arXiv subjects

Zhipeng Cao

Publications and source records attributed to Zhipeng Cao.

9 recordsLinked to original sources

arXiv2025

Comparative Analysis of Barrier-like Function Methods for Reach-Avoid Verification in Stochastic Discrete-Time Systems

In this paper, we compare several representative barrier-like conditions from the literature for infinite-horizon reach-avoid verification of stochastic discrete-time systems. Our comparison examines both their theoretical properties and computational tractability, highlighting each condition's strengths and limitations that affect applicability and conservativeness. Finally, we illustrate their practical performance through computational experiments using semidefinite programming (SDP) and counterexample-guided inductive synthesis (CEGIS).

eess.SY↗

arXiv2025

TopoStreamer: Temporal Lane Segment Topology Reasoning in Autonomous Driving

Lane segment topology reasoning constructs a comprehensive road network by capturing the topological relationships between lane segments and their semantic types. This enables end-to-end autonomous driving systems to perform road-dependent maneuvers such as turning and lane changing. However, the limitations in consistent positional embedding and temporal multiple attribute learning in existing methods hinder accurate roadnet reconstruction. To address these issues, we propose TopoStreamer, an end-to-end temporal perception model for lane segment topology reasoning. Specifically, TopoStreamer introduces three key improvements: streaming attribute constraints, dynamic lane boundary positional encoding, and lane segment denoising. The streaming attribute constraints enforce temporal consistency in both centerline and boundary coordinates, along with their classifications. Meanwhile, dynamic lane boundary positional encoding enhances the learning of up-to-date positional information within queries, while lane segment denoising helps capture diverse lane segment patterns, ultimately improving model performance. Additionally, we assess the accuracy of existing models using a lane boundary classification metric, which serves as a crucial measure for lane-changing scenarios in autonomous driving. On the OpenLane-V2 dataset, TopoStreamer demonstrates significant improvements over state-of-the-art methods, achieving substantial performance gains of +3.0% mAP in lane segment perception and +1.7% OLS in centerline perception tasks.

cs.CV↗

arXiv2025

Topo2Seq: Enhanced Topology Reasoning via Topology Sequence Learning

Extracting lane topology from perspective views (PV) is crucial for planning and control in autonomous driving. This approach extracts potential drivable trajectories for self-driving vehicles without relying on high-definition (HD) maps. However, the unordered nature and weak long-range perception of the DETR-like framework can result in misaligned segment endpoints and limited topological prediction capabilities. Inspired by the learning of contextual relationships in language models, the connectivity relations in roads can be characterized as explicit topology sequences. In this paper, we introduce Topo2Seq, a novel approach for enhancing topology reasoning via topology sequences learning. The core concept of Topo2Seq is a randomized order prompt-to-sequence learning between lane segment decoder and topology sequence decoder. The dual-decoder branches simultaneously learn the lane topology sequences extracted from the Directed Acyclic Graph (DAG) and the lane graph containing geometric information. Randomized order prompt-to-sequence learning extracts unordered key points from the lane graph predicted by the lane segment decoder, which are then fed into the prompt design of the topology sequence decoder to reconstruct an ordered and complete lane graph. In this way, the lane segment decoder learns powerful long-range perception and accurate topological reasoning from the topology sequence decoder. Notably, topology sequence decoder is only introduced during training and does not affect the inference efficiency. Experimental evaluations on the OpenLane-V2 dataset demonstrate the state-of-the-art performance of Topo2Seq in topology reasoning.

cs.CV↗

arXiv2024

Adaptive Landmark Color for AUV Docking in Visually Dynamic Environments

Autonomous Underwater Vehicles (AUVs) conduct missions underwater without the need for human intervention. A docking station (DS) can extend mission times of an AUV by providing a location for the AUV to recharge its batteries and receive updated mission information. Various methods for locating and tracking a DS exist, but most rely on expensive acoustic sensors, or are vision-based, which is significantly affected by water quality. In this \doctype, we present a vision-based method that utilizes adaptive color LED markers and dynamic color filtering to maximize landmark visibility in varying water conditions. Both AUV and DS utilize cameras to determine the water background color in order to calculate the desired marker color. No communication between AUV and DS is needed to determine marker color. Experiments conducted in a pool and lake show our method performs 10 times better than static color thresholding methods as background color varies. DS detection is possible at a range of 5 meters in clear water with minimal false positives.

cs.RO↗

arXiv2023

A Survey on Multimodal Large Language Models for Autonomous Driving

With the emergence of Large Language Models (LLMs) and Vision Foundation Models (VFMs), multimodal AI systems benefiting from large models have the potential to equally perceive the real world, make decisions, and control tools as humans. In recent months, LLMs have shown widespread attention in autonomous driving and map systems. Despite its immense potential, there is still a lack of a comprehensive understanding of key challenges, opportunities, and future endeavors to apply in LLM driving systems. In this paper, we present a systematic investigation in this field. We first introduce the background of Multimodal Large Language Models (MLLMs), the multimodal models development using LLMs, and the history of autonomous driving. Then, we overview existing MLLM tools for driving, transportation, and map systems together with existing datasets and benchmarks. Moreover, we summarized the works in The 1st WACV Workshop on Large Language and Vision Models for Autonomous Driving (LLVM-AD), which is the first workshop of its kind regarding LLMs in autonomous driving. To further promote the development of this field, we also discuss several important problems regarding using MLLMs in autonomous driving systems that need to be solved by both academia and industry.

cs.AI↗

arXiv2023

Direct observation of topological surface states in the layered kagome lattice with broken time-reversal symmetry

Magnetic topological quantum materials display a diverse range of fascinating physical properties which arise from their intrinsic magnetism and the breaking of time-reversal symmetry. However, so far, few examples of intrinsic magnetic topological materials have been confirmed experimentally, which significantly hinder our comprehensive understanding of the abundant physical properties in this system. The kagome lattices, which host diversity of electronic structure signatures such as Dirac nodes, flat bands, and saddle points, provide an alternative and promising platform for in-depth investigations into correlations and band topology. In this article, drawing inspiration from the stacking configuration of MnBi$_2$Te$_4$, we conceive and then synthesize a high-quality single crystal EuTi$_3$Bi$_4$, which is a unique natural heterostructure consisting of both topological kagome layers and magnetic interlayers. We investigate the electronic structure of EuTi$_3$Bi$_4$ and uncover distinct features of anisotropic multiple Van Hove singularitie (VHS) that might prevent Fermi surface nesting, leading to the absence of a charge density wave (CDW). In addition, we identify the topological nontrivial surface states that serve as connections between different saddle bands in the vicinity of the Fermi level. Combined with calculations, we establish that, the effective time-reversal symmetry S=$θ$$τ_{1/2}$ play a crucial role in the antiferromagnetic ground state of EuTi$_3$Bi$_4$, which ensures the stability of the topological surface states and gives rise to their intriguing topological nature. Therefore, EuTi$_3$Bi$_4$ offers the rare opportunity to investigate correlated topological states in magnetic kagome materials.

cond-mat.str-el↗

arXiv2023

Origin of the exotic electronic states in antiferromagnetic NdSb

Using angle resolved photoemission spectroscopy measurements and first principle calculations, we report that the possible unconventional 2q antiferromagnetic (AFM) order in NdSb can induce unusual modulation on its electronic structure. The obvious extra bands observed in the AFM phase of NdSb are well reproduced by theoretical calculations, in which the Fermi-arc-like structures and sharp extra bands are originated from the in-gap surface states. However, they are demonstrated to be topological trivial. By tuning the chemical potential, the AFM phase of NdSb would go through a topological phase transition, realizing a magnetic topological insulator phase. Hence, our study sheds new light on the rare earth monopnictides for searching unusual AFM structure and the potential of intrinsic magnetic topological materials.

cond-mat.mtrl-sci↗

arXiv2022

THMA: Tencent HD Map AI System for Creating HD Map Annotations

Nowadays, autonomous vehicle technology is becoming more and more mature. Critical to progress and safety, high-definition (HD) maps, a type of centimeter-level map collected using a laser sensor, provide accurate descriptions of the surrounding environment. The key challenge of HD map production is efficient, high-quality collection and annotation of large-volume datasets. Due to the demand for high quality, HD map production requires significant manual human effort to create annotations, a very time-consuming and costly process for the map industry. In order to reduce manual annotation burdens, many artificial intelligence (AI) algorithms have been developed to pre-label the HD maps. However, there still exists a large gap between AI algorithms and the traditional manual HD map production pipelines in accuracy and robustness. Furthermore, it is also very resource-costly to build large-scale annotated datasets and advanced machine learning algorithms for AI-based HD map automatic labeling systems. In this paper, we introduce the Tencent HD Map AI (THMA) system, an innovative end-to-end, AI-based, active learning HD map labeling system capable of producing and labeling HD maps with a scale of hundreds of thousands of kilometers. In THMA, we train AI models directly from massive HD map datasets via supervised, self-supervised, and weakly supervised learning to achieve high accuracy and efficiency required by downstream users. THMA has been deployed by the Tencent Map team to provide services to downstream companies and users, serving over 1,000 labeling workers and producing more than 30,000 kilometers of HD map data per day at most. More than 90 percent of the HD map data in Tencent Map is labeled automatically by THMA, accelerating the traditional HD map labeling process by more than ten times.

cs.CV↗

arXiv2022

Observation of robust zero-energy state and enhanced superconducting gap in a tri-layer heterostructure of MnTe/Bi2Te3/Fe(Te, Se)

The interface between magnetic material and superconductors has long been predicted to host unconventional superconductivity, such as spin-triplet pairing and topological nontrivial pairing state, particularly when spin-orbital coupling (SOC) is incorporated. To identify these novel pairing states, fabricating homogenous heterostructures which contain such various properties are preferred, but often challenging. Here we synthesized a tri-layer type van-der Waals heterostructure of MnTe/Bi2Te3/Fe(Te, Se), which combined s-wave superconductivity, thickness dependent magnetism and strong SOC. Via low-temperature scanning tunneling microscopy (STM), we observed robust zero-energy states with notably nontrivial properties and an enhanced superconducting gap size on single unit-cell (UC) MnTe surface. In contrast, no zero-energy state was observed on 2UC MnTe. First-principle calculations further suggest the 1UC MnTe has large interfacial Dzyaloshinskii-Moriya interaction (DMI) and a frustrated AFM state, which could promote non-collinear spin textures. It thus provides a promising platform for exploring topological nontrivial superconductivity.

cond-mat.supr-con↗