arXiv subjects

Yuming Huang

Publications and source records attributed to Yuming Huang.

33 records · Page 2Linked to original sources

arXiv2024

Less is More: Efficient Brain-Inspired Learning for Autonomous Driving Trajectory Prediction

Accurately and safely predicting the trajectories of surrounding vehicles is essential for fully realizing autonomous driving (AD). This paper presents the Human-Like Trajectory Prediction model (HLTP++), which emulates human cognitive processes to improve trajectory prediction in AD. HLTP++ incorporates a novel teacher-student knowledge distillation framework. The "teacher" model equipped with an adaptive visual sector, mimics the dynamic allocation of attention human drivers exhibit based on factors like spatial orientation, proximity, and driving speed. On the other hand, the "student" model focuses on real-time interaction and human decision-making, drawing parallels to the human memory storage mechanism. Furthermore, we improve the model's efficiency by introducing a new Fourier Adaptive Spike Neural Network (FA-SNN), allowing for faster and more precise predictions with fewer parameters. Evaluated using the NGSIM, HighD, and MoCAD benchmarks, HLTP++ demonstrates superior performance compared to existing models, which reduces the predicted trajectory error with over 11% on the NGSIM dataset and 25% on the HighD datasets. Moreover, HLTP++ demonstrates strong adaptability in challenging environments with incomplete input data. This marks a significant stride in the journey towards fully AD systems.

cs.AI↗

arXiv2024

MRHER: Model-based Relay Hindsight Experience Replay for Sequential Object Manipulation Tasks with Sparse Rewards

Sparse rewards pose a significant challenge to achieving high sample efficiency in goal-conditioned reinforcement learning (RL). Specifically, in sequential manipulation tasks, the agent receives failure rewards until it successfully completes the entire manipulation task, which leads to low sample efficiency. To tackle this issue and improve sample efficiency, we propose a novel model-based RL framework called Model-based Relay Hindsight Experience Replay (MRHER). MRHER breaks down a continuous task into subtasks with increasing complexity and utilizes the previous subtask to guide the learning of the subsequent one. Instead of using Hindsight Experience Replay (HER) in every subtask, we design a new robust model-based relabeling method called Foresight relabeling (FR). FR predicts the future trajectory of the hindsight state and relabels the expected goal as a goal achieved on the virtual future trajectory. By incorporating FR, MRHER effectively captures more information from historical experiences, leading to improved sample efficiency, particularly in object-manipulation environments. Experimental results demonstrate that MRHER exhibits state-of-the-art sample efficiency in benchmark tasks, outperforming RHER by 13.79% and 14.29% in the FetchPush-v1 environment and FetchPickandPlace-v1 environment, respectively.

cs.RO↗

arXiv2024

Neural Slicer for Multi-Axis 3D Printing

We introduce a novel neural network-based computational pipeline as a representation-agnostic slicer for multi-axis 3D printing. This advanced slicer can work on models with diverse representations and intricate topology. The approach involves employing neural networks to establish a deformation mapping, defining a scalar field in the space surrounding an input model. Isosurfaces are subsequently extracted from this field to generate curved layers for 3D printing. Creating a differentiable pipeline enables us to optimize the mapping through loss functions directly defined on the field gradients as the local printing directions. New loss functions have been introduced to meet the manufacturing objectives of support-free and strength reinforcement. Our new computation pipeline relies less on the initial values of the field and can generate slicing results with significantly improved performance.

cs.CG↗

arXiv2024

High Spectral-Efficiency, Ultra-low MIMO SDM Transmission over a Field-Deployed Multi-Core OAM Fiber

Few-mode multi-core fiber (FM-MCF) based Space-Division Multiplexing (SDM) systems possess the potential to maximize the number of multiplexed spatial channels per fiber by harnessing both the space (fiber cores) and mode (optical mode per core) dimensions. However, to date, no SDM transmissions over field-deployed FM-MCFs in realistic outdoor settings have been reported, which contrasts with SDM schemes demonstrated using single-mode multi-core fibers (SM-MCFs) installed in practical fiber cable ducts. In this paper, we present the successful demonstration of bidirectional SDM transmission over a 5-km field-deployed seven ring-core fiber (7-RCF) with a cladding diameter of 178 $μ$m, achieving a Spectral Efficiency (SE) of 2$\times$201.6 bit/s/Hz. This work establishes a new record for the highest SE attained in SDM demonstrations utilizing field-deployed fiber cables, achieving an approximate 10x increase compared to the SE of reported field-deployed optical fiber cable transmission systems. Notably, these results are realized through the utilization of small-scale modular 4$\times$4 multiple-input multiple-output (MIMO) processing with a time-domain equalization (TDE) tap number not exceeding 15, maintaining a complexity per unit capacity comparable to that of MIMO equalization in SDM demonstrations employing weakly coupled SM-MCF cables. These results underscore the significant potential for achieving heightened SE and expanding capacity per individual fiber using SDM techniques in practical applications.

cs.NI↗

arXiv2024

Exceptional Mechanical Performance by Spatial Printing with Continuous Fiber: Curved Slicing, Toolpath Generation and Physical Verification

This work explores a spatial printing method to fabricate continuous fiber-reinforced thermoplastic composites (CFRTPCs), which can achieve exceptional mechanical performance. For models giving complex 3D stress distribution under loads, typical planar-layer based fiber placement usually fails to provide sufficient reinforcement due to their orientations being constrained to planes. The effectiveness of fiber reinforcement could be maximized by using multi-axis additive manufacturing (MAAM) to better control the orientation of continuous fibers in 3D-printed composites. Here, we propose a computational approach to generate 3D toolpaths that satisfy two major reinforcement objectives: 1) following the maximal stress directions in critical regions and 2) connecting multiple load-bearing regions by continuous fibers. Principal stress lines are first extracted in an input solid model to identify critical regions. Curved layers aligned with maximal stresses in these critical regions are generated by computing an optimized scalar field and extracting its iso-surfaces. Then, topological analysis and operations are applied to each curved layer to generate a computational domain that preserves fiber continuity between load-bearing regions. Lastly, continuous fiber toolpaths aligned with maximal stresses are generated on each surface layer by computing an optimized scalar field and extracting its iso-curves. A hardware system with dual robotic arms is employed to conduct the physical MAAM tasks depositing polymer or fiber reinforced polymer composite materials by applying a force normal to the extrusion plane to aid consolidation. When comparing to planar-layer based printing results in tension, up to 644% failure load and 240% stiffness are observed on shapes fabricated by our spatial printing method.

cs.CG↗

arXiv2023

Why semantics matters: A deep study on semantic particle-filtering localization in a LiDAR semantic pole-map

In most urban and suburban areas, pole-like structures such as tree trunks or utility poles are ubiquitous. These structural landmarks are very useful for the localization of autonomous vehicles given their geometrical locations in maps and measurements from sensors. In this work, we aim at creating an accurate map for autonomous vehicles or robots with pole-like structures as the dominant localization landmarks, hence called pole-map. In contrast to the previous pole-based mapping or localization methods, we exploit the semantics of pole-like structures. Specifically, semantic segmentation is achieved by a new mask-range transformer network in a mask-classfication paradigm. With the semantics extracted for the pole-like structures in each frame, a multi-layer semantic pole-map is created by aggregating the detected pole-like structures from all frames. Given the semantic pole-map, we propose a semantic particle-filtering localization scheme for vehicle localization. Theoretically, we have analyzed why the semantic information can benefit the particle-filter localization, and empirically it is validated on the public SemanticKITTI dataset that the particle-filtering localization with semantics achieves much better performance than the counterpart without semantics when each particle's odometry prediction and/or the online observation is subject to uncertainties at significant levels.

cs.CV↗

arXiv2023

Support Generation for Robot-Assisted 3D Printing with Curved Layers

Robot-assisted 3D printing has drawn a lot of attention by its capability to fabricate curved layers that are optimized according to different objectives. However, the support generation algorithm based on a fixed printing direction for planar layers cannot be directly applied for curved layers as the orientation of material accumulation is dynamically varied. In this paper, we propose a skeleton-based support generation method for robot-assisted 3D printing with curved layers. The support is represented as an implicit solid so that the problems of numerical robustness can be effectively avoided. The effectiveness of our algorithm is verified on a dual-material printing platform that consists of a robotic arm and a newly designed dual-material extruder. Experiments have been successfully conducted on our system to fabricate a variety of freeform models.

cs.RO↗

arXiv2023

Salt and pepper noise removal method based on stationary Framelet transform with non-convex sparsity regularization

Salt and pepper noise removal is a common inverse problem in image processing. Traditional denoising methods have two limitations. First, noise characteristics are often not described accurately. For example, the noise location information is often ignored and the sparsity of the salt and pepper noise is often described by L1 norm, which cannot illustrate the sparse variables clearly. Second, conventional methods separate the contaminated image into a recovered image and a noise part, thus resulting in recovering an image with unsatisfied smooth parts and detail parts. In this study, we introduce a noise detection strategy to determine the position of the noise, and a non-convex sparsity regularization depicted by Lp quasi-norm is employed to describe the sparsity of the noise, thereby addressing the first limitation. The morphological component analysis framework with stationary Framelet transform is adopted to decompose the processed image into cartoon, texture, and noise parts to resolve the second limitation. Then, the alternating direction method of multipliers (ADMM) is employed to solve the proposed model. Finally, experiments are conducted to verify the proposed method and compare it with some current state-of-the-art denoising methods. The experimental results show that the proposed method can remove salt and pepper noise while preserving the details of the processed image.

eess.IV↗

arXiv2022

MaskRange: A Mask-classification Model for Range-view based LiDAR Segmentation

Range-view based LiDAR segmentation methods are attractive for practical applications due to their direct inheritance from efficient 2D CNN architectures. In literature, most range-view based methods follow the per-pixel classification paradigm. Recently, in the image segmentation domain, another paradigm formulates segmentation as a mask-classification problem and has achieved remarkable performance. This raises an interesting question: can the mask-classification paradigm benefit the range-view based LiDAR segmentation and achieve better performance than the counterpart per-pixel paradigm? To answer this question, we propose a unified mask-classification model, MaskRange, for the range-view based LiDAR semantic and panoptic segmentation. Along with the new paradigm, we also propose a novel data augmentation method to deal with overfitting, context-reliance, and class-imbalance problems. Extensive experiments are conducted on the SemanticKITTI benchmark. Among all published range-view based methods, our MaskRange achieves state-of-the-art performance with $66.10$ mIoU on semantic segmentation and promising results with $53.10$ PQ on panoptic segmentation with high efficiency. Our code will be released.

cs.CV↗

arXiv2022

INTERN: A New Learning Paradigm Towards General Vision

Enormous waves of technological innovations over the past several years, marked by the advances in AI technologies, are profoundly reshaping the industry and the society. However, down the road, a key challenge awaits us, that is, our capability of meeting rapidly-growing scenario-specific demands is severely limited by the cost of acquiring a commensurate amount of training data. This difficult situation is in essence due to limitations of the mainstream learning paradigm: we need to train a new model for each new scenario, based on a large quantity of well-annotated data and commonly from scratch. In tackling this fundamental problem, we move beyond and develop a new learning paradigm named INTERN. By learning with supervisory signals from multiple sources in multiple stages, the model being trained will develop strong generalizability. We evaluate our model on 26 well-known datasets that cover four categories of tasks in computer vision. In most cases, our models, adapted with only 10% of the training data in the target domain, outperform the counterparts trained with the full set of data, often by a significant margin. This is an important step towards a promising prospect where such a model with general vision capability can dramatically reduce our reliance on data, thus expediting the adoption of AI technologies. Furthermore, revolving around our new paradigm, we also introduce a new data system, a new architecture, and a new benchmark, which, together, form a general vision ecosystem to support its future development in an open and inclusive manner. See project website at https://opengvlab.shlab.org.cn .

cs.CV↗

arXiv2022

Cost-Effective Algorithms for Average-Case Interactive Graph Search

Interactive graph search (IGS) uses human intelligence to locate the target node in hierarchy, which can be applied for image classification, product categorization and searching a database. Specifically, IGS aims to categorize an object from a given category hierarchy via several rounds of interactive queries. In each round of query, the search algorithm picks a category and receives a boolean answer on whether the object is under the chosen category. The main efficiency goal asks for the minimum number of queries to identify the correct hierarchical category for the object. In this paper, we study the average-case interactive graph search (AIGS) problem that aims to minimize the expected number of queries when the objects follow a probability distribution. We propose a greedy search policy that splits the candidate categories as evenly as possible with respect to the probability weights, which offers an approximation guarantee of $O(\log n)$ for AIGS given the category hierarchy is a directed acyclic graph (DAG), where $n$ is the total number of categories. Meanwhile, if the input hierarchy is a tree, we show that a constant approximation factor of $(1+\sqrt{5})/2$ can be achieved. Furthermore, we present efficient implementations of the greedy policy, namely GreedyTree and GreedyDAG, that can quickly categorize the object in practice. Extensive experiments in real-world scenarios are carried out to demonstrate the superiority of our proposed methods.

cs.DB↗

arXiv2021

Do the Rich Get Richer? Fairness Analysis for Blockchain Incentives

Proof-of-Work (PoW) is the most widely adopted incentive model in current blockchain systems, which unfortunately is energy inefficient. Proof-of-Stake (PoS) is then proposed to tackle the energy issue. The rich-get-richer concern of PoS has been heavily debated in the blockchain community. The debate is centered around the argument that whether rich miners possessing more stakes will obtain higher staking rewards and further increase their potential income in the future. In this paper, we define two types of fairness, i.e., expectational fairness and robust fairness, that are useful for answering this question. In particular, expectational fairness illustrates that the expected income of a miner is proportional to her initial investment, indicating that the expected return on investment is a constant. To better capture the uncertainty of mining outcomes, robust fairness is proposed to characterize whether the return on investment concentrates to a constant with high probability as time evolves. Our analysis shows that the classical PoW mechanism can always preserve both types of fairness as long as the mining game runs for a sufficiently long time. Furthermore, we observe that current PoS blockchains implement various incentive models and discuss three representatives, namely ML-PoS, SL-PoS and C-PoS. We find that (i) ML-PoS (e.g., Qtum and Blackcoin) preserves expectational fairness but may not achieve robust fairness, (ii) SL-PoS (e.g., NXT) does not protect any type of fairness, and (iii) C-PoS (e.g., Ethereum 2.0) outperforms ML-PoS in terms of robust fairness while still maintaining expectational fairness. Finally, massive experiments on real blockchain systems and extensive numerical simulations are performed to validate our analysis.

cs.CR↗

arXiv2019

Community Detection and Improved Detectability in Multiplex Networks

We investigate the widely encountered problem of detecting communities in multiplex networks, such as social networks, with an unknown arbitrary heterogeneous structure. To improve detectability, we propose a generative model that leverages the multiplicity of a single community in multiple layers, with no prior assumption on the relation of communities among different layers. Our model relies on a novel idea of incorporating a large set of generic localized community label constraints across the layers, in conjunction with the celebrated Stochastic Block Model (SBM) in each layer. Accordingly, we build a probabilistic graphical model over the entire multiplex network by treating the constraints as Bayesian priors. We mathematically prove that these constraints/priors promote existence of identical communities across layers without introducing further correlation between individual communities. The constraints are further tailored to render a sparse graphical model and the numerically efficient Belief Propagation algorithm is subsequently employed. We further demonstrate by numerical experiments that in the presence of consistent communities between different layers, consistent communities are matched, and the detectability is improved over a single layer. We compare our model with a "correlated model" which exploits the prior knowledge of community correlation between layers. Similar detectability improvement is obtained under such a correlation, even though our model relies on much milder assumptions than the correlated model. Our model even shows a better detection performance over a certain correlation and signal to noise ratio (SNR) range. In the absence of community correlation, the correlation model naturally fails, while ours maintains its performance.

cs.SI↗

arXiv2019

Deep Adversarial Belief Networks

We present a novel adversarial framework for training deep belief networks (DBNs), which includes replacing the generator network in the methodology of generative adversarial networks (GANs) with a DBN and developing a highly parallelizable numerical algorithm for training the resulting architecture in a stochastic manner. Unlike the existing techniques, this framework can be applied to the most general form of DBNs with no requirement for back propagation. As such, it lays a new foundation for developing DBNs on a par with GANs with various regularization units, such as pooling and normalization. Foregoing back-propagation, our framework also exhibits superior scalability as compared to other DBN and GAN learning techniques. We present a number of numerical experiments in computer vision as well as neurosciences to illustrate the main advantages of our approach.

cs.LG↗

arXiv2015

Friction and Pressure-Dependence of Force Chain Communities in Granular Materials

Granular materials transmit stress via a network of force chains. Despite the importance of these chains to characterizing the stress state and dynamics of the system, there is no common framework for quantifying their their properties. Recently, attention has turned to the tools of network science as a promising route to such a description. In this paper, we apply community detection techniques to numerically-generated packings of spheres over a range of interparticle friction coefficients and confining pressures. In order to extract chain-like features, we use a modularity maximization with a recently-developed geographical null model \cite{Bassett2015}, and optimize the technique to detect branched structures by minimizing the normalized convex hull of the detected communities. We characterize the force chain communities by their size (number of particles), network strength (internal forces), and normalized convex hull ratio (sparseness). We find the that the first two exhibit an approximately linear correlation and are therefore largely redundant. For both pressure $P$ and interparticle friction $μ$, we observe crossovers in behavior. For $μ\lesssim 0.1$, the packings exhibit more sensitivity to pressure. In addition, we identify a crossover pressure where the frictional dependence switches from having more large/strong communities at low $μ$ vs. high $μ$. We explain these phenomena by comparison to the spatial distribution of communities along the vertical axis of the system. These results provide new tools for considering the mesoscale structure of a granular system and pave the way for reduced descriptions based on the force chain structure.

cond-mat.soft↗