arXiv subjects

Yue Wang

Publications and source records attributed to Yue Wang.

At least 667 records · Page 37Linked to original sources

arXiv2022

CB-DSL: Communication-efficient and Byzantine-robust Distributed Swarm Learning on Non-i.i.d. Data

The valuable data collected by IoT devices in edge networks together with the resurgence of ML stimulate the latest trend of edge AI. However, recent FL methods face major challenges including communication bottleneck, data heterogeneity and security concerns in edge IoT scenarios, especially when being adopted for distributed learning among massive IoT devices equipped with limited data and transmission resources. Meanwhile, the swarm nature of IoT systems is overlooked by most existing literature, which calls for new designs of distributed learning algorithms. Inspired by the success of biological intelligence (BI) of gregarious organisms, we propose a novel edge learning approach for swarm IoT, called communication-efficient and Byzantine-robust distributed swarm learning (CB-DSL), through a holistic integration of AI-enabled stochastic gradient descent and BI-enabled particle swarm optimization. To deal with non-i.i.d. data issues and Byzantine attacks, global data samples are introduced in CB-DSL and shared among IoT workers, which not only alleviates the local data heterogeneity effectively but also enables to fully utilize the exploration-exploitation mechanism of swarm intelligence. Further, we provide convergence analysis to theoretically demonstrate that the proposed CB-DSL is superior to the standard FL with better convergence behavior. In addition, to measure the effectiveness of the introduction of the globally shared dataset, we also evaluate the model divergence by deriving its upper bound, which is related to the distance between the data distribution at local IoT devices and the population distribution for the whole datasets. Numerical results verify that the proposed CB-DSL outperforms the existing benchmarks in terms of faster convergence speed, higher convergent accuracy, lower communication cost, and better robustness against non-i.i.d. data and Byzantine attacks.

eess.SP↗

arXiv2022

DeepRING: Learning Roto-translation Invariant Representation for LiDAR based Place Recognition

LiDAR based place recognition is popular for loop closure detection and re-localization. In recent years, deep learning brings improvements to place recognition by learnable feature extraction. However, these methods degenerate when the robot re-visits previous places with large perspective difference. To address the challenge, we propose DeepRING to learn the roto-translation invariant representation from LiDAR scan, so that robot visits the same place with different perspective can have similar representations. There are two keys in DeepRING: the feature is extracted from sinogram, and the feature is aggregated by magnitude spectrum. The two steps keeps the final representation with both discrimination and roto-translation invariance. Moreover, we state the place recognition as a one-shot learning problem with each place being a class, leveraging relation learning to build representation similarity. Substantial experiments are carried out on public datasets, validating the effectiveness of each proposed component, and showing that DeepRING outperforms the comparative methods, especially in dataset level generalization.

cs.CV↗

arXiv2022

Search for Quasi-Periodical Oscillations in Precursors of Short and Long Gamma Ray Bursts

The precursors of short and long Gamma Ray Bursts (SGRBs and LGRBs) can serve as probes of their progenitors, as well as shedding light on the physical processes of mergers or core-collapse supernovae. Some models predict the possible existence of Quasi-Periodically Oscillations (QPO) in the precursors of SGRBs. Although many previous studies have performed QPO search in the main emission of SGRBs and LGRBs, so far there was no systematic QPO search in their precursors. In this work, we perform a detailed QPO search in the precursors of SGRBs and LGRBs detected by Fermi/GBM from 2008 to 2019 using the power density spectrum (PDS) in frequency domain and Gaussian processes (GP) in time domain. We do not find any convinced QPO signal with significance above 3 $σ$, possibly due to the low fluxes of precursors. Finally, the PDS continuum properties of both the precursors and main emissions are also studied for the first time, and no significant difference is found in the distributions of the PDS slope for precursors and main emissions in both SGRBs and LGRBs.

astro-ph.HE↗

arXiv2022

Discovery of one neutron star candidate from radial velocity monitoring

We report the discovery of one possible neutron star binary ($P_{\rm orb} =$ 0.8666 day) by using the LAMOST low-resolution spectroscopic data. The visible companion is a late A-type dwarf ($T_{\rm eff} = 7900 \pm 200$ K; log$g$ $=$ 4.3$\pm$0.2; $M =$ 1.7$\pm$0.1 M$_{\odot}$; $R\ =\ 1.7\pm0.2$ R$_{\odot}$), at a distance of 1.11$\pm0.03$ kpc. No double-lined feature can be seen from the GTC/HORuS high-resolution spectra, thus the radial velocity variation indicates an invisible object hiding in the binary. The system's optical light curves show clear ellipsoidal variability, suggesting that the visible companion is tidal distorted. By fitting the multi-band light curves with the ELC and WD codes, we constrain the mass of the invisible star to be 1.1--1.3 M$_{\odot}$. Spectral disentangling shows no additional component with optical absorption spectra, supporting the system contains one compact object. No X-ray or UV emission are detected in the ROSAT archive observations. Therefore, we suspect the invisible object is more likely a neutron star rather than a white dwarf. Our finding suggests the ability of LAMOST spectroscopic survey to discover X-ray quiescent compact objects.

astro-ph.HE↗

arXiv2022

RING++: Roto-translation Invariant Gram for Global Localization on a Sparse Scan Map

Global localization plays a critical role in many robot applications. LiDAR-based global localization draws the community's focus with its robustness against illumination and seasonal changes. To further improve the localization under large viewpoint differences, we propose RING++ which has roto-translation invariant representation for place recognition, and global convergence for both rotation and translation estimation. With the theoretical guarantee, RING++ is able to address the large viewpoint difference using a lightweight map with sparse scans. In addition, we derive sufficient conditions of feature extractors for the representation preserving the roto-translation invariance, making RING++ a framework applicable to generic multi-channel features. To the best of our knowledge, this is the first learning-free framework to address all subtasks of global localization in the sparse scan map. Validations on real-world datasets show that our approach demonstrates better performance than state-of-the-art learning-free methods, and competitive performance with learning-based methods. Finally, we integrate RING++ into a multi-robot/session SLAM system, performing its effectiveness in collaborative applications.

cs.RO↗

arXiv2022

Understanding the impact of heavy ions and tailoring the optical properties of large-area Monolayer WS2 using Focused Ion Beam

Focused ion beam (FIB) has been used as an effective tool for precise nanoscale fabrication. It has recently been employed to tailor defect engineering in functional nanomaterials such as two-dimensional transition metal dichalcogenides (TMDCs), providing desirable properties in TMDC-based optoelectronic devices. However, the damage caused by the FIB irradiation and milling process to these delicate atomically thin materials, especially in the extended area, has not yet been elaboratively characterised. Understanding the correlation between lateral ion beam effects and optical properties of 2D TMDCs is crucial in designing and fabricating high-performance optoelectronic devices. In this work, we investigate lateral damage in large-area monolayer WS2 caused by the gallium focused ion beam milling process. Three distinct zones away from the milling location are identified and characterised via steady-state photoluminescence (PL) and Raman spectroscopy. An unexpected bright ring-shaped emission around the milled location has been revealed by time-resolved PL spectroscopy with high spatial resolution. Our finding opens new avenues for tailoring the optical properties of TMDCs by charge and defect engineering via focused ion beam lithography. Furthermore, our study provides evidence that while some localised damage is inevitable, distant destruction can be eliminated by reducing the ion beam current. It paves the way for the use of FIB to create nanostructures in 2D TMDCs, as well as the design and realisation of optoelectrical devices on a wafer scale.

physics.app-ph↗

arXiv2022

Learning Interpretable BEV Based VIO without Deep Neural Networks

Monocular visual-inertial odometry (VIO) is a critical problem in robotics and autonomous driving. Traditional methods solve this problem based on filtering or optimization. While being fully interpretable, they rely on manual interference and empirical parameter tuning. On the other hand, learning-based approaches allow for end-to-end training but require a large number of training data to learn millions of parameters. However, the non-interpretable and heavy models hinder the generalization ability. In this paper, we propose a fully differentiable, and interpretable, bird-eye-view (BEV) based VIO model for robots with local planar motion that can be trained without deep neural networks. Specifically, we first adopt Unscented Kalman Filter as a differentiable layer to predict the pitch and roll, where the covariance matrices of noise are learned to filter out the noise of the IMU raw data. Second, the refined pitch and roll are adopted to retrieve a gravity-aligned BEV image of each frame using differentiable camera projection. Finally, a differentiable pose estimator is utilized to estimate the remaining 3 DoF poses between the BEV frames: leading to a 5 DoF pose estimation. Our method allows for learning the covariance matrices end-to-end supervised by the pose estimation loss, demonstrating superior performance to empirical baselines. Experimental results on synthetic and real-world datasets demonstrate that our simple approach is competitive with state-of-the-art methods and generalizes well on unseen scenes.

cs.RO↗

arXiv2022

Robust Constrained Reinforcement Learning

Constrained reinforcement learning is to maximize the expected reward subject to constraints on utilities/costs. However, the training environment may not be the same as the test one, due to, e.g., modeling error, adversarial attack, non-stationarity, resulting in severe performance degradation and more importantly constraint violation. We propose a framework of robust constrained reinforcement learning under model uncertainty, where the MDP is not fixed but lies in some uncertainty set, the goal is to guarantee that constraints on utilities/costs are satisfied for all MDPs in the uncertainty set, and to maximize the worst-case reward performance over the uncertainty set. We design a robust primal-dual approach, and further theoretically develop guarantee on its convergence, complexity and robust feasibility. We then investigate a concrete example of $δ$-contamination uncertainty set, design an online and model-free algorithm and theoretically characterize its sample complexity.

cs.LG↗

arXiv2022

Algorithms for determining transposons in gene sequences

Some genes can change their relative locations in a genome. Thus for different individuals of the same species, the orders of genes might be different. Such jumping genes are called transposons. A practical problem is to determine transposons in given gene sequences. Through an intuitive rule, we transform the biological problem of determining transposons into a rigorous mathematical problem of determining the longest common subsequence. Depending on whether the gene sequence is linear (each sequence has a fixed head and tail) or circular (we can choose any gene as the head, and the previous one is the tail), and whether genes have multiple copies, we classify the problem of determining transposons into four scenarios: (1) linear sequences without duplicated genes; (2) circular sequences without duplicated genes; (3) linear sequences with duplicated genes; (4) circular sequences with duplicated genes. With the help of graph theory, we design fast algorithms for different scenarios. We also derive some results that might be of theoretical interests in combinatorics.

q-bio.GN↗

arXiv2022

Inference on autoregulation in gene expression

Some genes can promote or repress their own expressions, which is called autoregulation. Although gene regulation is a central topic in biology, autoregulation is much less studied. In general, it is extremely difficult to determine the existence of autoregulation with direct biochemical approaches. Nevertheless, some papers have observed that certain types of autoregulations are linked to noise levels in gene expression. We generalize these results by two propositions on discrete-state continuous-time Markov chains. These two propositions form a simple but robust method to infer the existence of autoregulation from gene expression data. This method only needs to compare the mean and variance of the gene expression level. Compared to other methods for inferring autoregulation, our method only requires non-interventional one-time data, and does not need to estimate parameters. Besides, our method has few restrictions on the model. We apply this method to four groups of experimental data and find some genes that might have autoregulation. Some inferred autoregulations have been verified by experiments or other theoretical works.

q-bio.MN↗

arXiv2022

Efficient Distance-Optimal Tethered Path Planning in Planar Environments: The Workspace Convexity

The main contribution of this paper is the proof of the convexity of the omni-directional tethered robot workspace (namely, the set of all tether-length-admissible robot configurations), as well as a set of distance-optimal tethered path planning algorithms that leverage the workspace convexity. The workspace is proven to be topologically a simply-connected subset and geometrically a convex subset of the set of all configurations. As a direct result, the tether-length-admissible optimal path between two configurations is proven exactly the untethered collision-free locally shortest path in the homotopy specified by the concatenation of the tether curve of the given configurations, which can be simply constructed by performing an untethered path shortening process in the 2D environment instead of a path searching process in the pre-calculated workspace. The convexity is an intrinsic property to the tethered robot kinematics, thus has universal impacts on all high-level distance-optimal tethered path planning tasks: The most time-consuming workspace pre-calculation (WP) process is replaced with a goal configuration pre-calculation (GCP) process, and the homotopy-aware path searching process is replaced with untethered path shortening processes. Motivated by the workspace convexity, efficient algorithms to solve the following problems are naturally proposed: (a) The optimal tethered reconfiguration (TR) planning problem is solved by a locally untethered path shortening (UPS) process, (b) The classic optimal tethered path (TP) planning problem (from a starting configuration to a goal location whereby the target tether state is not assigned) is solved by a GCP process and $n$ UPS processes, where $n$ is the number of tether-length-admissible configurations that visit the goal location, (c) The optimal tethered motion to visit a sequence of multiple goal locations, referred to as

cs.RO↗

arXiv2022

A Design Space for Surfacing Content Recommendations in Visual Analytic Platforms

Recommendation algorithms have been leveraged in various ways within visualization systems to assist users as they perform of a range of information tasks. One common focus for these techniques has been the recommendation of content, rather than visual form, as a means to assist users in the identification of information that is relevant to their task context. A wide variety of techniques have been proposed to address this general problem, with a range of design choices in how these solutions surface relevant information to users. This paper reviews the state-of-the-art in how visualization systems surface recommended content to users during users' visual analysis; introduces a four-dimensional design space for visual content recommendation based on a characterization of prior work; and discusses key observations regarding common patterns and future research opportunities.

cs.HC↗

arXiv2022

QC-ODKLA: Quantized and Communication-Censored Online Decentralized Kernel Learning via Linearized ADMM

This paper focuses on online kernel learning over a decentralized network. Each agent in the network receives continuous streaming data locally and works collaboratively to learn a nonlinear prediction function that is globally optimal in the reproducing kernel Hilbert space with respect to the total instantaneous costs of all agents. In order to circumvent the curse of dimensionality issue in traditional online kernel learning, we utilize random feature (RF) mapping to convert the non-parametric kernel learning problem into a fixed-length parametric one in the RF space. We then propose a novel learning framework named Online Decentralized Kernel learning via Linearized ADMM (ODKLA) to efficiently solve the online decentralized kernel learning problem. To further improve the communication efficiency, we add the quantization and censoring strategies in the communication stage and develop the Quantized and Communication-censored ODKLA (QC-ODKLA) algorithm. We theoretically prove that both ODKLA and QC-ODKLA can achieve the optimal sublinear regret $\mathcal{O}(\sqrt{T})$ over $T$ time slots. Through numerical experiments, we evaluate the learning effectiveness, communication, and computation efficiencies of the proposed methods.

cs.LG↗

arXiv2022

Dynamic stability for steady Prandtl solutions

By establishing an invariant set (1.11) for the Prandtl equation in Crocco transformation, we prove orbital and asymptotic stability of Blasius-like steady states against Oleinik's monotone solutions.

math.AP↗

arXiv2022

Efficient Search of the k Shortest Non-Homotopic Paths by Eliminating Non-k-Optimal Topologies

An efficient algorithm to solve the $k$ shortest non-homotopic path planning ($k$-SNPP) problem in a 2D environment is proposed in this paper. Motivated by accelerating the inefficient exploration of the homotopy-augmented space of the 2D environment, our fundamental idea is to identify the non-$k$-optimal path topologies as early as possible and terminate the pathfinding along them. This is a non-trivial practice because it has to be done at an intermediate state of the path planning process when locally shortest paths have not been fully constructed. In other words, the paths to be compared have not rendezvoused at the goal location, which makes the homotopy theory, modelling the spatial relationship among the paths having the same endpoint, not applicable. This paper is the first work that develops a systematic distance-based topology simplification mechanism to solve the $k$-SNPP task, whose core contribution is to assert the distance-based order of non-homotopic locally shortest paths before constructing them. If the order can be predicted, then those path topologies having more than $k$ better topologies are proven free of the desired $k$ paths and thus can be safely discarded during the path planning process. To this end, a hierarchical topological tree is proposed as an implementation of the mechanism, whose nodes are proven to expand in non-homotopic directions and edges (collision-free path segments) are proven locally shortest. With efficient criteria that observe the order relations between partly constructed locally shortest paths being imparted into the tree, the tree nodes that expand in non-$k$-optimal topologies will not be expanded. As a result, the computational time for solving the $k$-SNPP problem is reduced by near two orders of magnitude.

cs.RO↗

arXiv2022

A Visual Navigation Perspective for Category-Level Object Pose Estimation

This paper studies category-level object pose estimation based on a single monocular image. Recent advances in pose-aware generative models have paved the way for addressing this challenging task using analysis-by-synthesis. The idea is to sequentially update a set of latent variables, e.g., pose, shape, and appearance, of the generative model until the generated image best agrees with the observation. However, convergence and efficiency are two challenges of this inference procedure. In this paper, we take a deeper look at the inference of analysis-by-synthesis from the perspective of visual navigation, and investigate what is a good navigation policy for this specific task. We evaluate three different strategies, including gradient descent, reinforcement learning and imitation learning, via thorough comparisons in terms of convergence, robustness and efficiency. Moreover, we show that a simple hybrid approach leads to an effective and efficient solution. We further compare these strategies to state-of-the-art methods, and demonstrate superior performance on synthetic and real-world datasets leveraging off-the-shelf pose-aware generative models.

cs.CV↗

arXiv2022

Predicting Stock Price Movement after Disclosure of Corporate Annual Reports: A Case Study of 2021 China CSI 300 Stocks

In the current stock market, computer science and technology are more and more widely used to analyse stocks. Not same as most related machine learning stock price prediction work, this work study the predicting the tendency of the stock price on the second day right after the disclosure of the companies' annual reports. We use a variety of different models, including decision tree, logistic regression, random forest, neural network, prototypical networks. We use two sets of financial indicators (key and expanded) to conduct experiments, these financial indicators are obtained from the EastMoney website disclosed by companies, and finally we find that these models are not well behaved to predict the tendency. In addition, we also filter stocks with ROE greater than 0.15 and net cash ratio greater than 0.9. We conclude that according to the financial indicators based on the just-released annual report of the company, the predictability of the stock price movement on the second day after disclosure is weak, with maximum accuracy about 59.6% and maximum precision about 0.56 on our test set by the random forest classifier, and the stock filtering does not improve the performance. And random forests perform best in general among all these models which conforms to some work's findings.

q-fin.ST↗

arXiv2022

Deep Random Vortex Method for Simulation and Inference of Navier-Stokes Equations

Navier-Stokes equations are significant partial differential equations that describe the motion of fluids such as liquids and air. Due to the importance of Navier-Stokes equations, the development on efficient numerical schemes is important for both science and engineer. Recently, with the development of AI techniques, several approaches have been designed to integrate deep neural networks in simulating and inferring the fluid dynamics governed by incompressible Navier-Stokes equations, which can accelerate the simulation or inferring process in a mesh-free and differentiable way. In this paper, we point out that the capability of existing deep Navier-Stokes informed methods is limited to handle non-smooth or fractional equations, which are two critical situations in reality. To this end, we propose the \emph{Deep Random Vortex Method} (DRVM), which combines the neural network with a random vortex dynamics system equivalent to the Navier-Stokes equation. Specifically, the random vortex dynamics motivates a Monte Carlo based loss function for training the neural network, which avoids the calculation of derivatives through auto-differentiation. Therefore, DRVM not only can efficiently solve Navier-Stokes equations involving rough path, non-differentiable initial conditions and fractional operators, but also inherits the mesh-free and differentiable benefits of the deep-learning-based solver. We conduct experiments on the Cauchy problem, parametric solver learning, and the inverse problem of both 2-d and 3-d incompressible Navier-Stokes equations. The proposed method achieves accurate results for simulation and inference of Navier-Stokes equations. Especially for the cases that include singular initial conditions, DRVM significantly outperforms existing PINN method.

physics.flu-dyn↗