arXiv subjects

Yuhui Zhao

Publications and source records attributed to Yuhui Zhao.

16 recordsLinked to original sources

arXiv2026

GraRe: Grasp Candidate Re-Ranking for Frozen 6-DoF Grasp Detectors

Existing 6-DoF grasp detectors typically rank grasp candidates by detector confidence. However, our analysis on GraspNet-1Billion shows that detector confidence is often poorly aligned with grasp quality, causing successful grasp candidates to be ranked too low during execution. Motivated by this observation, we formulate grasp candidate re-ranking as a separate task for frozen detectors, aiming to improve candidate ordering without changing the detector or its grasp candidates. We propose GraRe, which estimates grasp quality from candidate attributes, shell-stratified local geometry, and object context. Candidate attributes condition the local geometric and object-context representations, and a Transformer fuses all three feature types. The predicted quality is combined with detector confidence to produce the final ranking. Experiments on GraspNet-1Billion with three frozen detectors show consistent improvements, with gains of up to 13.60 points in Average AP. Real-robot experiments further demonstrate robust grasping in cluttered scenes. These results show that improving candidate ranking provides a practical way to enhance frozen 6-DoF grasp detectors.

cs.RO↗

arXiv2026

Quadratic shift-and-stack for Ground-Based Optical Detection of Faint Cislunar Objects

Detecting faint objects in cislunar space using ground-based optical telescopes is difficult because of their low brightness, strong lunar background, and complex, nonlinear apparent motion. Traditional shift-and-stack techniques based on linear motion assumption suffer signal trailing loss due to significant nonlinear motion during long integrations, thus producing a degraded signal-to-noise ratio (SNR). In this paper, we first derive a theoretical criterion based on the point spread function to determine the maximum applicable integration time for linear-motion stacking. We then propose a quadratic shift-and-stack (QSS) method to correct for the first-order nonlinear motion, namely the angular acceleration of cislunar targets. Simulations of typical cislunar orbits verify this theoretical criterion and show that the QSS method significantly improves SNR from stacking and can enhance the detection limit by up to 1 stellar magnitude compared with the linear-motion stacking method. Furthermore, tests using observational data of the cislunar object Tiandu-1 confirm that while linear stacking degrades after a 29-minute integration due to trajectory curvature, the QSS method achieves continuous SNR improvement over a 46-minute integration, outperforming the peak SNR of the linear method by 31%.

astro-ph.IM↗

arXiv2023

Active Asteroid 311P/PANSTARRS: Rotational Instability as the Origin of Multi-tails?

The active asteroid 311P is one of the two targets of a planned Chinese asteroid exploration mission Tianwen-2. During 2013, 311P experienced several mass-loss events and exhibited multiple comet-like tails. Here we analyze the morphology and surface brightness of the tails to investigate the dust environment around the nucleus and mechanism of activities. We enhance the features of the tails using image processing techniques to obtain information about the morphology of the tails, and fit processed images to the syndyne-synchrone diagrams. The fitting results give estimations of the upper limits of the durations ($2\sim8$ days) of eruptions and the dust size range ($0.006\sim38.9$ mm) in the tails. The results of surface photometry performed for each dust tail show that the brightness distribution index of each tail ranged from approximately -1.81 to 0 and the dust size distribution indices of 311P's tails ranged from -2.29 to -1.45. The quantity of particles in each tail ranged from 0.5 to 8 $\times10^6$\,kg, which leads to a total dust-loss quantity of $3.0\times10^7$\,kg and a mass loss rate of 1.59 kg s$^{-1}$. Sublimation, continuous impacts or tidal forces of planets are excluded as explanations for 311P's activities, and rotational instability remains a possible activation cause without strong evidence against it.

astro-ph.EP↗

arXiv2023

Characterizing the temporally stable structure of community evolution in intra-urban origin-destination networks

Intra-urban origin-destination (OD) network communities evolve throughout the day, indicating changing groups of closely connected regions. Under this variation, groups of regions with high consistency of community affiliation characterize the temporally stable structure of the evolution process, aiding in comprehending urban dynamics. However, how to quantify this consistency and identify these groups are open questions. In this study, we introduce the consensus OD network to quantify the consistency of community affiliation among regions. Furthermore, the temporally stable community decomposition method is proposed to identify groups of regions with high internal and low external consistency (named "stable groups"), where each group consists of temporally stable cores and attaching peripheries. Wuhan taxi data is used to verify our methods. On the hourly time scale, eleven stable groups containing 82.9% of regions are identified. This high percentage suggests that dynamic communities can be well organized via cores. Moreover, stable groups are spatially closed and more likely to distribute within a single district and separated by water bodies. Cores exhibit higher POI entropy and more healthcare and shopping services than peripheries. Our methods and empirical findings contribute to some practical issues, such as urban area division, polycentric evaluation and construction, and infectious disease control.

physics.soc-ph↗

arXiv2022

Mid-IR Observations of IRAS, AKARI, WISE/NEOWISE and Subaru for Large Icy Asteroid (704) Interamnia: a New Perspective of Regolith Properties and Water Ice Fraction

(704) Interamnia is one of the largest asteroids that locates in the outer main-belt region, which may contain a large amount of water ice underneath its surface. We observe this asteroid using 8.2 m Subaru telescope at mid-infrared wavebands, and utilize thermophysical model for realistic surface layers (RSTPM) to analyze mid-infrared data from Subaru along with those of IRAS, AKARI and WISE/NEOWISE. We optimize the method to convert the WISE magnitude to thermal infrared flux with temperature dependent color corrections, which can provide significant references for main-belt asteroids at a large heliocentric distance with low surface temperature. We derive best-fitting thermal parameters of Interamnia - a mean regolith grain size of $190_{-180}^{+460}~\rm μm$, with a roughness of $0.30_{-0.17}^{+0.35}$ and RMS slope of $27_{-9}^{+13}$ degrees, thereby producing thermal inertia ranging from 9 to $92~\rm Jm^{-2}s^{-1/2}K^{-1}$ due to seasonal temperature variation. The geometric albedo and effective diameter are evaluated to be $0.0472_{-0.0031}^{+0.0033}$ and $339_{-11}^{+12}~\rm km$, respectively, being indicative of a bulk density of $1.86\pm0.63~\rm g/cm^3$. The low thermal inertia is consistent with typical B/C-type asteroids with $D\geq100$ km. The tiny regolith grain size suggests the presence of a fine regolith on the surface of Interamnia. Moreover, the seasonal and diurnal temperature distribution indicates that thermal features between southern and northern hemisphere appear to be very different. Finally, we present an estimation of volume fraction of water ice of $9\%\sim66\%$ from the published grain density and porosity of carbonaceous chondrites.

astro-ph.EP↗

arXiv2021

MARS: Nano-Power Battery-free Wireless Interfaces for Touch, Swipe and Speech Input

Augmenting everyday surfaces with interaction sensing capability that is maintenance-free, low-cost (about $1), and in an appropriate form factor is a challenge with current technologies. MARS (Multi-channel Ambiently-powered Realtime Sensing) enables battery-free sensing and wireless communication of touch, swipe, and speech interactions by combining a nanowatt programmable oscillator with frequency-shifted analog backscatter communication. A zero-threshold voltage field-effect transistor (FET) is used to create an oscillator with a low startup voltage (about 500 mV) and current (< 2uA), whose frequency can be affected through changes in inductance or capacitance from the user interactions. Multiple MARS systems can operate in the same environment by tuning each oscillator circuit to a different frequency range. The nanowatt power budget allows the system to be powered directly through ambient energy sources like photodiodes or thermoelectric generators. We differentiate MARS from previous systems based on power requirements, cost, and part count and explore different interaction and activity sensing scenarios suitable for indoor environments.

cs.HC↗

arXiv2021

Discovery of Carbon Monoxide in Distant Comet C/2017 K2 (PANSTARRS)

Optical observations of the Oort cloud comet C/2017 K2 (PANSTARRS) show that its activity began at large heliocentric distances (up to 35 au), which cannot be explained by either the sublimation or the crystallization of water ice. Supervolatile sublimation, most likely of carbon monoxide (CO), has been proposed as a plausible driver of the observed mass loss. Here, we present the detection of the J = 2$-$1 rotational transition in outgassed CO from C/2017 K2 when at heliocentric distance $r_H$ = 6.72 au, using the James Clerk Maxwell Telescope. The CO line is blue-shifted by 0.20$\pm$0.03 km s$^{-1}$ with an area and width of 8.3$\pm$2.3 mK km s$^{-1}$ and $0.28\pm$0.08 km s$^{-1}$, respectively. The CO production rate is $Q_{CO} = (1.6\pm0.5) \times10^{27}$ s$^{-1}$. These are the first observations of a gaseous species in C/2017 K2 and provide observational confirmation of the role of supervolatile sublimation in this comet.

astro-ph.EP↗

arXiv2020

Sublimation as an effective mechanism for flattened lobes of (486958) Arrokoth

The New Horizons spacecraft's flyby of Kuiper Belt Object (KBO) (486958) Arrokoth revealed a bilobed shape with highly flattened lobes both aligned to its equatorial plane, and a rotational axis almost aligned to the orbital plane (obliquity ~99 deg). Arrokoth belongs to the Cold Classical Kuiper Belt Object population that occupies dynamically undisturbed orbits around the Sun, and as such, is a primitive object that formed in situ. Therefore, whether its shape is primordial or evolutionary carries important implications for understanding the evolution of both KBOs and potentially their dynamically derived objects, Centaurs and Jupiter Family Comets (JFC). Applying our mass loss driven shape evolution model (MONET), here we suggest that the current shape of Arrokoth could be of evolutionary origin due to volatile outgassing in a timescale of about 1 to 100 Myr, while its spin state would not significantly affected. We further argue that such a process may be ubiquitous in the evolution of the shape of KBOs shortly after their formation. This shape changing process could also be reactivated when KBOs dynamically evolve to become Centaurs and then JFCs and receive dramatically increased solar heating.

astro-ph.EP↗

arXiv2020

Deep Collaborative Embedding for information cascade prediction

Recently, information cascade prediction has attracted increasing interest from researchers, but it is far from being well solved partly due to the three defects of the existing works. First, the existing works often assume an underlying information diffusion model, which is impractical in real world due to the complexity of information diffusion. Second, the existing works often ignore the prediction of the infection order, which also plays an important role in social network analysis. At last, the existing works often depend on the requirement of underlying diffusion networks which are likely unobservable in practice. In this paper, we aim at the prediction of both node infection and infection order without requirement of the knowledge about the underlying diffusion mechanism and the diffusion network, where the challenges are two-fold. The first is what cascading characteristics of nodes should be captured and how to capture them, and the second is that how to model the non-linear features of nodes in information cascades. To address these challenges, we propose a novel model called Deep Collaborative Embedding (DCE) for information cascade prediction, which can capture not only the node structural property but also two kinds of node cascading characteristics. We propose an auto-encoder based collaborative embedding framework to learn the node embeddings with cascade collaboration and node collaboration, in which way the non-linearity of information cascades can be effectively captured. The results of extensive experiments conducted on real-world datasets verify the effectiveness of our approach.

cs.SI↗

arXiv2019

The Phenomenon of Shape Evolution due to Solar Driven Outgassing for Analogues of Small Kuiper Belt Objects

One of the key findings of the Rosetta's mission to the Jupiter family comet 67P/Churyumov-Gerasimenko was its peculiar bilobed shape along with the apparent north/south dichotomy in large scale morphology. This has re-ignited scientific discussions on the topic of origin, evolution and age of the nucleus. In this work we set up a general numerical investigation on the role of solar driven activity on the overall shape change. Our goal is to isolate and study the influence of key parameters for solar driven mass loss, and hopefully obtain a classification of the final shapes. We consider five general classes of three-dimensional (3D) objects for various initial conditions of spin-axis and orbital parameters, propagating them on different orbits accounting for solar driven CO ice sublimation. A detailed study of the coupling between sublimation curve and orbital parameters (for CO and H$_{2}$O ices) is also provided. The idealizations used in this study are aimed to remove the ad-hoc assumptions on activity source distribution, composition, and/or chemical inhomogeneities as applied in similar studies focusing on explaining a particular feature or observation. Our numerical experiments show that under no condition a homogeneous nucleus with solar driven outgassing can produce concave morphology on a convex shape. On the other hand, preexisting concavities can hardly be smoothed/removed for the assumed activity. In summary, the coupling between solar distance, eccentricity, spin-axis and its orientation, as well as effects on shadowing and self-heating do combine to induce morphology changes that might not be deducible without numerical simulations.

astro-ph.EP↗

arXiv2018

Impact Excitation of a Seismic Pulse and Vibrational Normal Modes on Asteroid Bennu and Associated Slumping of Regolith

We consider an impact on an asteroid that is energetic enough to cause resurfacing by seismic reverberation and just below the catastrophic disruption threshold, assuming that seismic waves are not rapidly attenuated. In asteroids with diameter less than 1 km we identify a regime where rare energetic impactors can excite seismic waves with frequencies near those of the asteroid's slowest normal modes. In this regime, the distribution of seismic reverberation is not evenly distributed across the body surface. With mass-spring model elastic simulations, we model impact excitation of seismic waves with a force pulse exerted on the surface and using three different asteroid shape models. The simulations exhibit antipodal focusing and normal mode excitation. If the impulse excited vibrational energy is long lasting, vibrations are highest at impact point, its antipode and at high surface elevations such as an equatorial ridge. A near equatorial impact launches a seismic impulse on a non-spherical body that can be focused on two additional points on an the equatorial ridge. We explore simple flow models for the morphology of vibration induced surface slumping. We find that the initial seismic pulse is unlikely to cause large shape changes. Long lasting seismic reverberation on Bennu caused by a near equatorial impact could have raised the height of its equatorial ridge by a few meters and raised two peaks on it, one near impact site and the other near its antipode.

astro-ph.EP↗

arXiv2018

The formation mechanism of 4179 Toutatis' elongated bi-lobed structure in a close Earth encounter scenario

The optical images of near-Earth asteroid 4179 Toutatis acquired by Chang'e-2 spacecraft show that Toutatis has an elongated contact binary configuration, with the contact point located along the long axis. We speculate that such configuration may have resulted from a low-speed impact between two components. In this work, we performed a series of numerical simulations and compared the results with the optical images, to examine the mechanism and better understand the formation of Toutatis. Herein we propose an scenario that an assumed separated binary precursor could undergo a close encounter with Earth, leading to an impact between the primary and secondary, and the elongation is caused by Earth's tide. The precursor is assumed to be a doubly synchronous binary with a semi-major axis of 4 $R_p$ (radius of primary) and the two components are represented as spherical cohesionless self-gravitating granular aggregates. The mutual orbits are simulated in a Monte Carlo routine to provide appropriate parameters for our \emph{N}-body simulations of impact and tidal distortion. We employ the \emph{pkdgrav} package with a soft-sphere discrete element method (SSDEM) to explore the entire scenarios. The results show that contact binary configurations are natural outcomes under this scenario, whereas the shape of the primary is almost not affected by the impact of the secondary. However, our simulations further provide an elongated contact binary configuration best-matching to the shape of Toutatis at an approaching distance $r_p$ = 1.4 $\sim$ 1.5 $R_e$ (Earth radius), indicative of a likely formation scenario for configurations of Toutatis-like elongated contact binaries.

astro-ph.EP↗

arXiv2015

Revisit of rotational dynamics of Asteroid 4179 Toutatis from Chang'e-2's flyby

This paper presents analysis of the rotational parameters of Toutatis based on the observational results from Chang'e-2's close flyby. The 3-D shape model derived from ground-based radar observation is used to calculate the 3-1-3 Euler angles at the flyby epoch, which are evaluated to be $-20.1^\circ\pm1^\circ$, $27.6^\circ\pm1^\circ$ and $42.2^\circ\pm1^\circ$. The large amplitude of Toutatis' tumbling attitude is demonstrated to be the result of the large deviation of the angular momentum axis and the rotational axis. Two rotational periods are evaluated to be $5.38\pm0.03$ days for rotation about the long axis and $7.40\pm0.03$ days for precession of the long axis about the angular momentum vector based on Fourier analysis. These results provide a further understanding of rotational state of Toutatis.

astro-ph.EP↗

arXiv2015

Chang'e-2 spacecraft observations of asteroid 4179 Toutatis

On 13 December 2012, Chang'e-2 completed a successful flyby of the near-Earth asteroid 4179 Toutatis at a closest distance of 770 meters from the asteroid's surface. The observations show that Toutatis has an irregular surface and its shape resembles a ginger-root of a smaller lobe (head) and a larger lobe (body). Such bilobate shape is indicative of a contact binary origin for Toutatis. In addition, the high-resolution images better than 3 meters provide a number of new discoveries about this asteroid, such as an 800-meter depression at the end of the large lobe, a sharply perpendicular silhouette near the neck region, boulders, indicating that Toutatis is probably a rubble-pile asteroid. Chang'e-2 observations have significantly revealed new insights into the geological features and the formation and evolution of this asteroid. In final, we brief the future Chinese asteroid mission concept.

astro-ph.EP↗

arXiv2015

Orientation and Rotational Parameters of Asteroid 4179 Toutatis: New Insights from Chang'e-2's Close Flyby

In this work, we investigate the rotational dynamics of the ginger-shaped near-Earth asteroid 4179 Toutatis, which was closely observed by Chang'e-2 at a distance of $770\pm120~$ meters from the asteroid's surface during the outbound flyby \citep{Huang2013} on 13 December 2012. A sequence of high-resolution images was acquired during the flyby mission. In combination with ground-based radar observations collected over the last two decades, we analyze these flyby images and determine the orientation of the asteroid at the flyby epoch. The 3-1-3 Euler angles of the conversion matrix from the J2000 ecliptic coordinate system to the body-fixed frame are evaluated to be $-20.1^\circ\pm1^\circ$, $27.6^\circ\pm1^\circ$ and $42.2^\circ\pm1^\circ$, respectively. The least-squares method is utilized to determine the rotational parameters and spin state of Toutatis. The characteristics of the spin-state parameters and angular momentum variations are extensively studied using numerical simulations, which confirm those reported by \citet{Takahashi2013}. The large amplitude of Toutatis' precession is assumed to be responsible for its tumbling attitude as observed from Earth. Toutatis' angular momentum orientation is determined to be described by $λ_{H}=180.2^{+0.2^\circ}_{-0.3^\circ}$ and $β_{H}=-54.75^{+0.15^\circ}_{-0.10^\circ}$, implying that it has remained nearly unchanged for two decades. Furthermore, using Fourier analysis to explore the change in the orientation of Toutatis' axes, we reveal that the two rotational periods are 5.38 and 7.40 days, respectively, consistent with the results of the former investigation. Hence, our investigation provides a clear understanding of the state of the rotational dynamics of Toutatis.

astro-ph.EP↗

arXiv2013

The Ginger-shaped Asteroid 4179 Toutatis: New Observations from a Successful Flyby of Chang'e-2

On 13 December 2012, Chang'e-2 conducted a successful flyby of the near-Earth asteroid 4179 Toutatis at a closest distance of 770 $\pm$ 120 meters from the asteroid's surface. The highest-resolution image, with a resolution of better than 3 meters, reveals new discoveries on the asteroid, e.g., a giant basin at the big end, a sharply perpendicular silhouette near the neck region, and direct evidence of boulders and regolith, which suggests that Toutatis may bear a rubble-pile structure. Toutatis' maximum physical length and width are (4.75 $\times$ 1.95 km) $\pm$10$\%$, respectively, and the direction of the +$z$ axis is estimated to be (250$\pm$5$^\circ$, 63$\pm$5$^\circ$) with respect to the J2000 ecliptic coordinate system. The bifurcated configuration is indicative of a contact binary origin for Toutatis, which is composed of two lobes (head and body). Chang'e-2 observations have significantly improved our understanding of the characteristics, formation, and evolution of asteroids in general.

astro-ph.EP↗