

cs.CV↗

arXiv2024

The Peculiar Precursor of a Gamma-Ray Burst from a Binary Merger Involving a Magnetar

The milestone discovery of GW 170817-GRB 170817A-AT 2017gfo has shown that gravitational wave (GW) could be produced during the merger of neutron star-neutron star/black hole and that in electromagnetic (EM) wave a gamma-ray burst (GRB) and a kilonova (KN) are generated in sequence after the merger. Observationally, however, EM property before the merger phase is still unclear. Here we report a peculiar precursor in a KN-associated long-duration GRB 211211A, providing evidence of the EM before the merger. This precursor lasts $\sim$ 0.2 s, and the waiting time between the precursor and the main burst is $\sim$ 1 s, comparable to that between GW 170817 and GRB 170817A. The spectrum of the precursor could be well fit with a non-thermal cutoff power-law model instead of a blackbody. Especially, a $\sim$22 Hz Quasi-Periodic Oscillation candidate ($\sim 3σ$) is detected in the precursor. These temporal and spectral properties indicate that this precursor is probably produced by a catastrophic flare accompanying with magnetoelastic or crustal oscillations of a magnetar in binary compact merger. The strong magnetic field of the magnetar can also account for the prolonged duration of GRB 211211A. However, it poses a challenge to reconcile the rather short lifetime of a magnetar with the rather long spiraling time of a binary neutron star system only by the GW radiation before merger.

astro-ph.HE↗