arXiv subjects

Ziyi Zhou

Publications and source records attributed to Ziyi Zhou.

54 records · Page 3Linked to original sources

arXiv2024

CrossGP: Cross-Day Glucose Prediction Excluding Physiological Information

The increasing number of diabetic patients is a serious issue in society today, which has significant negative impacts on people's health and the country's financial expenditures. Because diabetes may develop into potential serious complications, early glucose prediction for diabetic patients is necessary for timely medical treatment. Existing glucose prediction methods typically utilize patients' private data (e.g. age, gender, ethnicity) and physiological parameters (e.g. blood pressure, heart rate) as reference features for glucose prediction, which inevitably leads to privacy protection concerns. Moreover, these models generally focus on either long-term (monthly-based) or short-term (minute-based) predictions. Long-term prediction methods are generally inaccurate because of the external uncertainties that can greatly affect the glucose values, while short-term ones fail to provide timely medical guidance. Based on the above issues, we propose CrossGP, a novel machine-learning framework for cross-day glucose prediction solely based on the patient's external activities without involving any physiological parameters. Meanwhile, we implement three baseline models for comparison. Extensive experiments on Anderson's dataset strongly demonstrate the superior performance of CrossGP and prove its potential for future real-life applications.

cs.AI↗

arXiv2024

Efflex: Efficient and Flexible Pipeline for Spatio-Temporal Trajectory Graph Modeling and Representation Learning

In the landscape of spatio-temporal data analytics, effective trajectory representation learning is paramount. To bridge the gap of learning accurate representations with efficient and flexible mechanisms, we introduce Efflex, a comprehensive pipeline for transformative graph modeling and representation learning of the large-volume spatio-temporal trajectories. Efflex pioneers the incorporation of a multi-scale k-nearest neighbors (KNN) algorithm with feature fusion for graph construction, marking a leap in dimensionality reduction techniques by preserving essential data features. Moreover, the groundbreaking graph construction mechanism and the high-performance lightweight GCN increase embedding extraction speed by up to 36 times faster. We further offer Efflex in two versions, Efflex-L for scenarios demanding high accuracy, and Efflex-B for environments requiring swift data processing. Comprehensive experimentation with the Porto and Geolife datasets validates our approach, positioning Efflex as the state-of-the-art in the domain. Such enhancements in speed and accuracy highlight the versatility of Efflex, underscoring its wide-ranging potential for deployment in time-sensitive and computationally constrained applications.

cs.LG↗

arXiv2024

Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traversal

This study focuses on a layered, experience-based, multi-modal contact planning framework for agile quadrupedal locomotion over a constrained rebar environment. To this end, our hierarchical planner incorporates locomotion-specific modules into the high-level contact sequence planner and solves kinodynamically-aware trajectory optimization as the low-level motion planner. Through quantitative analysis of the experience accumulation process and experimental validation of the kinodynamic feasibility of the generated locomotion trajectories, we demonstrate that the experience planning heuristic offers an effective way of providing candidate footholds for a legged contact planner. Additionally, we introduce a guiding torso path heuristic at the global planning level to enhance the navigation success rate in the presence of environmental obstacles. Our results indicate that the torso-path guided experience accumulation requires significantly fewer offline trials to successfully reach the goal compared to regular experience accumulation. Finally, our planning framework is validated in both dynamics simulations and real hardware implementations on a quadrupedal robot provided by Skymul Inc.

cs.RO↗

arXiv2024

VeTraSS: Vehicle Trajectory Similarity Search Through Graph Modeling and Representation Learning

Trajectory similarity search plays an essential role in autonomous driving, as it enables vehicles to analyze the information and characteristics of different trajectories to make informed decisions and navigate safely in dynamic environments. Existing work on the trajectory similarity search task primarily utilizes sequence-processing algorithms or Recurrent Neural Networks (RNNs), which suffer from the inevitable issues of complicated architecture and heavy training costs. Considering the intricate connections between trajectories, using Graph Neural Networks (GNNs) for data modeling is feasible. However, most methods directly use existing mathematical graph structures as the input instead of constructing specific graphs from certain vehicle trajectory data. This ignores such data's unique and dynamic characteristics. To bridge such a research gap, we propose VeTraSS -- an end-to-end pipeline for Vehicle Trajectory Similarity Search. Specifically, VeTraSS models the original trajectory data into multi-scale graphs, and generates comprehensive embeddings through a novel multi-layer attention-based GNN. The learned embeddings can be used for searching similar vehicle trajectories. Extensive experiments on the Porto and Geolife datasets demonstrate the effectiveness of VeTraSS, where our model outperforms existing work and reaches the state-of-the-art. This demonstrates the potential of VeTraSS for trajectory analysis and safe navigation in self-driving vehicles in the real world.

cs.LG↗

arXiv2024

Enhancing the efficiency of protein language models with minimal wet-lab data through few-shot learning

Accurately modeling the protein fitness landscapes holds great importance for protein engineering. Recently, due to their capacity and representation ability, pre-trained protein language models have achieved state-of-the-art performance in predicting protein fitness without experimental data. However, their predictions are limited in accuracy as well as interpretability. Furthermore, such deep learning models require abundant labeled training examples for performance improvements, posing a practical barrier. In this work, we introduce FSFP, a training strategy that can effectively optimize protein language models under extreme data scarcity. By combining the techniques of meta-transfer learning, learning to rank, and parameter-efficient fine-tuning, FSFP can significantly boost the performance of various protein language models using merely tens of labeled single-site mutants from the target protein. The experiments across 87 deep mutational scanning datasets underscore its superiority over both unsupervised and supervised approaches, revealing its potential in facilitating AI-guided protein design.

q-bio.BM↗

arXiv2023

PETA: Evaluating the Impact of Protein Transfer Learning with Sub-word Tokenization on Downstream Applications

Large protein language models are adept at capturing the underlying evolutionary information in primary structures, offering significant practical value for protein engineering. Compared to natural language models, protein amino acid sequences have a smaller data volume and a limited combinatorial space. Choosing an appropriate vocabulary size to optimize the pre-trained model is a pivotal issue. Moreover, despite the wealth of benchmarks and studies in the natural language community, there remains a lack of a comprehensive benchmark for systematically evaluating protein language model quality. Given these challenges, PETA trained language models with 14 different vocabulary sizes under three tokenization methods. It conducted thousands of tests on 33 diverse downstream datasets to assess the models' transfer learning capabilities, incorporating two classification heads and three random seeds to mitigate potential biases. Extensive experiments indicate that vocabulary sizes between 50 and 200 optimize the model, whereas sizes exceeding 800 detrimentally affect the model's representational performance. Our code, model weights and datasets are available at https://github.com/ginnm/ProteinPretraining.

cs.CL↗

arXiv2023

Controlling Character Motions without Observable Driving Source

How to generate diverse, life-like, and unlimited long head/body sequences without any driving source? We argue that this under-investigated research problem is non-trivial at all, and has unique technical challenges behind it. Without semantic constraints from the driving sources, using the standard autoregressive model to generate infinitely long sequences would easily result in 1) out-of-distribution (OOD) issue due to the accumulated error, 2) insufficient diversity to produce natural and life-like motion sequences and 3) undesired periodic patterns along the time. To tackle the above challenges, we propose a systematic framework that marries the benefits of VQ-VAE and a novel token-level control policy trained with reinforcement learning using carefully designed reward functions. A high-level prior model can be easily injected on top to generate unlimited long and diverse sequences. Although we focus on no driving sources now, our framework can be generalized for controlled synthesis with explicit driving sources. Through comprehensive evaluations, we conclude that our proposed framework can address all the above-mentioned challenges and outperform other strong baselines very significantly.

cs.AI↗

arXiv2023

LiveChat: A Large-Scale Personalized Dialogue Dataset Automatically Constructed from Live Streaming

Open-domain dialogue systems have made promising progress in recent years. While the state-of-the-art dialogue agents are built upon large-scale text-based social media data and large pre-trained models, there is no guarantee these agents could also perform well in fast-growing scenarios, such as live streaming, due to the bounded transferability of pre-trained models and biased distributions of public datasets from Reddit and Weibo, etc. To improve the essential capability of responding and establish a benchmark in the live open-domain scenario, we introduce the LiveChat dataset, composed of 1.33 million real-life Chinese dialogues with almost 3800 average sessions across 351 personas and fine-grained profiles for each persona. LiveChat is automatically constructed by processing numerous live videos on the Internet and naturally falls within the scope of multi-party conversations, where the issues of Who says What to Whom should be considered. Therefore, we target two critical tasks of response modeling and addressee recognition and propose retrieval-based baselines grounded on advanced techniques. Experimental results have validated the positive effects of leveraging persona profiles and larger average sessions per persona. In addition, we also benchmark the transferability of advanced generation-based models on LiveChat and pose some future directions for current challenges.

cs.CL↗

arXiv2023

Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation

Force modulation of robotic manipulators has been extensively studied for several decades. However, it is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance guarantees - a large proportion of them concerning the modulation of interaction forces. This study presents a high-level framework for simultaneous trajectory optimization and force control of the interaction between a manipulator and soft environments, which is prone to external disturbances. Sliding friction and normal contact force are taken into account. The dynamics of the soft contact model and the manipulator are simultaneously incorporated in a trajectory optimizer to generate desired motion and force profiles. A constrained optimization framework based on Alternative Direction Method of Multipliers (ADMM) has been employed to efficiently generate real-time optimal control inputs and high-dimensional state trajectories in a Model Predictive Control fashion. Experimental validation of the model performance is conducted on a soft substrate with known material properties using a Cartesian space force control mode. Results show a comparison of ground truth and real-time model-based contact force and motion tracking for multiple Cartesian motions in the valid range of the friction model. It is shown that a contact model-based motion planner can compensate for frictional forces and motion disturbances and improve the overall motion and force tracking accuracy. The proposed high-level planner has the potential to facilitate the automation of medical tasks involving the manipulation of compliant, delicate, and deformable tissues.

cs.RO↗

arXiv2022

See, Plan, Predict: Language-guided Cognitive Planning with Video Prediction

Cognitive planning is the structural decomposition of complex tasks into a sequence of future behaviors. In the computational setting, performing cognitive planning entails grounding plans and concepts in one or more modalities in order to leverage them for low level control. Since real-world tasks are often described in natural language, we devise a cognitive planning algorithm via language-guided video prediction. Current video prediction models do not support conditioning on natural language instructions. Therefore, we propose a new video prediction architecture which leverages the power of pre-trained transformers.The network is endowed with the ability to ground concepts based on natural language input with generalization to unseen objects. We demonstrate the effectiveness of this approach on a new simulation dataset, where each task is defined by a high-level action described in natural language. Our experiments compare our method again stone video generation baseline without planning or action grounding and showcase significant improvements. Our ablation studies highlight an improved generalization to unseen objects that natural language embeddings offer to concept grounding ability, as well as the importance of planning towards visual "imagination" of a task.

cs.AI↗

arXiv2022

Reactive Task Allocation and Planning for Quadrupedal and Wheeled Robot Teaming

This paper takes the first step towards a reactive, hierarchical multi-robot task allocation and planning framework given a global Linear Temporal Logic specification. The capabilities of both quadrupedal and wheeled robots are leveraged via a heterogeneous team to accomplish a variety of navigation and delivery tasks. However, when deployed in the real world, all robots can be susceptible to different types of disturbances, including but not limited to locomotion failures, human interventions, and obstructions from the environment. To address these disturbances, we propose task-level local and global reallocation strategies to efficiently generate updated action-state sequences online while guaranteeing the completion of the original task. These task reallocation approaches eliminate reconstructing the entire plan or resynthesizing a new task. To integrate the task planner with low-level inputs, a Behavior Tree execution layer monitors different types of disturbances and employs the reallocation methods to make corresponding recovery strategies. To evaluate this planning framework, dynamic simulations are conducted in a realistic hospital environment with a heterogeneous robot team consisting of quadrupeds and wheeled robots for delivery tasks.

cs.RO↗

arXiv2022

Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion

In this letter, we present a versatile hierarchical offline planning algorithm, along with an online control pipeline for agile quadrupedal locomotion. Our offline planner alternates between optimizing centroidal dynamics for a reduced-order model and whole-body trajectory optimization, with the aim of achieving dynamics consensus. Our novel momentum-inertia-aware centroidal optimization, which uses an equimomental ellipsoid parameterization, is able to generate highly acrobatic motions via ``inertia shaping". Our whole-body optimization approach significantly improves upon the quality of standard DDP-based approaches by iteratively exploiting feedback from the centroidal level. For online control, we have developed a novel convex model predictive control scheme through a linear transformation of the full centroidal dynamics. Our controller can efficiently optimize for both contact forces and joint accelerations in single optimization, enabling more straightforward tracking for momentum-rich motions compared to existing quadrupedal MPC controllers. We demonstrate the capability and generality of our trajectory planner on four different dynamic maneuvers. We then present one hardware experiment on the MIT Mini Cheetah platform to demonstrate the performance of the entire planning and control pipeline on a twisting jump maneuver.

cs.RO↗

arXiv2021

Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as slopes and stairs. To accomplish autonomous locomotion navigation in complex environments, spinning is a fundamental yet indispensable functionality for legged robots. However, spinning behaviors of quadruped robots on uneven terrain often exhibit position drifts. Motivated by this problem, this study presents an algorithmic method to enable accurate spinning motions over uneven terrain and constrain the spinning radius of the Center of Mass (CoM) to be bounded within a small range to minimize the drift risks. A modified spherical foot kinematics representation is proposed to improve the foot kinematic model and rolling dynamics of the quadruped during locomotion. A CoM planner is proposed to generate stable spinning motion based on projected stability margins. Accurate motion tracking is accomplished with Linear Quadratic Regulator (LQR) to bound the position drift during the spinning movement. Experiments are conducted on a small-scale quadruped robot and the effectiveness of the proposed method is verified on versatile terrains including flat ground, stairs and slopes.

cs.RO↗

arXiv2021

Predicting Community Smells' Occurrence on Individual Developers by Sentiments

Community smells appear in sub-optimal software development community structures, causing unforeseen additional project costs, e.g., lower productivity and more technical debt. Previous studies analyzed and predicted community smells in the granularity of community sub-groups using socio-technical factors. However, refactoring such smells requires the effort of developers individually. To eliminate them, supportive measures for every developer should be constructed according to their motifs and working states. Recent work revealed developers' personalities could influence community smells' variation, and their sentiments could impact productivity. Thus, sentiments could be evaluated to predict community smells' occurrence on them. To this aim, this paper builds a developer-oriented and sentiment-aware community smell prediction model considering 3 smells such as Organizational Silo, Lone Wolf, and Bottleneck. Furthermore, it also predicts if a developer quitted the community after being affected by any smell. The proposed model achieves cross- and within-project prediction F-Measure ranging from 76% to 93%. Research also reveals 6 sentimental features having stronger predictive power compared with activeness metrics. Imperative and indicative expressions, politeness, and several emotions are the most powerful predictors. Finally, we test statistically the mean and distribution of sentimental features. Based on our findings, we suggest developers should communicate in a straightforward and polite way.

cs.SE↗

arXiv2020

SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments

This study proposes a Task and Motion Planning (TAMP) method with symbolic decisions embedded in a bilevel optimization. This TAMP method exploits the discrete structure of sequential manipulation for long-horizon and versatile tasks in dynamically changing environments. At the symbolic planning level, we propose a scalable decision-making method for long-horizon manipulation tasks using the Planning Domain Definition Language (PDDL) with causal graph decomposition. At the motion planning level, we devise a trajectory optimization (TO) approach based on the Alternating Direction Method of Multipliers (ADMM), suitable for solving constrained, large-scale nonlinear optimization in a distributed manner. Distinct from conventional geometric motion planners, our approach generates highly dynamic manipulation motions by incorporating the full robot and object dynamics. Furthermore, in lieu of a hierarchical planning approach, we solve a holistically integrated bilevel optimization problem involving costs from both the low-level TO and the high-level search. Simulation and experimental results demonstrate dynamic manipulation for long-horizon object sorting tasks in clutter and on a moving conveyor belt.

cs.RO↗

arXiv2020

Simultaneous Trajectory Optimization and Force Control with Soft Contact Mechanics

Force modulation of robotic manipulators has been extensively studied for several decades but is not yet commonly used in safety-critical applications due to a lack of accurate interaction contact modeling and weak performance guarantees - a large proportion of them concerning the modulation of interaction forces. This study presents a high-level framework for simultaneous trajectory optimization and force control of the interaction between manipulator and soft environments. Sliding friction and normal contact force are taken into account. The dynamics of the soft contact model and the manipulator dynamics are simultaneously incorporated in the trajectory optimizer to generate desired motion and force profiles. A constraint optimization framework based on Differential Dynamic Programming and Alternative Direction Method of Multipliers has been employed to generate optimal control input and high-dimensional state trajectories. Experimental validation of the model performance is conducted on a soft substrate with known material properties using Cartesian space force control mode. Results show a comparison of ground truth and predicted model based contact force states for a few cartesian motions and the validity range of the friction model. Potential applications include high-level task planning of medical tasks involving manipulation of compliant, delicate, and deformable tissues.

cs.RO↗

arXiv2020

Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics

Trajectory optimization is becoming increasingly powerful in addressing motion planning problems of underactuated robotic systems. Numerous prior studies solve such a class of large non-convex optimal control problems in a hierarchical fashion. However, numerical accuracy issues are prone to occur when one uses a full-order model to track reference trajectories generated from a reduced-order model. This study investigates an approach of Alternating Direction Method of Multipliers (ADMM) and proposes a new splitting scheme for legged locomotion problems. Rigid body dynamics constraints and other general constraints such as box and cone constraints are decomposed to multiple sub-problems in a principled manner. The resulting multi-block ADMM framework enables us to leverage the efficiency of an unconstrained optimization method--Differential Dynamical Programming--to iteratively solve the optimizations using centroidal and whole-body models. Furthermore, we propose a Stage-wise Accelerated ADMM with over-relaxation and varying-penalty schemes to improve the overall convergence rate. We evaluate and validate the performance of the proposed ADMM algorithm on a car-parking example and a bipedal locomotion problem over rough terrains.

cs.RO↗

arXiv2019

Flexoskeleton printing for versatile insect-inspired robots

One of the many secrets to the success and prevalence of insects is their versatile, robust, and complex exoskeleton morphology. A fundamental challenge in insect-inspired robotics has been the fabrication of robotic exoskeletons that can match the complexity of exoskeleton structural mechanics. Hybrid robots composed of rigid and soft elements have previously required access to expensive multi-material 3D printers, multi-step casting and machining processes, or limited material choice when using consumer-grade fabrication methods. Here we introduce a new design and fabrication process to rapidly construct flexible exoskeleton-inspired robots called flexoskeleton printing. We modify a consumer-grade fused deposition material (FDM) 3D printer to deposit filament directly onto a heated thermoplastic base layer which provides extremely strong bond strength between the deposited material and the inextensible, flexible base layer. This process significantly improves the fatigue resistance of printed components and enables a new class of insect-inspired robot morphologies. We demonstrate these capabilities through design and testing of a wide library of canonical flexoskeleton elements; ultimately leading to the integration of elements into a flexoskeleton walking legged robot.

cs.RO↗