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Zhiyuan Zhang

Publications and source records attributed to Zhiyuan Zhang.

At least 145 records · Page 8Linked to original sources
arXiv2022

Risk-Aware Model Predictive Path Integral Control Using Conditional Value-at-Risk

In this paper, we present a novel Model Predictive Control method for autonomous robots subject to arbitrary forms of uncertainty. The proposed Risk-Aware Model Predictive Path Integral (RA-MPPI) control utilizes the Conditional Value-at-Risk (CVaR) measure to generate optimal control actions for safety-critical robotic applications. Different from most existing Stochastic MPCs and CVaR optimization methods that linearize the original dynamics and formulate control tasks as convex programs, the proposed method directly uses the original dynamics without restricting the form of the cost functions or the noise. We apply the novel RA-MPPI controller to an autonomous vehicle to perform aggressive driving maneuvers in cluttered environments. Our simulations and experiments show that the proposed RA-MPPI controller can achieve about the same lap time with significantly fewer collisions compared to the baseline MPPI controller. The proposed controller performs on-line computation at an update frequency of up to 80Hz, utilizing modern Graphics Processing Units (GPUs) to multi-thread the generation of trajectories as well as the CVaR values.

cs.RO↗
arXiv2022

Distributional Correlation--Aware Knowledge Distillation for Stock Trading Volume Prediction

Traditional knowledge distillation in classification problems transfers the knowledge via class correlations in the soft label produced by teacher models, which are not available in regression problems like stock trading volume prediction. To remedy this, we present a novel distillation framework for training a light-weight student model to perform trading volume prediction given historical transaction data. Specifically, we turn the regression model into a probabilistic forecasting model, by training models to predict a Gaussian distribution to which the trading volume belongs. The student model can thus learn from the teacher at a more informative distributional level, by matching its predicted distributions to that of the teacher. Two correlational distillation objectives are further introduced to encourage the student to produce consistent pair-wise relationships with the teacher model. We evaluate the framework on a real-world stock volume dataset with two different time window settings. Experiments demonstrate that our framework is superior to strong baseline models, compressing the model size by $5\times$ while maintaining $99.6\%$ prediction accuracy. The extensive analysis further reveals that our framework is more effective than vanilla distillation methods under low-resource scenarios.

q-fin.TR↗
arXiv2022

A spectral condition for the existence of cycles with consecutive odd lengths in non-bipartite graphs

A graph $G$ is called $H$-free, if it does not contain $H$ as a subgraph. In 2010, Nikiforov proposed a Brualdi-Solheid-Turán type problem: what is the maximum spectral radius of an $H$-free graph of order $n$? In this paper, we consider the Brualdi-Solheid-Turán type problem for non-bipartite graphs. Let $K_{a, b}\bullet K_3$ denote the graph obtained by identifying a vertex of $K_{a,b}$ in the part of size $b$ and a vertex of $K_3$. We prove that if $G$ is a non-bipartite graph of order $n$ satisfying $ρ(G)\geq ρ(K_{\lceil\frac{n-2}{2}\rceil, \lfloor\frac{n-2}{2}\rfloor}\bullet K_3)$, then $G$ contains all odd cycles $C_{2l+1}$ for each integer $l\in[2,k]$ unless $G\cong K_{\lceil\frac{n-2}{2}\rceil, \lfloor\frac{n-2}{2}\rfloor}\bullet K_3$, provided that $n$ is sufficiently large with respect to $k$. This resolves the problem posed by Guo, Lin and Zhao (2021).

math.CO↗
arXiv2022

CVFNet: Real-time 3D Object Detection by Learning Cross View Features

In recent years 3D object detection from LiDAR point clouds has made great progress thanks to the development of deep learning technologies. Although voxel or point based methods are popular in 3D object detection, they usually involve time-consuming operations such as 3D convolutions on voxels or ball query among points, making the resulting network inappropriate for time critical applications. On the other hand, 2D view-based methods feature high computing efficiency while usually obtaining inferior performance than the voxel or point based methods. In this work, we present a real-time view-based single stage 3D object detector, namely CVFNet to fulfill this task. To strengthen the cross-view feature learning under the condition of demanding efficiency, our framework extracts the features of different views and fuses them in an efficient progressive way. We first propose a novel Point-Range feature fusion module that deeply integrates point and range view features in multiple stages. Then, a special Slice Pillar is designed to well maintain the 3D geometry when transforming the obtained deep point-view features into bird's eye view. To better balance the ratio of samples, a sparse pillar detection head is presented to focus the detection on the nonempty grids. We conduct experiments on the popular KITTI and NuScenes benchmark, and state-of-the-art performances are achieved in terms of both accuracy and speed.

cs.CV↗
arXiv2022

A clinically relevant online patient QA solution with daily CT scans and EPID-based in vivo dosimetry: A feasible study on rectal cancer

Adaptive radiation therapy (ART) could protect organs at risk (OARs) while maintain high dose coverage to targets. However, there still lack efficient online patient QA methods. We aim to develop a clinically relevant online patient quality assurance (QA) solution for ART using daily CT scans and electronic portal imaging device (EPID)-based in vivo dosimetry. Ten patients with rectal cancer at our center were included. Patients' daily CT scans and portal images were collected to generate reconstructed 3D dose distributions. Contours of targets and OARs were recontoured on these daily CT scans by a clinician or an auto-segmentation algorithm, then dose-volume indices were calculated, and the percent deviation of these indices to their original plans were determined. This deviation was regarded as the metric for clinically relevant patient QA. The tolerance level was obtained using a 95% interval of the QA metric distribution. These deviations could be further divided into anatomically relevant or delivery relevant indicators for error source analysis. Finally, our QA solution was validated on an additional six clinical patients. In rectal cancer, the lower and upper tolerance of the QA metric for PTV ΔD95 (%) were [-3.11%, 2.35%], and for PTV ΔD2 (%) were [-0.78%, 3.23%]. In validation, the 68% for PTV ΔD95 (%) and the 79% for PTV ΔD2 ({%)of the 28 fractions are within tolerances of the QA metrics. By using four or more out-of-tolerance QA metrics as an action level, there were 5 fractions (18%) have four or more out-of-tolerance QA metrics in validation patient dataset. The online patient QA solution using daily CT scans and EPID-based in vivo dosimetry is clinically feasible. Source of error analysis has the potential for distinguishing sources of error and guiding ART for future treatments.

physics.med-ph↗
arXiv2022

$C^1$ actions on manifolds by lattices in Lie groups

In this paper we study Zimmer's conjecture for $C^1$ actions of lattice subgroup of a higher-rank simple Lie group with finite center on compact manifolds. We show that when the rank of an uniform lattice is larger than the dimension of the manifold, then the action factors through a finite group. For lattices in $SL(n, \R)$, the dimensional bound is sharp.

math.DS↗
arXiv2022

Trajectory Distribution Control for Model Predictive Path Integral Control using Covariance Steering

This paper presents a novel control approach for autonomous systems operating under uncertainty. We combine Model Predictive Path Integral (MPPI) control with Covariance Steering (CS) theory to obtain a robust controller for general nonlinear systems. The proposed Covariance-Controlled Model Predictive Path Integral (CC-MPPI) controller addresses the performance degradation observed in some MPPI implementations owing to unexpected disturbances and uncertainties. Namely, in cases where the environment changes too fast or the simulated dynamics during the MPPI rollouts do not capture the noise and uncertainty in the actual dynamics, the baseline MPPI implementation may lead to divergence. The proposed CC-MPPI controller avoids divergence by controlling the dispersion of the rollout trajectories at the end of the prediction horizon. Furthermore, the CC-MPPI has adjustable trajectory sampling distributions that can be changed according to the environment to achieve efficient sampling. Numerical examples using a ground vehicle navigating in challenging environments demonstrate the proposed approach.

cs.RO↗
arXiv2022

PKUSEG: A Toolkit for Multi-Domain Chinese Word Segmentation

Chinese word segmentation (CWS) is a fundamental step of Chinese natural language processing. In this paper, we build a new toolkit, named PKUSEG, for multi-domain word segmentation. Unlike existing single-model toolkits, PKUSEG targets multi-domain word segmentation and provides separate models for different domains, such as web, medicine, and tourism. Besides, due to the lack of labeled data in many domains, we propose a domain adaptation paradigm to introduce cross-domain semantic knowledge via a translation system. Through this method, we generate synthetic data using a large amount of unlabeled data in the target domain and then obtain a word segmentation model for the target domain. We also further refine the performance of the default model with the help of synthetic data. Experiments show that PKUSEG achieves high performance on multiple domains. The new toolkit also supports POS tagging and model training to adapt to various application scenarios. The toolkit is now freely and publicly available for the usage of research and industry.

cs.CL↗
arXiv2022

Context-Aware Video Reconstruction for Rolling Shutter Cameras

With the ubiquity of rolling shutter (RS) cameras, it is becoming increasingly attractive to recover the latent global shutter (GS) video from two consecutive RS frames, which also places a higher demand on realism. Existing solutions, using deep neural networks or optimization, achieve promising performance. However, these methods generate intermediate GS frames through image warping based on the RS model, which inevitably result in black holes and noticeable motion artifacts. In this paper, we alleviate these issues by proposing a context-aware GS video reconstruction architecture. It facilitates the advantages such as occlusion reasoning, motion compensation, and temporal abstraction. Specifically, we first estimate the bilateral motion field so that the pixels of the two RS frames are warped to a common GS frame accordingly. Then, a refinement scheme is proposed to guide the GS frame synthesis along with bilateral occlusion masks to produce high-fidelity GS video frames at arbitrary times. Furthermore, we derive an approximated bilateral motion field model, which can serve as an alternative to provide a simple but effective GS frame initialization for related tasks. Experiments on synthetic and real data show that our approach achieves superior performance over state-of-the-art methods in terms of objective metrics and subjective visual quality. Code is available at \url{https://github.com/GitCVfb/CVR}.

cs.CV↗
arXiv2022

Iterative models for complex networks formed by extending cliques

We consider a new model for complex networks whose underlying mechanism is extending dense subgraphs. In the frustum model, we iteratively extend cliques over discrete-time steps. For many choices of the underlying parameters, graphs generated by the model densify over time. In the special case of the cone model, generated graphs provably satisfy properties observed in real-world complex networks such as the small world property and bad spectral expansion. We finish with a set of open problems and next steps for the frustum model.

cs.DM↗
arXiv2022

Adversarial Parameter Defense by Multi-Step Risk Minimization

Previous studies demonstrate DNNs' vulnerability to adversarial examples and adversarial training can establish a defense to adversarial examples. In addition, recent studies show that deep neural networks also exhibit vulnerability to parameter corruptions. The vulnerability of model parameters is of crucial value to the study of model robustness and generalization. In this work, we introduce the concept of parameter corruption and propose to leverage the loss change indicators for measuring the flatness of the loss basin and the parameter robustness of neural network parameters. On such basis, we analyze parameter corruptions and propose the multi-step adversarial corruption algorithm. To enhance neural networks, we propose the adversarial parameter defense algorithm that minimizes the average risk of multiple adversarial parameter corruptions. Experimental results show that the proposed algorithm can improve both the parameter robustness and accuracy of neural networks.

cs.LG↗
arXiv2022

A Representation Separation Perspective to Correspondences-free Unsupervised 3D Point Cloud Registration

3D point cloud registration in remote sensing field has been greatly advanced by deep learning based methods, where the rigid transformation is either directly regressed from the two point clouds (correspondences-free approaches) or computed from the learned correspondences (correspondences-based approaches). Existing correspondences-free methods generally learn the holistic representation of the entire point cloud, which is fragile for partial and noisy point clouds. In this paper, we propose a correspondences-free unsupervised point cloud registration (UPCR) method from the representation separation perspective. First, we model the input point cloud as a combination of pose-invariant representation and pose-related representation. Second, the pose-related representation is used to learn the relative pose wrt a "latent canonical shape" for the source and target point clouds respectively. Third, the rigid transformation is obtained from the above two learned relative poses. Our method not only filters out the disturbance in pose-invariant representation but also is robust to partial-to-partial point clouds or noise. Experiments on benchmark datasets demonstrate that our unsupervised method achieves comparable if not better performance than state-of-the-art supervised registration methods.

cs.CV↗
arXiv2022

VRNet: Learning the Rectified Virtual Corresponding Points for 3D Point Cloud Registration

3D point cloud registration is fragile to outliers, which are labeled as the points without corresponding points. To handle this problem, a widely adopted strategy is to estimate the relative pose based only on some accurate correspondences, which is achieved by building correspondences on the identified inliers or by selecting reliable ones. However, these approaches are usually complicated and time-consuming. By contrast, the virtual point-based methods learn the virtual corresponding points (VCPs) for all source points uniformly without distinguishing the outliers and the inliers. Although this strategy is time-efficient, the learned VCPs usually exhibit serious collapse degeneration due to insufficient supervision and the inherent distribution limitation. In this paper, we propose to exploit the best of both worlds and present a novel robust 3D point cloud registration framework. We follow the idea of the virtual point-based methods but learn a new type of virtual points called rectified virtual corresponding points (RCPs), which are defined as the point set with the same shape as the source and with the same pose as the target. Hence, a pair of consistent point clouds, i.e. source and RCPs, is formed by rectifying VCPs to RCPs (VRNet), through which reliable correspondences between source and RCPs can be accurately obtained. Since the relative pose between source and RCPs is the same as the relative pose between source and target, the input point clouds can be registered naturally. Specifically, we first construct the initial VCPs by using an estimated soft matching matrix to perform a weighted average on the target points. Then, we design a correction-walk module to learn an offset to rectify VCPs to RCPs, which effectively breaks the distribution limitation of VCPs. Finally, we develop a hybrid loss function to enforce the shape and geometry structure consistency ...

cs.CV↗
arXiv2022

RIConv++: Effective Rotation Invariant Convolutions for 3D Point Clouds Deep Learning

3D point clouds deep learning is a promising field of research that allows a neural network to learn features of point clouds directly, making it a robust tool for solving 3D scene understanding tasks. While recent works show that point cloud convolutions can be invariant to translation and point permutation, investigations of the rotation invariance property for point cloud convolution has been so far scarce. Some existing methods perform point cloud convolutions with rotation-invariant features, existing methods generally do not perform as well as translation-invariant only counterpart. In this work, we argue that a key reason is that compared to point coordinates, rotation-invariant features consumed by point cloud convolution are not as distinctive. To address this problem, we propose a simple yet effective convolution operator that enhances feature distinction by designing powerful rotation invariant features from the local regions. We consider the relationship between the point of interest and its neighbors as well as the internal relationship of the neighbors to largely improve the feature descriptiveness. Our network architecture can capture both local and global context by simply tuning the neighborhood size in each convolution layer. We conduct several experiments on synthetic and real-world point cloud classifications, part segmentation, and shape retrieval to evaluate our method, which achieves the state-of-the-art accuracy under challenging rotations.

cs.CV↗
arXiv2022

How to Inject Backdoors with Better Consistency: Logit Anchoring on Clean Data

Since training a large-scale backdoored model from scratch requires a large training dataset, several recent attacks have considered to inject backdoors into a trained clean model without altering model behaviors on the clean data. Previous work finds that backdoors can be injected into a trained clean model with Adversarial Weight Perturbation (AWP). Here AWPs refers to the variations of parameters that are small in backdoor learning. In this work, we observe an interesting phenomenon that the variations of parameters are always AWPs when tuning the trained clean model to inject backdoors. We further provide theoretical analysis to explain this phenomenon. We formulate the behavior of maintaining accuracy on clean data as the consistency of backdoored models, which includes both global consistency and instance-wise consistency. We extensively analyze the effects of AWPs on the consistency of backdoored models. In order to achieve better consistency, we propose a novel anchoring loss to anchor or freeze the model behaviors on the clean data, with a theoretical guarantee. Both the analytical and the empirical results validate the effectiveness of the anchoring loss in improving the consistency, especially the instance-wise consistency.

cs.LG↗
arXiv2022

End-to-end Learning the Partial Permutation Matrix for Robust 3D Point Cloud Registration

Even though considerable progress has been made in deep learning-based 3D point cloud processing, how to obtain accurate correspondences for robust registration remains a major challenge because existing hard assignment methods cannot deal with outliers naturally. Alternatively, the soft matching-based methods have been proposed to learn the matching probability rather than hard assignment. However, in this paper, we prove that these methods have an inherent ambiguity causing many deceptive correspondences. To address the above challenges, we propose to learn a partial permutation matching matrix, which does not assign corresponding points to outliers, and implements hard assignment to prevent ambiguity. However, this proposal poses two new problems, i.e., existing hard assignment algorithms can only solve a full rank permutation matrix rather than a partial permutation matrix, and this desired matrix is defined in the discrete space, which is non-differentiable. In response, we design a dedicated soft-to-hard (S2H) matching procedure within the registration pipeline consisting of two steps: solving the soft matching matrix (S-step) and projecting this soft matrix to the partial permutation matrix (H-step). Specifically, we augment the profit matrix before the hard assignment to solve an augmented permutation matrix, which is cropped to achieve the final partial permutation matrix. Moreover, to guarantee end-to-end learning, we supervise the learned partial permutation matrix but propagate the gradient to the soft matrix instead. Our S2H matching procedure can be easily integrated with existing registration frameworks, which has been verified in representative frameworks including DCP, RPMNet, and DGR. Extensive experiments have validated our method, which creates a new state-of-the-art performance for robust 3D point cloud registration. The code will be made public.

cs.CV↗
arXiv2022

First implementation of full-workflow automation in radiotherapy: the All-in-One solution on rectal cancer

The aim of this work is to describe the technical characteristics of an AI-powered radiotherapy workflow that enables full-process automation (All-in-One), evaluate its performance implemented for on-couch initial treatment of rectal cancer, and provide insight into the behavior of full-workflow automation in the specialty of radiotherapy. The All-in-One workflow was developed based on a CT-integrated linear accelerator. It incorporates routine radiotherapy procedures from simulation, autosegmentation, autoplanning, image guidance, beam delivery, and in vivo quality assurance (QA) into one scheme, with critical decision points involved, while the patient is on the treatment couch during the whole process. For the enrolled ten patients with rectal cancer, minor modifications of the autosegmented target volumes were required, and the Dice similarity coefficient and 95% Hausdorff distance before and after modifications were 0.892{\pm}0.061 and 18.2{\pm}13.0 mm, respectively. The autosegmented normal tissues and automatic plans were clinically acceptable without any modifications or reoptimization. The pretreatment IGRT corrections were within 2 mm in all directions, and the EPID-based in vivo QA showed a γ passing rate better than 97{\%} (3{\%}/3 mm/10{\%} threshold). The duration of the whole process was 23.2{\pm}3.5 minutes, depending mostly on the time required for manual modification and plan evaluation. The All-in-One workflow enables full automation of the entire radiotherapy process by seamlessly integrating multiple routine procedures. The one-stop solution shortens the time scale it takes to ready the first treatment from days to minutes, significantly improving the patient experience and the efficiency of the workflow, and shows potential to facilitate the clinical application of online adaptive replanning.

physics.med-ph↗