arXiv subjects

Yunlong Wang

Publications and source records attributed to Yunlong Wang.

At least 55 records · Page 3Linked to original sources

arXiv2024

6-DoF Grasp Detection in Clutter with Enhanced Receptive Field and Graspable Balance Sampling

6-DoF grasp detection of small-scale grasps is crucial for robots to perform specific tasks. This paper focuses on enhancing the recognition capability of small-scale grasping, aiming to improve the overall accuracy of grasping prediction results and the generalization ability of the network. We propose an enhanced receptive field method that includes a multi-radii cylinder grouping module and a passive attention module. This method enhances the receptive field area within the graspable space and strengthens the learning of graspable features. Additionally, we design a graspable balance sampling module based on a segmentation network, which enables the network to focus on features of small objects, thereby improving the recognition capability of small-scale grasping. Our network achieves state-of-the-art performance on the GraspNet-1Billion dataset, with an overall improvement of approximately 10% in average precision@k (AP). Furthermore, we deployed our grasp detection model in pybullet grasping platform, which validates the effectiveness of our method.

cs.RO↗

arXiv2024

Witnessing Quantum Incompatibility Structures in High-Dimensional Multimeasurement Systems

Quantum incompatibility, referred as the phenomenon that some quantum measurements cannot be performed simultaneously, is necessary for various quantum information processing tasks, such as nonlocality and steering. When these applications come to high-dimensional multimeasurement scenarios, it is crucial and challenging to witness the incompatibility of measurements with complex structures. To address this problem, we propose a modified quantum state discrimination protocol that decomposes complex compatibility structures into pairwise ones and employs noise robustness to bound incompatibility structures. We then derive arithmetic bounds for arbitrary measurements and analytical bounds for mutually unbiased bases, and capture some quantum incompatibility structures where measurements are partly compatible and partly incompatible. Finally, we experimentally demonstrate our results and connect them with quantum steering, quantum simulability and quantum communications.

quant-ph↗

arXiv2024

High Definition Map Mapping and Update: A General Overview and Future Directions

Along with the rapid growth of autonomous vehicles (AVs), more and more demands are required for environment perception technology. Among others, HD mapping has become one of the more prominent roles in helping the vehicle realize essential tasks such as localization and path planning. While increasing research efforts have been directed toward HD Map development. However, a comprehensive overview of the overall HD map mapping and update framework is still lacking. This article introduces the development and current state of the algorithm involved in creating HD map mapping and its maintenance. As part of this study, the primary data preprocessing approach of processing raw data to information ready to feed for mapping and update purposes, semantic segmentation, and localization are also briefly reviewed. Moreover, the map taxonomy, ontology, and quality assessment are extensively discussed, the map data's general representation method is presented, and the mapping algorithm ranging from SLAM to transformers learning-based approaches are also discussed. The development of the HD map update algorithm, from change detection to the update methods, is also presented. Finally, the authors discuss possible future developments and the remaining challenges in HD map mapping and update technology. This paper simultaneously serves as a position paper and tutorial to those new to HD map mapping and update domains.

cs.RO↗

arXiv2024

ToolEENet: Tool Affordance 6D Pose Estimation

The exploration of robotic dexterous hands utilizing tools has recently attracted considerable attention. A significant challenge in this field is the precise awareness of a tool's pose when grasped, as occlusion by the hand often degrades the quality of the estimation. Additionally, the tool's overall pose often fails to accurately represent the contact interaction, thereby limiting the effectiveness of vision-guided, contact-dependent activities. To overcome this limitation, we present the innovative TOOLEE dataset, which, to the best of our knowledge, is the first to feature affordance segmentation of a tool's end-effector (EE) along with its defined 6D pose based on its usage. Furthermore, we propose the ToolEENet framework for accurate 6D pose estimation of the tool's EE. This framework begins by segmenting the tool's EE from raw RGBD data, then uses a diffusion model-based pose estimator for 6D pose estimation at a category-specific level. Addressing the issue of symmetry in pose estimation, we introduce a symmetry-aware pose representation that enhances the consistency of pose estimation. Our approach excels in this field, demonstrating high levels of precision and generalization. Furthermore, it shows great promise for application in contact-based manipulation scenarios. All data and codes are available on the project website: https://tooleenet-iros2024.github.io/

cs.RO↗

arXiv2024

Harnessing LLMs for Automated Video Content Analysis: An Exploratory Workflow of Short Videos on Depression

Despite the growing interest in leveraging Large Language Models (LLMs) for content analysis, current studies have primarily focused on text-based content. In the present work, we explored the potential of LLMs in assisting video content analysis by conducting a case study that followed a new workflow of LLM-assisted multimodal content analysis. The workflow encompasses codebook design, prompt engineering, LLM processing, and human evaluation. We strategically crafted annotation prompts to get LLM Annotations in structured form and explanation prompts to generate LLM Explanations for a better understanding of LLM reasoning and transparency. To test LLM's video annotation capabilities, we analyzed 203 keyframes extracted from 25 YouTube short videos about depression. We compared the LLM Annotations with those of two human coders and found that LLM has higher accuracy in object and activity Annotations than emotion and genre Annotations. Moreover, we identified the potential and limitations of LLM's capabilities in annotating videos. Based on the findings, we explore opportunities and challenges for future research and improvements to the workflow. We also discuss ethical concerns surrounding future studies based on LLM-assisted video analysis.

cs.HC↗

arXiv2024

Artificial Immune System of Secure Face Recognition Against Adversarial Attacks

Insect production for food and feed presents a promising supplement to ensure food safety and address the adverse impacts of agriculture on climate and environment in the future. However, optimisation is required for insect production to realise its full potential. This can be by targeted improvement of traits of interest through selective breeding, an approach which has so far been underexplored and underutilised in insect farming. Here we present a comprehensive review of the selective breeding framework in the context of insect production. We systematically evaluate adjustments of selective breeding techniques to the realm of insects and highlight the essential components integral to the breeding process. The discussion covers every step of a conventional breeding scheme, such as formulation of breeding objectives, phenotyping, estimation of genetic parameters and breeding values, selection of appropriate breeding strategies, and mitigation of issues associated with genetic diversity depletion and inbreeding. This review combines knowledge from diverse disciplines, bridging the gap between animal breeding, quantitative genetics, evolutionary biology, and entomology, offering an integrated view of the insect breeding research area and uniting knowledge which has previously remained scattered across diverse fields of expertise.

cs.CV↗

arXiv2024

StreamingFlow: Streaming Occupancy Forecasting with Asynchronous Multi-modal Data Streams via Neural Ordinary Differential Equation

Predicting the future occupancy states of the surrounding environment is a vital task for autonomous driving. However, current best-performing single-modality methods or multi-modality fusion perception methods are only able to predict uniform snapshots of future occupancy states and require strictly synchronized sensory data for sensor fusion. We propose a novel framework, StreamingFlow, to lift these strong limitations. StreamingFlow is a novel BEV occupancy predictor that ingests asynchronous multi-sensor data streams for fusion and performs streaming forecasting of the future occupancy map at any future timestamps. By integrating neural ordinary differential equations (N-ODE) into recurrent neural networks, StreamingFlow learns derivatives of BEV features over temporal horizons, updates the implicit sensor's BEV features as part of the fusion process, and propagates BEV states to the desired future time point. It shows good zero-shot generalization ability of prediction, reflected in the interpolation of the observed prediction time horizon and the reasonable inference of the unseen farther future period. Extensive experiments on two large-scale datasets, nuScenes and Lyft L5, demonstrate that StreamingFlow significantly outperforms previous vision-based, LiDAR-based methods, and shows superior performance compared to state-of-the-art fusion-based methods.

cs.CV↗

arXiv2024

PanoSSC: Exploring Monocular Panoptic 3D Scene Reconstruction for Autonomous Driving

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect obstacles regardless of their shape and occlusion. Modern occupancy networks mainly focus on reconstructing visible voxels from object surfaces with voxel-wise semantic prediction. Usually, they suffer from inconsistent predictions of one object and mixed predictions for adjacent objects. These confusions may harm the safety of downstream planning modules. To this end, we investigate panoptic segmentation on 3D voxel scenarios and propose an instance-aware occupancy network, PanoSSC. We predict foreground objects and backgrounds separately and merge both in post-processing. For foreground instance grouping, we propose a novel 3D instance mask decoder that can efficiently extract individual objects. we unify geometric reconstruction, 3D semantic segmentation, and 3D instance segmentation into PanoSSC framework and propose new metrics for evaluating panoptic voxels. Extensive experiments show that our method achieves competitive results on SemanticKITTI semantic scene completion benchmark.

cs.CV↗

arXiv2024

CLIP model is an Efficient Online Lifelong Learner

Online Lifelong Learning (OLL) addresses the challenge of learning from continuous and non-stationary data streams. Existing online lifelong learning methods based on image classification models often require preset conditions such as the total number of classes or maximum memory capacity, which hinders the realization of real never-ending learning and renders them impractical for real-world scenarios. In this work, we propose that vision-language models, such as Contrastive Language-Image Pretraining (CLIP), are more suitable candidates for online lifelong learning. We discover that maintaining symmetry between image and text is crucial during Parameter-Efficient Tuning (PET) for CLIP model in online lifelong learning. To this end, we introduce the Symmetric Image-Text (SIT) tuning strategy. We conduct extensive experiments on multiple lifelong learning benchmark datasets and elucidate the effectiveness of SIT through gradient analysis. Additionally, we assess the impact of lifelong learning on generalizability of CLIP and found that tuning the image encoder is beneficial for lifelong learning, while tuning the text encoder aids in zero-shot learning.

cs.CV↗

arXiv2024

Rethinking Class-Incremental Learning from a Dynamic Imbalanced Learning Perspective

Deep neural networks suffer from catastrophic forgetting when continually learning new concepts. In this paper, we analyze this problem from a data imbalance point of view. We argue that the imbalance between old task and new task data contributes to forgetting of the old tasks. Moreover, the increasing imbalance ratio during incremental learning further aggravates the problem. To address the dynamic imbalance issue, we propose Uniform Prototype Contrastive Learning (UPCL), where uniform and compact features are learned. Specifically, we generate a set of non-learnable uniform prototypes before each task starts. Then we assign these uniform prototypes to each class and guide the feature learning through prototype contrastive learning. We also dynamically adjust the relative margin between old and new classes so that the feature distribution will be maintained balanced and compact. Finally, we demonstrate through extensive experiments that the proposed method achieves state-of-the-art performance on several benchmark datasets including CIFAR100, ImageNet100 and TinyImageNet.

cs.CV↗

arXiv2024

Learning Explicit Contact for Implicit Reconstruction of Hand-held Objects from Monocular Images

Reconstructing hand-held objects from monocular RGB images is an appealing yet challenging task. In this task, contacts between hands and objects provide important cues for recovering the 3D geometry of the hand-held objects. Though recent works have employed implicit functions to achieve impressive progress, they ignore formulating contacts in their frameworks, which results in producing less realistic object meshes. In this work, we explore how to model contacts in an explicit way to benefit the implicit reconstruction of hand-held objects. Our method consists of two components: explicit contact prediction and implicit shape reconstruction. In the first part, we propose a new subtask of directly estimating 3D hand-object contacts from a single image. The part-level and vertex-level graph-based transformers are cascaded and jointly learned in a coarse-to-fine manner for more accurate contact probabilities. In the second part, we introduce a novel method to diffuse estimated contact states from the hand mesh surface to nearby 3D space and leverage diffused contact probabilities to construct the implicit neural representation for the manipulated object. Benefiting from estimating the interaction patterns between the hand and the object, our method can reconstruct more realistic object meshes, especially for object parts that are in contact with hands. Extensive experiments on challenging benchmarks show that the proposed method outperforms the current state of the arts by a great margin. Our code is publicly available at https://junxinghu.github.io/projects/hoi.html.

cs.CV↗

arXiv2024

A Survey on Monocular Re-Localization: From the Perspective of Scene Map Representation

Monocular Re-Localization (MRL) is a critical component in autonomous applications, estimating 6 degree-of-freedom ego poses w.r.t. the scene map based on monocular images. In recent decades, significant progress has been made in the development of MRL techniques. Numerous algorithms have accomplished extraordinary success in terms of localization accuracy and robustness. In MRL, scene maps are represented in various forms, and they determine how MRL methods work and how MRL methods perform. However, to the best of our knowledge, existing surveys do not provide systematic reviews about the relationship between MRL solutions and their used scene map representation. This survey fills the gap by comprehensively reviewing MRL methods from such a perspective, promoting further research. 1) We commence by delving into the problem definition of MRL, exploring current challenges, and comparing ours with existing surveys. 2) Many well-known MRL methods are categorized and reviewed into five classes according to the representation forms of utilized map, i.e., geo-tagged frames, visual landmarks, point clouds, vectorized semantic map, and neural network-based map. 3) To quantitatively and fairly compare MRL methods with various map, we introduce some public datasets and provide the performances of some state-of-the-art MRL methods. The strengths and weakness of MRL methods with different map are analyzed. 4) We finally introduce some topics of interest in this field and give personal opinions. This survey can serve as a valuable referenced materials for MRL, and a continuously updated summary of this survey is publicly available to the community at: https://github.com/jinyummiao/map-in-mono-reloc.

cs.RO↗

arXiv2023

Towards Trustworthy Explanation: On Causal Rationalization

With recent advances in natural language processing, rationalization becomes an essential self-explaining diagram to disentangle the black box by selecting a subset of input texts to account for the major variation in prediction. Yet, existing association-based approaches on rationalization cannot identify true rationales when two or more snippets are highly inter-correlated and thus provide a similar contribution to prediction accuracy, so-called spuriousness. To address this limitation, we novelly leverage two causal desiderata, non-spuriousness and efficiency, into rationalization from the causal inference perspective. We formally define a series of probabilities of causation based on a newly proposed structural causal model of rationalization, with its theoretical identification established as the main component of learning necessary and sufficient rationales. The superior performance of the proposed causal rationalization is demonstrated on real-world review and medical datasets with extensive experiments compared to state-of-the-art methods.

cs.LG↗

arXiv2023

Multiscale Dynamic Graph Representation for Biometric Recognition with Occlusions

Occlusion is a common problem with biometric recognition in the wild. The generalization ability of CNNs greatly decreases due to the adverse effects of various occlusions. To this end, we propose a novel unified framework integrating the merits of both CNNs and graph models to overcome occlusion problems in biometric recognition, called multiscale dynamic graph representation (MS-DGR). More specifically, a group of deep features reflected on certain subregions is recrafted into a feature graph (FG). Each node inside the FG is deemed to characterize a specific local region of the input sample, and the edges imply the co-occurrence of non-occluded regions. By analyzing the similarities of the node representations and measuring the topological structures stored in the adjacent matrix, the proposed framework leverages dynamic graph matching to judiciously discard the nodes corresponding to the occluded parts. The multiscale strategy is further incorporated to attain more diverse nodes representing regions of various sizes. Furthermore, the proposed framework exhibits a more illustrative and reasonable inference by showing the paired nodes. Extensive experiments demonstrate the superiority of the proposed framework, which boosts the accuracy in both natural and occlusion-simulated cases by a large margin compared with that of baseline methods.

cs.CV↗

arXiv2023

NaMemo2: Facilitating Teacher-Student Interaction with Theory-Based Design and Student Autonomy Consideration

Teacher-student interaction (TSI) is essential for learning efficiency and harmonious teacher-student interpersonal relationships. However, studies on TSI support tools often focus on teacher needs while neglecting student needs and autonomy. To enhance both lecturer competence in delivering interpersonal interaction and student autonomy in TSI, we developed NaMemo2, a novel augmented-reality system that allows students to express their willingness to TSI and displays student information to teachers during lectures. The design and evaluation process follows a new framework, STUDIER, which can facilitate the development of theory-based ethnics-aware TSI support tools in general. The quantitative results of our four-week field study with four classes in a university suggested that NaMemo2 can improve 1) TSI in the classroom from both teacher and student perspectives, 2) student attitudes and willingness to TSI, and 3) student attitudes to the deployment of NaMemo2. The qualitative feedback from students and teachers indicated that improving TSI may be responsible for improved attention in students and a better classroom atmosphere during lectures.

cs.HC↗

arXiv2023

SRCN3D: Sparse R-CNN 3D for Compact Convolutional Multi-View 3D Object Detection and Tracking

Detection and tracking of moving objects is an essential component in environmental perception for autonomous driving. In the flourishing field of multi-view 3D camera-based detectors, different transformer-based pipelines are designed to learn queries in 3D space from 2D feature maps of perspective views, but the dominant dense BEV query mechanism is computationally inefficient. This paper proposes Sparse R-CNN 3D (SRCN3D), a novel two-stage fully-sparse detector that incorporates sparse queries, sparse attention with box-wise sampling, and sparse prediction. SRCN3D adopts a cascade structure with the twin-track update of both a fixed number of query boxes and latent query features. Our novel sparse feature sampling module only utilizes local 2D region of interest (RoI) features calculated by the projection of 3D query boxes for further box refinement, leading to a fully-convolutional and deployment-friendly pipeline. For multi-object tracking, motion features, query features and RoI features are comprehensively utilized in multi-hypotheses data association. Extensive experiments on nuScenes dataset demonstrate that SRCN3D achieves competitive performance in both 3D object detection and multi-object tracking tasks, while also exhibiting superior efficiency compared to transformer-based methods. Code and models are available at https://github.com/synsin0/SRCN3D.

cs.CV↗

arXiv2023

Toward universal transformations of orbital angular momentum of a single photon

High-dimensional quantum systems offer many advantages over low-dimensional quantum systems. Meanwhile, unitary transformations on quantum states are important parts in various quantum information tasks, whereas they become technically infeasible as the dimensionality increases. The photonic orbital angular momentum (OAM), which is inherit in the transverse spatial mode of photons, offers a natural carrier to encode information in high-dimensional spaces. However, it's even more challenging to realize arbitrary unitary transformations on the photonic OAM states. Here, by combining the path and OAM degrees of freedom of a single photon, an efficient scheme to realize arbitrary unitary transformations on the path-OAM coupled quantum states is proposed. The proposal reduces the number of required interferometers by approximately one quarter compared with previous works, while maintaining the symmetric structure. It is shown that by using OAM-to-path interfaces, this scheme can be utilized to realize arbitrary unitary transformations on the OAM states of photons. This work facilitates the development of high-dimension quantum state transformations, and opens a new door to the manipulation of the photonic OAM states.

quant-ph↗

arXiv2023

Poses as Queries: Image-to-LiDAR Map Localization with Transformers

High-precision vehicle localization with commercial setups is a crucial technique for high-level autonomous driving tasks. Localization with a monocular camera in LiDAR map is a newly emerged approach that achieves promising balance between cost and accuracy, but estimating pose by finding correspondences between such cross-modal sensor data is challenging, thereby damaging the localization accuracy. In this paper, we address the problem by proposing a novel Transformer-based neural network to register 2D images into 3D LiDAR map in an end-to-end manner. Poses are implicitly represented as high-dimensional feature vectors called pose queries and can be iteratively updated by interacting with the retrieved relevant information from cross-model features using attention mechanism in a proposed POse Estimator Transformer (POET) module. Moreover, we apply a multiple hypotheses aggregation method that estimates the final poses by performing parallel optimization on multiple randomly initialized pose queries to reduce the network uncertainty. Comprehensive analysis and experimental results on public benchmark conclude that the proposed image-to-LiDAR map localization network could achieve state-of-the-art performances in challenging cross-modal localization tasks.

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