arXiv subjects

Zhenyu Wang

Publications and source records attributed to Zhenyu Wang.

At least 109 records · Page 6Linked to original sources

arXiv2024

Multi-AUV Cooperative Underwater Multi-Target Tracking Based on Dynamic-Switching-enabled Multi-Agent Reinforcement Learning

In recent years, autonomous underwater vehicle (AUV) swarms are gradually becoming popular and have been widely promoted in ocean exploration or underwater tracking, etc. In this paper, we propose a multi-AUV cooperative underwater multi-target tracking algorithm especially when the real underwater factors are taken into account. We first give normally modelling approach for the underwater sonar-based detection and the ocean current interference on the target tracking process. Then, based on software-defined networking (SDN), we regard the AUV swarm as a underwater ad-hoc network and propose a hierarchical software-defined multi-AUV reinforcement learning (HSARL) architecture. Based on the proposed HSARL architecture, we propose the "Dynamic-Switching" mechanism, it includes "Dynamic-Switching Attention" and "Dynamic-Switching Resampling" mechanisms which accelerate the HSARL algorithm's convergence speed and effectively prevents it from getting stuck in a local optimum state. Additionally, we introduce the reward reshaping mechanism for further accelerating the convergence speed of the proposed HSARL algorithm in early phase. Finally, based on a proposed AUV classification method, we propose a cooperative tracking algorithm called Dynamic-Switching-Based MARL (DSBM)-driven tracking algorithm. Evaluation results demonstrate that our proposed DSBM tracking algorithm can perform precise underwater multi-target tracking, comparing with many of recent research products in terms of various important metrics.

cs.MA↗

arXiv2024

RoboMamba: Efficient Vision-Language-Action Model for Robotic Reasoning and Manipulation

A fundamental objective in robot manipulation is to enable models to comprehend visual scenes and execute actions. Although existing Vision-Language-Action (VLA) models for robots can handle a range of basic tasks, they still face challenges in two areas: (1) insufficient reasoning ability to tackle complex tasks, and (2) high computational costs for VLA model fine-tuning and inference. The recently proposed state space model (SSM) known as Mamba demonstrates promising capabilities in non-trivial sequence modeling with linear inference complexity. Inspired by this, we introduce RoboMamba, an end-to-end robotic VLA model that leverages Mamba to deliver both robotic reasoning and action capabilities, while maintaining efficient fine-tuning and inference. Specifically, we first integrate the vision encoder with Mamba, aligning visual tokens with language embedding through co-training, empowering our model with visual common sense and robotic-related reasoning. To further equip RoboMamba with SE(3) pose prediction abilities, we explore an efficient fine-tuning strategy with a simple policy head. We find that once RoboMamba possesses sufficient reasoning capability, it can acquire manipulation skills with minimal fine-tuning parameters (0.1\% of the model) and time. In experiments, RoboMamba demonstrates outstanding reasoning capabilities on general and robotic evaluation benchmarks. Meanwhile, our model showcases impressive pose prediction results in both simulation and real-world experiments, achieving inference speeds 3 times faster than existing VLA models. Our project web page: https://sites.google.com/view/robomamba-web

cs.CV↗

arXiv2024

Ultra-thin transistors and circuits for conformable electronics

Adapting electronics to perfectly conform to non-planar and rough surfaces, such as human skin, is a very challenging task which, if solved, could open up new applications in fields of high economic and scientific interest ranging from health to robotics, wearable electronics, human machine interface and Internet of Things. The key to success lies in defining a technology that can lead to the fabrication of ultra-thin devices while exploiting materials that are ultimately thin, with high mechanical flexibility and excellent electrical properties. Here, we report a hybrid approach for the definition of high-performance, ultra-thin and conformable electronic devices and circuits, based on the integration of ultimately thin semiconducting transition metal dichalcogenides (TMDC), i.e., MoS2, with organic gate dielectric material, i.e., polyvinyl formal (PVF) combined with the ink-jet printing of conductive PEDOT:PSS ink for electrodes definition. Through this cost-effective, fully bottom-up and solution-based approach, transistors and simple digital and analogue circuits are fabricated by a sequential stacking of ultrathin (nanometer) layers on a few micron thick polyimide substrate, which guarantees the high flexibility mandatory for the targeted applications.

physics.app-ph↗

arXiv2024

Grid-augmented vision: A simple yet effective approach for enhanced spatial understanding in multi-modal agents

Recent advances in multimodal models have demonstrated impressive capabilities in object recognition and scene understanding. However, these models often struggle with precise spatial localization - a critical capability for real-world applications. Inspired by how humans use grid-based references like chess boards and maps, we propose introducing explicit visual position encoding through a simple grid overlay approach. By adding a 9x9 black grid pattern onto input images, our method provides visual spatial guidance analogous to how positional encoding works in transformers, but in an explicit, visual form. Experiments on the COCO 2017 dataset demonstrate that our grid-based approach achieves significant improvements in localization accuracy, with a 107.4% increase in IoU (from 0.27 to 0.56) and a 194.4% improvement in GIoU (from 0.18 to 0.53) compared to baseline performance. Through attention visualization analysis, we show how this visual position encoding helps models better ground spatial relationships. Our method's simplicity and effectiveness make it particularly valuable for applications requiring accurate spatial reasoning, such as robotic manipulation, medical imaging, and autonomous navigation.

cs.CV↗

arXiv2024

Current-driven motion of magnetic domain-wall skyrmions

Domain-wall skyrmions (DWSKs) are topological spin textures confined within domain walls that have recently attracted significant attention due to their potential applications in racetrack memory technologies. In this study, we theoretically investigated the motion of DWSKs driven by spin-polarized currents in ferromagnetic strips. Our findings reveal that the motion of DWSKs is contingent upon the direction of the current. When the current is applied parallel to the domain wall, both spin-transfer torque (STT) and spin-orbit torque (SOT) can drive the DWSK along the domain wall. Conversely, for currents applied perpendicular to the domain wall, STT can induce DWSK motion by leveraging the skyrmion Hall effect as a driving force, whereas SOT-driven DWSKs halt their motion after sliding along the domain wall. Furthermore, we demonstrated the current-driven motion of DWSKs along curved domain walls and proposed a racetrack memory architecture utilizing DWSKs. These findings advance the understanding of DWSK dynamics and provide insights for the design of spintronic devices based on DWSKs.

cond-mat.mes-hall↗

arXiv2024

Query-by-Example Keyword Spotting Using Spectral-Temporal Graph Attentive Pooling and Multi-Task Learning

Existing keyword spotting (KWS) systems primarily rely on predefined keyword phrases. However, the ability to recognize customized keywords is crucial for tailoring interactions with intelligent devices. In this paper, we present a novel Query-by-Example (QbyE) KWS system that employs spectral-temporal graph attentive pooling and multi-task learning. This framework aims to effectively learn speaker-invariant and linguistic-informative embeddings for QbyE KWS tasks. Within this framework, we investigate three distinct network architectures for encoder modeling: LiCoNet, Conformer and ECAPA_TDNN. The experimental results on a substantial internal dataset of $629$ speakers have demonstrated the effectiveness of the proposed QbyE framework in maximizing the potential of simpler models such as LiCoNet. Particularly, LiCoNet, which is 13x more efficient, achieves comparable performance to the computationally intensive Conformer model (1.98% vs. 1.63\% FRR at 0.3 FAs/Hr).

cs.CL↗

arXiv2024

One for All: Multi-Domain Joint Training for Point Cloud Based 3D Object Detection

The current trend in computer vision is to utilize one universal model to address all various tasks. Achieving such a universal model inevitably requires incorporating multi-domain data for joint training to learn across multiple problem scenarios. In point cloud based 3D object detection, however, such multi-domain joint training is highly challenging, because large domain gaps among point clouds from different datasets lead to the severe domain-interference problem. In this paper, we propose \textbf{OneDet3D}, a universal one-for-all model that addresses 3D detection across different domains, including diverse indoor and outdoor scenes, within the \emph{same} framework and only \emph{one} set of parameters. We propose the domain-aware partitioning in scatter and context, guided by a routing mechanism, to address the data interference issue, and further incorporate the text modality for a language-guided classification to unify the multi-dataset label spaces and mitigate the category interference issue. The fully sparse structure and anchor-free head further accommodate point clouds with significant scale disparities. Extensive experiments demonstrate the strong universal ability of OneDet3D to utilize only one trained model for addressing almost all 3D object detection tasks.

cs.CV↗

arXiv2024

GenArtist: Multimodal LLM as an Agent for Unified Image Generation and Editing

Despite the success achieved by existing image generation and editing methods, current models still struggle with complex problems including intricate text prompts, and the absence of verification and self-correction mechanisms makes the generated images unreliable. Meanwhile, a single model tends to specialize in particular tasks and possess the corresponding capabilities, making it inadequate for fulfilling all user requirements. We propose GenArtist, a unified image generation and editing system, coordinated by a multimodal large language model (MLLM) agent. We integrate a comprehensive range of existing models into the tool library and utilize the agent for tool selection and execution. For a complex problem, the MLLM agent decomposes it into simpler sub-problems and constructs a tree structure to systematically plan the procedure of generation, editing, and self-correction with step-by-step verification. By automatically generating missing position-related inputs and incorporating position information, the appropriate tool can be effectively employed to address each sub-problem. Experiments demonstrate that GenArtist can perform various generation and editing tasks, achieving state-of-the-art performance and surpassing existing models such as SDXL and DALL-E 3, as can be seen in Fig. 1. Project page is https://zhenyuw16.github.io/GenArtist_page.

cs.CV↗

arXiv2024

Disentangled Training with Adversarial Examples For Robust Small-footprint Keyword Spotting

A keyword spotting (KWS) engine that is continuously running on device is exposed to various speech signals that are usually unseen before. It is a challenging problem to build a small-footprint and high-performing KWS model with robustness under different acoustic environments. In this paper, we explore how to effectively apply adversarial examples to improve KWS robustness. We propose datasource-aware disentangled learning with adversarial examples to reduce the mismatch between the original and adversarial data as well as the mismatch across original training datasources. The KWS model architecture is based on depth-wise separable convolution and a simple attention module. Experimental results demonstrate that the proposed learning strategy improves false reject rate by $40.31%$ at $1%$ false accept rate on the internal dataset, compared to the strongest baseline without using adversarial examples. Our best-performing system achieves $98.06%$ accuracy on the Google Speech Commands V1 dataset.

cs.SD↗

arXiv2024

Toward Improving Synthetic Audio Spoofing Detection Robustness via Meta-Learning and Disentangled Training With Adversarial Examples

Advances in automatic speaker verification (ASV) promote research into the formulation of spoofing detection systems for real-world applications. The performance of ASV systems can be degraded severely by multiple types of spoofing attacks, namely, synthetic speech (SS), voice conversion (VC), replay, twins and impersonation, especially in the case of unseen synthetic spoofing attacks. A reliable and robust spoofing detection system can act as a security gate to filter out spoofing attacks instead of having them reach the ASV system. A weighted additive angular margin loss is proposed to address the data imbalance issue, and different margins has been assigned to improve generalization to unseen spoofing attacks in this study. Meanwhile, we incorporate a meta-learning loss function to optimize differences between the embeddings of support versus query set in order to learn a spoofing-category-independent embedding space for utterances. Furthermore, we craft adversarial examples by adding imperceptible perturbations to spoofing speech as a data augmentation strategy, then we use an auxiliary batch normalization (BN) to guarantee that corresponding normalization statistics are performed exclusively on the adversarial examples. Additionally, A simple attention module is integrated into the residual block to refine the feature extraction process. Evaluation results on the Logical Access (LA) track of the ASVspoof 2019 corpus provides confirmation of our proposed approaches' effectiveness in terms of a pooled EER of 0.87%, and a min t-DCF of 0.0277. These advancements offer effective options to reduce the impact of spoofing attacks on voice recognition/authentication systems.

cs.SD↗

arXiv2024

DPA-2: a large atomic model as a multi-task learner

The rapid advancements in artificial intelligence (AI) are catalyzing transformative changes in atomic modeling, simulation, and design. AI-driven potential energy models have demonstrated the capability to conduct large-scale, long-duration simulations with the accuracy of ab initio electronic structure methods. However, the model generation process remains a bottleneck for large-scale applications. We propose a shift towards a model-centric ecosystem, wherein a large atomic model (LAM), pre-trained across multiple disciplines, can be efficiently fine-tuned and distilled for various downstream tasks, thereby establishing a new framework for molecular modeling. In this study, we introduce the DPA-2 architecture as a prototype for LAMs. Pre-trained on a diverse array of chemical and materials systems using a multi-task approach, DPA-2 demonstrates superior generalization capabilities across multiple downstream tasks compared to the traditional single-task pre-training and fine-tuning methodologies. Our approach sets the stage for the development and broad application of LAMs in molecular and materials simulation research.

physics.chem-ph↗

arXiv2024

PlainMamba: Improving Non-Hierarchical Mamba in Visual Recognition

We present PlainMamba: a simple non-hierarchical state space model (SSM) designed for general visual recognition. The recent Mamba model has shown how SSMs can be highly competitive with other architectures on sequential data and initial attempts have been made to apply it to images. In this paper, we further adapt the selective scanning process of Mamba to the visual domain, enhancing its ability to learn features from two-dimensional images by (i) a continuous 2D scanning process that improves spatial continuity by ensuring adjacency of tokens in the scanning sequence, and (ii) direction-aware updating which enables the model to discern the spatial relations of tokens by encoding directional information. Our architecture is designed to be easy to use and easy to scale, formed by stacking identical PlainMamba blocks, resulting in a model with constant width throughout all layers. The architecture is further simplified by removing the need for special tokens. We evaluate PlainMamba on a variety of visual recognition tasks, achieving performance gains over previous non-hierarchical models and is competitive with hierarchical alternatives. For tasks requiring high-resolution inputs, in particular, PlainMamba requires much less computing while maintaining high performance. Code and models are available at: https://github.com/ChenhongyiYang/PlainMamba .

cs.CV↗

arXiv2024

Deep learning generative model for crystal structure prediction

Recent advances in deep learning generative models (GMs) have created high capabilities in accessing and assessing complex high-dimensional data, allowing superior efficiency in navigating vast material configuration space in search of viable structures. Coupling such capabilities with physically significant data to construct trained models for materials discovery is crucial to moving this emerging field forward. Here, we present a universal GM for crystal structure prediction (CSP) via a conditional crystal diffusion variational autoencoder (Cond-CDVAE) approach, which is tailored to allow user-defined material and physical parameters such as composition and pressure. This model is trained on an expansive dataset containing over 670,000 local minimum structures, including a rich spectrum of high-pressure structures, along with ambient-pressure structures in Materials Project database. We demonstrate that the Cond-CDVAE model can generate physically plausible structures with high fidelity under diverse pressure conditions without necessitating local optimization, accurately predicting 59.3% of the 3,547 unseen ambient-pressure experimental structures within 800 structure samplings, with the accuracy rate climbing to 83.2% for structures comprising fewer than 20 atoms per unit cell. These results meet or exceed those achieved via conventional CSP methods based on global optimization. The present findings showcase substantial potential of GMs in the realm of CSP.

cond-mat.mtrl-sci↗

arXiv2024

Multi-Frequency Resonant Circuit Based Multi-User Emergency Through-the-Earth Communication with Magnetic Induction

Magnetic induction (MI) is an effective technique in emergency through-the-earth communications due to the higher penetration efficiency and lower propagation loss as compared with electromagnetic wave communication. How to cancel the interference between different users and enhance the effectiveness of multi-user transmissions is imperative for the practical application of MI communication. In this paper, we use multi-frequency resonant circuit to establish multiple resonant frequencies for MI communication. The transmissions corresponding to different users operate at different resonant frequencies and multi-user interferences can be naturally mitigated. Numerical results verify our theoretical analyses and show that the proposed system can significantly enhance the performance.

eess.SP↗

arXiv2024

OV-Uni3DETR: Towards Unified Open-Vocabulary 3D Object Detection via Cycle-Modality Propagation

In the current state of 3D object detection research, the severe scarcity of annotated 3D data, substantial disparities across different data modalities, and the absence of a unified architecture, have impeded the progress towards the goal of universality. In this paper, we propose \textbf{OV-Uni3DETR}, a unified open-vocabulary 3D detector via cycle-modality propagation. Compared with existing 3D detectors, OV-Uni3DETR offers distinct advantages: 1) Open-vocabulary 3D detection: During training, it leverages various accessible data, especially extensive 2D detection images, to boost training diversity. During inference, it can detect both seen and unseen classes. 2) Modality unifying: It seamlessly accommodates input data from any given modality, effectively addressing scenarios involving disparate modalities or missing sensor information, thereby supporting test-time modality switching. 3) Scene unifying: It provides a unified multi-modal model architecture for diverse scenes collected by distinct sensors. Specifically, we propose the cycle-modality propagation, aimed at propagating knowledge bridging 2D and 3D modalities, to support the aforementioned functionalities. 2D semantic knowledge from large-vocabulary learning guides novel class discovery in the 3D domain, and 3D geometric knowledge provides localization supervision for 2D detection images. OV-Uni3DETR achieves the state-of-the-art performance on various scenarios, surpassing existing methods by more than 6\% on average. Its performance using only RGB images is on par with or even surpasses that of previous point cloud based methods. Code and pre-trained models will be released later.

cs.CV↗

arXiv2024

Early-Time Observations of SN 2023wrk: A Luminous Type Ia Supernova with Significant Unburned Carbon in the Outer Ejecta

We present extensive photometric and spectroscopic observations of the nearby Type Ia supernova (SN) 2023wrk at a distance of about 40 Mpc. The earliest detection of this SN can be traced back to a few hours after the explosion. Within the first few days the light curve shows a bump feature, while the B - V color is blue and remains nearly constant. The overall spectral evolution is similar to that of an SN 1991T/SN 1999aa-like SN Ia, while the C II $\lambda6580$ absorption line appears to be unusually strong in the first spectrum taken at $t \approx -$15.4 days after the maximum light. This carbon feature disappears quickly in subsequent evolution but it reappears at around the time of peak brightness. The complex evolution of the carbon line and the possible detection of Ni III absorption around 4700 Å and 5300 Å in the earliest spectra indicate macroscopic mixing of fuel and ash. The strong carbon lines is likely related to collision of SN ejecta with unbound carbon, consistent with the predictions of pulsational delayed-detonation or carbon-rich circumstellar-matter interaction models. Among those carbon-rich SNe Ia with strong C II $\lambda6580$ absorption at very early times, the line-strength ratio of C II to Si II and the B-V color evolution are found to exhibit large diversity, which may be attributed to different properties of unbound carbon and outward-mixing $^{56}$Ni.

astro-ph.SR↗

arXiv2024

Probing the Shock Breakout Signal of SN 2024ggi from the Transformation of Early Flash Spectroscopy

We present early-time, hour-to-day cadence spectroscopy of the nearby type II supernova (SN II) 2024ggi, which was discovered at a phase when the SN shock just emerged from the red-supergiant (RSG) progenitor star. Over the first few days after the first light, SN 2024ggi exhibited prominent narrow emission lines formed through intense and persistent photoionization of the nearby circumstellar material (CSM). In the first 63 hours, spectral lines of He, C, N, and O revealed a rapid rise in ionization, as a result of the progressive sweeping-up of the CSM by the shock. The duration of the IIn-like spectra indicates a dense and relatively confined CSM distribution extending up to $\sim 4 \times 10^{14}$ cm. Spectral modeling reveals a CSM mass loss rate at this region exceeding $5 \times 10^{-3}{\rm M}_{\odot}$ yr$^{-1}$ is required to reproduce low-ionization emissions, which dramatically exceeds that of an RSG. Analyzing H$α$ emission shift implies the velocity of the unshocked outer CSM to be between 20 and 40 km s$^{-1}$, matching the typical wind velocity of an RSG. The differences between the inner and outer layers of the CSM and an RSG progenitor highlight a complex mass loss history before the explosion of SN 2024ggi.

astro-ph.HE↗

arXiv2024

Characterizing Disparity Between Edge Models and High-Accuracy Base Models for Vision Tasks

Edge devices, with their widely varying capabilities, support a diverse range of edge AI models. This raises the question: how does an edge model differ from a high-accuracy (base) model for the same task? We introduce XDELTA, a novel explainable AI tool that explains differences between a high-accuracy base model and a computationally efficient but lower-accuracy edge model. To achieve this, we propose a learning-based approach to characterize the model difference, named the DELTA network, which complements the feature representation capability of the edge network in a compact form. To construct DELTA, we propose a sparsity optimization framework that extracts the essence of the base model to ensure compactness and sufficient feature representation capability of DELTA, and implement a negative correlation learning approach to ensure it complements the edge model. We conduct a comprehensive evaluation to test XDELTA's ability to explain model discrepancies, using over 1.2 million images and 24 models, and assessing real-world deployments with six participants. XDELTA excels in explaining differences between base and edge models (arbitrary pairs as well as compressed base models) through geometric and concept-level analysis, proving effective in real-world applications.

cs.CV↗