arXiv subjects

Yufei Zhu

Publications and source records attributed to Yufei Zhu.

25 records · Page 2Linked to original sources

arXiv2023

A Data-Efficient Approach for Long-Term Human Motion Prediction Using Maps of Dynamics

Human motion prediction is essential for the safe and smooth operation of mobile service robots and intelligent vehicles around people. Commonly used neural network-based approaches often require large amounts of complete trajectories to represent motion dynamics in complex semantically-rich spaces. This requirement may complicate deployment of physical systems in new environments, especially when the data is being collected online from onboard sensors. In this paper we explore a data-efficient alternative using maps of dynamics (MoD) to represent place-dependent multi-modal spatial motion patterns, learned from prior observations. Our approach can perform efficient human motion prediction in the long-term perspective of up to 60 seconds. We quantitatively evaluate its accuracy with limited amount of training data in comparison to an LSTM-based baseline, and qualitatively show that the predicted trajectories reflect the natural semantic properties of the environment, e.g. the locations of short- and long-term goals, navigation in narrow passages, around obstacles, etc.

cs.RO↗

arXiv2023

Bound states around impurities in a superconducting bilayer

We theoretically study the appearance of bound states around impurities in a superconducting bilayer. We focus our attention on $s$-wave pairing, which includes unconventional odd-parity states permitted by the layer degree of freedom. Utilizing numerical mean-field and analytical $T$-matrix methods, we survey the bound state spectrum produced by momentum-independent impurity potentials in this model. For even-parity $s$-wave pairing bound states are only found for impurities which break time-reversal symmetry. For odd-parity $s$-wave states, in contrast, bound states are generically found for all impurity potentials, and fall into six distinct categories. This categorization remains valid for nodal gaps. Our results are conveniently understood in terms of the ``superconducting fitness'' concept, and show an interplay between the pair-breaking effects of the impurity and the normal-state band structure.

cond-mat.supr-con↗

arXiv2022

The Magni Human Motion Dataset: Accurate, Complex, Multi-Modal, Natural, Semantically-Rich and Contextualized

Rapid development of social robots stimulates active research in human motion modeling, interpretation and prediction, proactive collision avoidance, human-robot interaction and co-habitation in shared spaces. Modern approaches to this end require high quality datasets for training and evaluation. However, the majority of available datasets suffers from either inaccurate tracking data or unnatural, scripted behavior of the tracked people. This paper attempts to fill this gap by providing high quality tracking information from motion capture, eye-gaze trackers and on-board robot sensors in a semantically-rich environment. To induce natural behavior of the recorded participants, we utilise loosely scripted task assignment, which induces the participants navigate through the dynamic laboratory environment in a natural and purposeful way. The motion dataset, presented in this paper, sets a high quality standard, as the realistic and accurate data is enhanced with semantic information, enabling development of new algorithms which rely not only on the tracking information but also on contextual cues of the moving agents, static and dynamic environment.

cs.RO↗

arXiv2021

Interpreting Attributions and Interactions of Adversarial Attacks

This paper aims to explain adversarial attacks in terms of how adversarial perturbations contribute to the attacking task. We estimate attributions of different image regions to the decrease of the attacking cost based on the Shapley value. We define and quantify interactions among adversarial perturbation pixels, and decompose the entire perturbation map into relatively independent perturbation components. The decomposition of the perturbation map shows that adversarially-trained DNNs have more perturbation components in the foreground than normally-trained DNNs. Moreover, compared to the normally-trained DNN, the adversarially-trained DNN have more components which mainly decrease the score of the true category. Above analyses provide new insights into the understanding of adversarial attacks.

cs.LG↗

arXiv2021

Fate of Majorana zero modes by a modified real-space-Pfaffian method and mobility edges in a one-dimensional quasiperiodic lattice

We aim to study a one-dimensional $p$-wave superconductor with quasiperiodic on-site potentials. A modified real-space-Pfaffian method is applied to calculate the topological invariants. We confirm that the Majorana zero mode is protected by the nontrivial topology the topological phase transition is accompanied by the energy gap closing and reopening. In addition, we numerically find that there are mobility edges which originate from the competition between the extended $p$-wave pairing and the localized quasi-disorder. We qualitatively analyze the influence of superconducting pairing parameters and on-site potential strength on the mobility edge. In general, our work enriches the research on the $p$-wave superconducting models with quasiperiodic potentials.

cond-mat.dis-nn↗

arXiv2021

Invariable mobility edge in a quasiperiodic lattice

In this paper, we study a one-dimensional tight-binding model with tunable incommensurate potentials. Through the analysis of the inverse participation rate, we uncover that the wave functions corresponding to the energies of the system exhibit different properties. There exists a critical energy under which the wave functions corresponding to all energies are extended. On the contrary, the wave functions corresponding to all energies above the critical energy are localized. However, we are surprised to find that the critical energy is a constant independent of the potentials. We use the self-dual relation to solve the critical energy, namely the mobility edge, and then we verify the analytical results again by analyzing the spatial distributions of the wave functions. Finally, we give a brief discussion on the possible experimental observation of the invariable mobility edge in the system of ultracold atoms in optical lattices.

cond-mat.dis-nn↗

arXiv2020

Floquet and Anomalous Floquet Weyl Semimetals

The periodic driving of a quantum system can enable new topological phases without analogs in static systems. This provides a route towards preparing non-equilibrium quantum phases rooted into the non-equilibrium nature by periodic driving engineering. Motivated by the ongoing considerable interest in topological semimetals, we are interested in the novel topological phases in the periodically driven topological semimetals without a static counterpart. We propose to design non-equilibrium topological semimetals in the regime of weakly driving field where the spectrum width of shares the same magnitude with the driving frequency. We identify two novel types of non-equilibrium Weyl semimetals (i.e., Floquet and anomalous Floquet Weyl semimetals) that do not exhibit analogues in equilibrium. The proposed setup is shown to be experimentally feasible using the state-of-the-art techniques used to control ultracold atoms in optical lattices.

cond-mat.str-el↗