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Zhibin Li

Publications and source records attributed to Zhibin Li.

At least 109 records · Page 6Linked to original sources

Field-wise Learning for Multi-field Categorical Data

We propose a new method for learning with multi-field categorical data. Multi-field categorical data are usually collected over many heterogeneous groups. These groups can reflect in the categories under a field. The existing methods try to learn a universal model that fits all data, which is challenging and inevitably results in learning a complex model. In contrast, we propose a field-wise learning method leveraging the natural structure of data to learn simple yet efficient one-to-one field-focused models with appropriate constraints. In doing this, the models can be fitted to each category and thus can better capture the underlying differences in data. We present a model that utilizes linear models with variance and low-rank constraints, to help it generalize better and reduce the number of parameters. The model is also interpretable in a field-wise manner. As the dimensionality of multi-field categorical data can be very high, the models applied to such data are mostly over-parameterized. Our theoretical analysis can potentially explain the effect of over-parametrization on the generalization of our model. It also supports the variance constraints in the learning objective. The experiment results on two large-scale datasets show the superior performance of our model, the trend of the generalization error bound, and the interpretability of learning outcomes. Our code is available at https://github.com/lzb5600/Field-wise-Learning.

cs.LG↗

Distribution-aware Margin Calibration for Medical Image Segmentation

The Jaccard index, also known as Intersection-over-Union (IoU score), is one of the most critical evaluation metrics in medical image segmentation. However, directly optimizing the mean IoU (mIoU) score over multiple objective classes is an open problem. Although some algorithms have been proposed to optimize its surrogates, there is no guarantee provided for their generalization ability. In this paper, we present a novel data-distribution-aware margin calibration method for a better generalization of the mIoU over the whole data-distribution, underpinned by a rigid lower bound. This scheme ensures a better segmentation performance in terms of IoU scores in practice. We evaluate the effectiveness of the proposed margin calibration method on two medical image segmentation datasets, showing substantial improvements of IoU scores over other learning schemes using deep segmentation models.

cs.CV↗

Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots

The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the operator to focus on the essential tasks instead of overly detailed execution. To realize this, we propose a comprehensive control framework for inspection and intervention using a legged robot and validate the integration of multiple loco-manipulation algorithms optimised for improving the remote operation. The proposed control offers 3 operation modes: fully automated, semi-autonomous, and the haptic interface receiving onsite physical interaction for assisting teleoperation. Our contribution is the design of a QP-based semi-analytical whole-body control, which is the key to the various task completion subject to internal and external constraints. We demonstrate the versatility of the whole-body control in terms of decoupling tasks, singularity tolerance and constraint satisfaction. We deploy our solution in field trials and evaluate in an emergency setting by an E-stop while the robot is clearing road barriers and traversing difficult terrains.

cs.RO↗

Contact-Implicit Trajectory Optimization using an Analytically Solvable Contact Model for Locomotion on Variable Ground

This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact model that can be computed in closed-form, satisfies friction cone constraints and can be embedded into direct trajectory optimization frameworks without complementarity constraints. The closed-form solution decouples the computation of the contact forces from other actuation forces and this property is used to formulate a minimal direct optimization problem expressed with configuration variables only. Our simulation study demonstrates the advantages over the rigid contact model and a trajectory optimization approach based on complementarity constraints. The proposed model enables physics-based optimization for a wide range of interactions with hard, slippery, and soft grounds in a unified manner expressed by two parameters only. By computing trotting and jumping motions for a quadruped robot, the proposed optimization demonstrates the versatility for multi-contact motion planning on surfaces with different physical properties.

cs.RO↗

Applications of brain imaging methods in driving behaviour research

Applications of neuroimaging methods have substantially contributed to the scientific understanding of human factors during driving by providing a deeper insight into the neuro-cognitive aspects of driver brain. This has been achieved by conducting simulated (and occasionally, field) driving experiments while collecting driver brain signals of certain types. Here, this sector of studies is comprehensively reviewed at both macro and micro scales. Different themes of neuroimaging driving behaviour research are identified and the findings within each theme are synthesised. The surveyed literature has reported on applications of four major brain imaging methods. These include Functional Magnetic Resonance Imaging (fMRI), Electroencephalography (EEG), Functional Near-Infrared Spectroscopy (fNIRS) and Magnetoencephalography (MEG), with the first two being the most common methods in this domain. While collecting driver fMRI signal has been particularly instrumental in studying neural correlates of intoxicated driving (e.g. alcohol or cannabis) or distracted driving, the EEG method has been predominantly utilised in relation to the efforts aiming at development of automatic fatigue/drowsiness detection systems, a topic to which the literature on neuro-ergonomics of driving particularly has shown a spike of interest within the last few years. The survey also reveals that topics such as driver brain activity in semi-automated settings or the brain activity of drivers with brain injuries or chronic neurological conditions have by contrast been investigated to a very limited extent. Further, potential topics in relation to driving behaviour are identified that could benefit from the adoption of neuroimaging methods in future studies.

cs.HC↗

Multimodal Interfaces for Effective Teleoperation

Research in multi-modal interfaces aims to provide solutions to immersion and increase overall human performance. A promising direction is combining auditory, visual and haptic interaction between the user and the simulated environment. However, no extensive comparisons exist to show how combining audiovisuohaptic interfaces affects human perception reflected on task performance. Our paper explores this idea. We present a thorough, full-factorial comparison of how all combinations of audio, visual and haptic interfaces affect performance during manipulation. We evaluate how each interface combination affects performance in a study (N=25) consisting of manipulating tasks of varying difficulty. Performance is assessed using both subjective, assessing cognitive workload and system usability, and objective measurements, incorporating time and spatial accuracy-based metrics. Results show that regardless of task complexity, using stereoscopic-vision with the VRHMD increased performance across all measurements by 40% compared to monocular-vision from the display monitor. Using haptic feedback improved outcomes by 10% and auditory feedback accounted for approximately 5% improvement.

cs.HC↗

Reaching, Grasping and Re-grasping: Learning Multimode Grasping Skills

The ability to adapt to uncertainties, recover from failures, and coordinate between hand and fingers are essential sensorimotor skills for fully autonomous robotic grasping. In this paper, we aim to study a unified feedback control policy for generating the finger actions and the motion of hand to accomplish seamlessly coordinated tasks of reaching, grasping and re-grasping. We proposed a set of quantified metrics for task-orientated rewards to guide the policy exploration, and we analyzed and demonstrated the effectiveness of each reward term. To acquire a robust re-grasping motion, we deployed different initial states in training to experience failures that the robot would encounter during grasping due to inaccurate perception or disturbances. The performance of learned policy is evaluated on three different tasks: grasping a static target, grasping a dynamic target, and re-grasping. The quality of learned grasping policy was evaluated based on success rates in different scenarios and the recovery time from failures. The results indicate that the learned policy is able to achieve stable grasps of a static or moving object. Moreover, the policy can adapt to new environmental changes on the fly and execute collision-free re-grasp after a failed attempt within a short recovery time even in difficult configurations.

cs.RO↗

Optimisation of Body-ground Contact for Augmenting Whole-Body Loco-manipulation of Quadruped Robots

Legged robots have great potential to perform loco-manipulation tasks, yet it is challenging to keep the robot balanced while it interacts with the environment. In this paper we study the use of additional contact points for maximising the robustness of loco-manipulation motions. Specifically, body-ground contact is studied for enhancing robustness and manipulation capabilities of quadrupedal robots. We propose to equip the robot with prongs: small legs rigidly attached to the body which ensure body-ground contact occurs in controllable point-contacts. The effect of these prongs on robustness is quantified by computing the Smallest Unrejectable Force (SUF), a measure of robustness related to Feasible Wrench Polytopes. We apply the SUF to assess the robustness of the system, and propose an effective approximation of the SUF that can be computed at near-real-time speed. We design a hierarchical quadratic programming based whole-body controller that controls stable interaction when the prongs are in contact with the ground. This novel concept of using prongs and the resulting control framework are all implemented on hardware to validate the effectiveness of the increased robustness and newly enabled loco-manipulation tasks, such as obstacle clearance and manipulation of a large object.

cs.RO↗

The entanglement properties of holographic QCD model with a critical end point

We investigate different entanglement properties of a holographic QCD (hQCD) model with a critical end point at finite baryon density. Firstly we consider the holographic entanglement entropy (HEE) of this hQCD model in a spherical shaped region and a strip shaped region, respectively, and find that the HEE of this hQCD model in both regions can reflect QCD phase transition. What is more is that although the area formulas and minimal area equations of the two regions are quite different, the HEE have very similar behavior on the QCD phase diagram. So we argue that the behavior of HEE on the QCD phase diagram is independent of the shape of subregions. However, as we know that HEE is not a good quantity to characterize the entanglement between different subregions of a thermal system. So we then study the mutual information (MI), conditional mutual information (CMI) and the entanglement of purification (Ep) in different strip shaped regions. We find that the three entanglement quantities have very similar behavior: their values do not change so much in the hadronic matter phase and then rise up quickly with the increase of $T$ and $\m$ in the QGP phase. Near the phase boundary, these three entanglement quantities change smoothly in the crossover region, continuously but not smoothly at CEP and show discontinuity behavior in the first phase transition region. And all of them can be used to distinguish different phases of strongly coupled matter.

hep-th↗

Learning Pregrasp Manipulation of Objects from Ungraspable Poses

In robotic grasping, objects are often occluded in ungraspable configurations such that no pregrasp pose can be found, eg large flat boxes on the table that can only be grasped from the side. Inspired by humans' bimanual manipulation, eg one hand to lift up things and the other to grasp, we address this type of problems by introducing pregrasp manipulation - push and lift actions. We propose a model-free Deep Reinforcement Learning framework to train control policies that utilize visual information and proprioceptive states of the robot to autonomously discover robust pregrasp manipulation. The robot arm learns to first push the object towards a support surface and establishes a pivot to lift up one side of the object, thus creating a clearance between the object and the table for possible grasping solutions. Furthermore, we show the effectiveness of our proposed learning framework in training robust pregrasp policies that can directly transfer from simulation to real hardware through suitable design of training procedures, state, and action space. Lastly, we evaluate the effectiveness and the generalisation ability of the learned policies in real-world experiments, and demonstrate pregrasp manipulation of objects with various size, shape, weight, and surface friction.

cs.RO↗

Learning Whole-body Motor Skills for Humanoids

This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, foot tilting, and stepping strategies. The policy is trained in a physics simulator with realistic setting of robot model and low-level impedance control that are easy to transfer the learned skills to real robots. The advantage over traditional methods is the integration of high-level planner and feedback control all in one single coherent policy network, which is generic for learning versatile balancing and recovery motions against unknown perturbations at arbitrary locations (e.g., legs, torso). Furthermore, the proposed framework allows the policy to be learned quickly by many state-of-the-art learning algorithms. By comparing our learned results to studies of preprogrammed, special-purpose controllers in the literature, self-learned skills are comparable in terms of disturbance rejection but with additional advantages of producing a wide range of adaptive, versatile and robust behaviors.

cs.RO↗

Recurrent Deterministic Policy Gradient Method for Bipedal Locomotion on Rough Terrain Challenge

This paper presents a deep learning framework that is capable of solving partially observable locomotion tasks based on our novel interpretation of Recurrent Deterministic Policy Gradient (RDPG). We study on bias of sampled error measure and its variance induced by the partial observability of environment and subtrajectory sampling, respectively. Three major improvements are introduced in our RDPG based learning framework: tail-step bootstrap of interpolated temporal difference, initialisation of hidden state using past trajectory scanning, and injection of external experiences learned by other agents. The proposed learning framework was implemented to solve the Bipedal-Walker challenge in OpenAI's gym simulation environment where only partial state information is available. Our simulation study shows that the autonomous behaviors generated by the RDPG agent are highly adaptive to a variety of obstacles and enables the agent to effectively traverse rugged terrains for long distance with higher success rate than leading contenders.

cs.AI↗

Potential Passenger Flow Prediction: A Novel Study for Urban Transportation Development

Recently, practical applications for passenger flow prediction have brought many benefits to urban transportation development. With the development of urbanization, a real-world demand from transportation managers is to construct a new metro station in one city area that never planned before. Authorities are interested in the picture of the future volume of commuters before constructing a new station, and estimate how would it affect other areas. In this paper, this specific problem is termed as potential passenger flow (PPF) prediction, which is a novel and important study connected with urban computing and intelligent transportation systems. For example, an accurate PPF predictor can provide invaluable knowledge to designers, such as the advice of station scales and influences on other areas, etc. To address this problem, we propose a multi-view localized correlation learning method. The core idea of our strategy is to learn the passenger flow correlations between the target areas and their localized areas with adaptive-weight. To improve the prediction accuracy, other domain knowledge is involved via a multi-view learning process. We conduct intensive experiments to evaluate the effectiveness of our method with real-world official transportation datasets. The results demonstrate that our method can achieve excellent performance compared with other available baselines. Besides, our method can provide an effective solution to the cold-start problem in the recommender system as well, which proved by its outperformed experimental results.

cs.LG↗

Sample Adaptive Multiple Kernel Learning for Failure Prediction of Railway Points

Railway points are among the key components of railway infrastructure. As a part of signal equipment, points control the routes of trains at railway junctions, having a significant impact on the reliability, capacity, and punctuality of rail transport. Traditionally, maintenance of points is based on a fixed time interval or raised after the equipment failures. Instead, it would be of great value if we could forecast points' failures and take action beforehand, minimising any negative effect. To date, most of the existing prediction methods are either lab-based or relying on specially installed sensors which makes them infeasible for large-scale implementation. Besides, they often use data from only one source. We, therefore, explore a new way that integrates multi-source data which are ready to hand to fulfil this task. We conducted our case study based on Sydney Trains rail network which is an extensive network of passenger and freight railways. Unfortunately, the real-world data are usually incomplete due to various reasons, e.g., faults in the database, operational errors or transmission faults. Besides, railway points differ in their locations, types and some other properties, which means it is hard to use a unified model to predict their failures. Aiming at this challenging task, we firstly constructed a dataset from multiple sources and selected key features with the help of domain experts. In this paper, we formulate our prediction task as a multiple kernel learning problem with missing kernels. We present a robust multiple kernel learning algorithm for predicting points failures. Our model takes into account the missing pattern of data as well as the inherent variance on different sets of railway points. Extensive experiments demonstrate the superiority of our algorithm compared with other state-of-the-art methods.

cs.LG↗

The kurtosis of net baryon number fluctuations from a realistic Polyakov--Nambu--Jona-Lasinio model along the experimental freeze-out line

Firstly we qualitatively analyze the formation of the dip and peak structures of the kurtosis $κσ^2$ of net baryon number fluctuation along imagined freeze-out lines and discuss the signature of the existence of the QCD critical end point (CEP) in the Nambu--Jona-Lasinio (NJL) model, Polyakov-NJL (PNJL) model as well as $μ$-dependent PNJL($μ$ PNJL) model with different parameter sets, and then we apply a realistic PNJL model with parameters fixed by lattice data at zero chemical potential, and quantitatively investigate its $κσ^2$ along the real freeze-out line extracted from experiments. The important contribution from gluodynamics to the baryon number fluctuations is discussed. The peak structure of $κσ^2$ along the freeze-out line is solely determined by the existence of the CEP mountain and can be used as a clean signature for the existence of CEP. The formation of the dip structure is sensitive to the relation between the freeze-out line and the phase boundary, and the freeze-out line starts from the back-ridge of the phase boundary is required. To our surprise, the kurtosis $κσ^2$ produced from the realistic PNJL model along the experimental freeze-out line agrees with BES-I data well, which indicates that equilibrium result can explain the experimental data. It is worth to point out that the extracted freeze-out temperatures from beam energy scan measurement are indeed higher than the critical temperatures at small chemical potentials, which supports our qualitative analysis.

hep-ph↗

Quark matter under rotation in the NJL model with vector interaction

We study the chiral phase transition of quark matter under rotation in two-flavor Nambu--Jona-Lasinio (NJL) model. It is found that, in the rotating frame, the angular velocity plays the similar role as the baryon chemical potential and suppresses the chiral condensate, thus the chiral phase transition shows a critical end point not only in the temperature-chemical potential $T-μ$ plane, but also in the temperature-angular momentum $T-ω$ plane. One interesting observation is that in the $T-μ$ plane, the presence of the angular momentum only shifts down the critical temperature $T^E$ of the CEP and does not shift the critical chemical potential $μ^E$, and in the $T-ω$ plane, the increase of the chemical potential only shift down the critical temperature $T^E$ and does not change the critical angular momentum $ω^E$. The phase structure in the $T-μ$ plane is sensitive to the coupling strength in the vector channel, while the phase structure in $T-ω$ plane is not. It is also observed that the rotating angular velocity suppresses the kurtosis of the baryon number fluctuations, while it enhances the pressure density, energy density, the specific heat and the sound velocity.

hep-ph↗

QCD critical end point from a realistic PNJL model

With parameters fixed by critical temperature and equation of state at zero baryon chemical potential, a realistic Polyakov--Nambu--Jona-Lasinio (rPNJL) model predicts a critical end point of chiral phase transition at $(μ_B^E= 720 {\rm MeV}, T^E=93 {\rm MeV})$. The extracted freeze-out line from heavy ion collisions is close to the chiral phase transition boundary in the rPNJL model, and the kurtosis $κσ^2$ of baryon number fluctuations from the rPNJL model along the experimental freeze-out line agrees well with the BES-I measurement. Our analysis shows that the dip structure of measured $κσ^2$ is determined by the relationship between the freeze-out line and chiral phase transition line at low baryon density region, and the peak structure can be regarded as a clean signature for the existence of CEP.

hep-ph↗

Emergence of Human-comparable Balancing Behaviors by Deep Reinforcement Learning

This paper presents a hierarchical framework based on deep reinforcement learning that learns a diversity of policies for humanoid balance control. Conventional zero moment point based controllers perform limited actions during under-actuation, whereas the proposed framework can perform human-like balancing behaviors such as active push-off of ankles. The learning is done through the design of an explainable reward based on physical constraints. The simulated results are presented and analyzed. The successful emergence of human-like behaviors through deep reinforcement learning proves the feasibility of using an AI-based approach for learning humanoid balancing control in a unified framework.

cs.RO↗