arXiv subjects

Chao Huang

Publications and source records attributed to Chao Huang.

At least 325 records · Page 18Linked to original sources

arXiv2020

Heterogeneous Deep Graph Infomax

Graph representation learning is to learn universal node representations that preserve both node attributes and structural information. The derived node representations can be used to serve various downstream tasks, such as node classification and node clustering. When a graph is heterogeneous, the problem becomes more challenging than the homogeneous graph node learning problem. Inspired by the emerging information theoretic-based learning algorithm, in this paper we propose an unsupervised graph neural network Heterogeneous Deep Graph Infomax (HDGI) for heterogeneous graph representation learning. We use the meta-path structure to analyze the connections involving semantics in heterogeneous graphs and utilize graph convolution module and semantic-level attention mechanism to capture local representations. By maximizing local-global mutual information, HDGI effectively learns high-level node representations that can be utilized in downstream graph-related tasks. Experiment results show that HDGI remarkably outperforms state-of-the-art unsupervised graph representation learning methods on both classification and clustering tasks. By feeding the learned representations into a parametric model, such as logistic regression, we even achieve comparable performance in node classification tasks when comparing with state-of-the-art supervised end-to-end GNN models.

cs.LG↗

arXiv2020

Energy-Efficient Control Adaptation with Safety Guarantees for Learning-Enabled Cyber-Physical Systems

Neural networks have been increasingly applied for control in learning-enabled cyber-physical systems (LE-CPSs) and demonstrated great promises in improving system performance and efficiency, as well as reducing the need for complex physical models. However, the lack of safety guarantees for such neural network based controllers has significantly impeded their adoption in safety-critical CPSs. In this work, we propose a controller adaptation approach that automatically switches among multiple controllers, including neural network controllers, to guarantee system safety and improve energy efficiency. Our approach includes two key components based on formal methods and machine learning. First, we approximate each controller with a Bernstein-polynomial based hybrid system model under bounded disturbance, and compute a safe invariant set for each controller based on its corresponding hybrid system. Intuitively, the invariant set of a controller defines the state space where the system can always remain safe under its control. The union of the controllers' invariants sets then define a safe adaptation space that is larger than (or equal to) that of each controller. Second, we develop a deep reinforcement learning method to learn a controller switching strategy for reducing the control/actuation energy cost, while with the help of a safety guard rule, ensuring that the system stays within the safe space. Experiments on a linear adaptive cruise control system and a non-linear Van der Pol's oscillator demonstrate the effectiveness of our approach on energy saving and safety enhancement.

eess.SY↗

arXiv2020

Human-Like Decision Making for Autonomous Driving: A Noncooperative Game Theoretic Approach

Considering that human-driven vehicles and autonomous vehicles (AVs) will coexist on roads in the future for a long time, how to merge AVs into human drivers traffic ecology and minimize the effect of AVs and their misfit with human drivers, are issues worthy of consideration. Moreover, different passengers have different needs for AVs, thus, how to provide personalized choices for different passengers is another issue for AVs. Therefore, a human-like decision making framework is designed for AVs in this paper. Different driving styles and social interaction characteristics are formulated for AVs regarding driving safety, ride comfort and travel efficiency, which are considered in the modeling process of decision making. Then, Nash equilibrium and Stackelberg game theory are applied to the noncooperative decision making. In addition, potential field method and model predictive control (MPC) are combined to deal with the motion prediction and planning for AVs, which provides predicted motion information for the decision-making module. Finally, two typical testing scenarios of lane change, i.e., merging and overtaking, are carried out to evaluate the feasibility and effectiveness of the proposed decision-making framework considering different human-like behaviors. Testing results indicate that both the two game theoretic approaches can provide reasonable human-like decision making for AVs. Compared with the Nash equilibrium approach, under the normal driving style, the cost value of decision making using the Stackelberg game theoretic approach is reduced by over 20%.

cs.RO↗

arXiv2020

Balanced paring of $\{1,2,\ldots,(p-1)/2\}$ for $p\equiv 1 \pmod{4}$

Let $p\equiv 1 \pmod{4}$ be a prime. Write $t = \prod_{x=1}^{(p-1)/2}x$. Since $t ^2\equiv -1 \pmod{p}$ , we can divide $\{1,2,\ldots,(p-1)/2\}$ into $(p-1)/4$ ordered pairs so that each pair, say $ $ , satisfies that $t a \equiv \pm \tilde{a} \pmod{p}.$ For any two such pairs, assume $a<\tilde{a}, b<\tilde{b}, a<b $, then there are three possibilities for their relative order : $a<\tilde{a} < b< \tilde{b}$ , $a< b < \tilde{a} < \tilde{b}$ , $a< b < \tilde{b}< \tilde{a}$. We show this paring is balanced in the sense that the three cases occur with equal frequencies. Utilizing properties of this paring we solve one problem raised by Zhi-Wei Sun concerning the sign of permutation related to quadratic residues.

math.NT↗

arXiv2020

Legendre Symbol of $\prod f(i,j) $ over $ 0<i<j<p/2, \ p\nmid f(i,j) $

Let $p>3$ be a prime. We investigate Legendre symbol of $\displaystyle \prod_{0<i<j<p/2 \atop p\nmid f(i,j) } f(i,j) \ $, where $i,j\in \Bbb Z, f(i,j)$ is a linear or quadratic form with integer coefficients. When $f=ai^2+bij+cj^2$ and $p\nmid c(a+b+c)$ , we prove that to evaluate the product is equivalent to determine $ \displaystyle \sum_{y=1}^{p-1} \bigg(\frac{y(y+1)(y+k)}{p}\bigg) \pmod{16}$ , where $4c(a+b+c)k \equiv (4ac-b^2)\pmod{p}.$ Parallel results are given for $\displaystyle \prod_{i,j=1 \atop p\nmid f(i,j) }^{(p-1)/2} \bigg(\frac{ f(i,j) }{p}\bigg).$ Then we show that $ \displaystyle \sum_{y=1}^{p-1} \bigg(\frac{y(y+1)(y+k)}{p}\bigg) \pmod{16}$ can be evaluated explicitly when k=2,4,5,9,10 or k is a square. And for several classes of f(i,j) these two kinds of products can be evaluated explicitly. Finally when f is a linear form we give unified identities for these products. Thus we prove these kind of problems raised in Sun's paper.

math.NT↗

arXiv2020

Inner Attention Supported Adaptive Cooperation for Heterogeneous Multi Robots Teaming based on Multi-agent Reinforcement Learning

Humans can selectively focus on different information based on different tasks requirements, other people's abilities and availability. Therefore, they can adapt quickly to a completely different and complex environments. If, like people, robot could obtain the same abilities, then it would greatly increase their adaptability to new and unexpected situations. Recent efforts in Heterogeneous Multi Robots Teaming have try to achieve this ability, such as the methods based on communication and multi-modal information fusion strategies. However, these methods will not only suffer from the exponential explosion problem with the increase of robots number but also need huge computational resources. To that end, we introduce an inner attention actor-critic method that replicates aspects of human flexibly cooperation. By bringing attention mechanism on computer vision, natural language process into the realm of multi-robot cooperation, our attention method is able to dynamically select which robots to attend to. In order to test the effectiveness of our proposed method, several simulation experiments have been designed. And the results show that inner attention mechanism can enable flexible cooperation and lower resources consuming in rescuing tasks.

cs.RO↗

arXiv2020

Cross-Layer Design of Automotive Systems

With growing system complexity and closer cyber-physical interaction, there are increasingly stronger dependencies between different function and architecture layers in automotive systems. This paper first introduces several cross-layer approaches we developed in the past for holistically addressing multiple system layers in the design of individual vehicles and of connected vehicle applications; and then presents a new methodology based on the weakly-hard paradigm for leveraging the scheduling flexibility in architecture layer to improve the system performance at function layer. The results of these works demonstrate the importance and effectiveness of cross-layer design for automotive systems.

eess.SY↗

arXiv2020

Bipartite Distance for Shape-Aware Landmark Detection in Spinal X-Ray Images

Scoliosis is a congenital disease that causes lateral curvature in the spine. Its assessment relies on the identification and localization of vertebrae in spinal X-ray images, conventionally via tedious and time-consuming manual radiographic procedures that are prone to subjectivity and observational variability. Reliability can be improved through the automatic detection and localization of spinal landmarks. To guide a CNN in the learning of spinal shape while detecting landmarks in X-ray images, we propose a novel loss based on a bipartite distance (BPD) measure, and show that it consistently improves landmark detection performance.

eess.IV↗

arXiv2020

Representation Learning on Variable Length and Incomplete Wearable-Sensory Time Series

The prevalence of wearable sensors (e.g., smart wristband) is creating unprecedented opportunities to not only inform health and wellness states of individuals, but also assess and infer personal attributes, including demographic and personality attributes. However, the data captured from wearables, such as heart rate or number of steps, present two key challenges: 1) the time series is often of variable-length and incomplete due to different data collection periods (e.g., wearing behavior varies by person); and 2) inter-individual variability to external factors like stress and environment. This paper addresses these challenges and brings us closer to the potential of personalized insights about an individual, taking the leap from quantified self to qualified self. Specifically, HeartSpace proposed in this paper encodes time series data with variable-length and missing values via the integration of a time series encoding module and a pattern aggregation network. Additionally, HeartSpace implements a Siamese-triplet network to optimize representations by jointly capturing intra- and inter-series correlations during the embedding learning process. The empirical evaluation over two different real-world data presents significant performance gains overstate-of-the-art baselines in a variety of applications, including personality prediction, demographics inference, and user identification.

eess.SP↗

arXiv2020

An Integrated Framework of Decision Making and Motion Planning for Autonomous Vehicles Considering Social Behaviors

This paper presents a novel integrated approach to deal with the decision making and motion planning for lane-change maneuvers of autonomous vehicle (AV) considering social behaviors of surrounding traffic occupants. Reflected by driving styles and intentions of surrounding vehicles, the social behaviors are taken into consideration during the modelling process. Then, the Stackelberg Game theory is applied to solve the decision-making, which is formulated as a non-cooperative game problem. Besides, potential field is adopted in the motion planning model, which uses different potential functions to describe surrounding vehicles with different behaviors and road constrains. Then, Model Predictive Control (MPC) is utilized to predict the state and trajectory of the autonomous vehicle. Finally, the decision-making and motion planning is then integrated into a constrained multi-objective optimization problem. Three testing scenarios considering different social behaviors of surrounding vehicles are carried out to validate the performance of the proposed approach. Testing results show that the integrated approach is able to address different social interactions with other traffic participants, and make proper and safe decisions and planning for autonomous vehicles, demonstrating its feasibility and effectiveness.

eess.SY↗

arXiv2020

A Game-Theoretic Approach to Decision Making for Multiple Vehicles at Roundabout

In this paper, we study the decision making of multiple autonomous vehicles at a roundabout. The behaviours of the vehicles depend on their aggressiveness, which indicates how much they value speed over safety. We propose a distributed decision-making process that balances safety and speed of the vehicles. In the proposed process, each vehicle estimates other vehicles' aggressiveness and formulates the interactions among the vehicles as a finite sequential game. Based on the Nash equilibrium of this game, the vehicle predicts other vehicles' behaviours and makes decisions. We perform numerical simulations to illustrate the effectiveness of the proposed process, both for safety (absence of collisions), and speed (time spent within the roundabout).

eess.SY↗

arXiv2020

SAW: A Tool for Safety Analysis of Weakly-hard Systems

We introduce SAW, a tool for safety analysis of weakly-hard systems, in which traditional hard timing constraints are relaxed to allow bounded deadline misses for improving design flexibility and runtime resiliency. Safety verification is a key issue for weakly-hard systems, as it ensures system safety under allowed deadline misses. Previous works are either for linear systems only, or limited to a certain type of nonlinear systems (e.g., systems that satisfy exponential stability and Lipschitz continuity of the system dynamics). In this work, we propose a new technique for infinite-time safety verification of general nonlinear weakly-hard systems. Our approach first discretizes the safe state set into grids and constructs a directed graph, where nodes represent the grids and edges represent the reachability relation. Based on graph theory and dynamic programming, our approach can effectively find the safe initial set (consisting of a set of grids), from which the system can be proven safe under given weakly-hard constraints. Experimental results demonstrate the effectiveness of our approach, when compared with the state-of-the-art. An open source implementation of our tool is available at https://github.com/551100kk/SAW. The virtual machine where the tool is ready to run can be found at https://www.csie.ntu.edu.tw/~r08922054/SAW.ova.

eess.SY↗

arXiv2020

Opportunistic Intermittent Control with Safety Guarantees for Autonomous Systems

Control schemes for autonomous systems are often designed in a way that anticipates the worst case in any situation. At runtime, however, there could exist opportunities to leverage the characteristics of specific environment and operation context for more efficient control. In this work, we develop an online intermittent-control framework that combines formal verification with model-based optimization and deep reinforcement learning to opportunistically skip certain control computation and actuation to save actuation energy and computational resources without compromising system safety. Experiments on an adaptive cruise control system demonstrate that our approach can achieve significant energy and computation savings.

eess.SY↗

arXiv2020

Partly Supervised Multitask Learning

Semi-supervised learning has recently been attracting attention as an alternative to fully supervised models that require large pools of labeled data. Moreover, optimizing a model for multiple tasks can provide better generalizability than single-task learning. Leveraging self-supervision and adversarial training, we propose a novel general purpose semi-supervised, multiple-task model---namely, self-supervised, semi-supervised, multitask learning (S$^4$MTL)---for accomplishing two important tasks in medical imaging, segmentation and diagnostic classification. Experimental results on chest and spine X-ray datasets suggest that our S$^4$MTL model significantly outperforms semi-supervised single task, semi/fully-supervised multitask, and fully-supervised single task models, even with a 50\% reduction of class and segmentation labels. We hypothesize that our proposed model can be effective in tackling limited annotation problems for joint training, not only in medical imaging domains, but also for general-purpose vision tasks.

cs.CV↗

arXiv2020

Analysis of Scoliosis From Spinal X-Ray Images

Scoliosis is a congenital disease in which the spine is deformed from its normal shape. Measurement of scoliosis requires labeling and identification of vertebrae in the spine. Spine radiographs are the most cost-effective and accessible modality for imaging the spine. Reliable and accurate vertebrae segmentation in spine radiographs is crucial in image-guided spinal assessment, disease diagnosis, and treatment planning. Conventional assessments rely on tedious and time-consuming manual measurement, which is subject to inter-observer variability. A fully automatic method that can accurately identify and segment the associated vertebrae is unavailable in the literature. Leveraging a carefully-adjusted U-Net model with progressive side outputs, we propose an end-to-end segmentation model that provides a fully automatic and reliable segmentation of the vertebrae associated with scoliosis measurement. Our experimental results from a set of anterior-posterior spine X-Ray images indicate that our model, which achieves an average Dice score of 0.993, promises to be an effective tool in the identification and labeling of spinal vertebrae, eventually helping doctors in the reliable estimation of scoliosis. Moreover, estimation of Cobb angles from the segmented vertebrae further demonstrates the effectiveness of our model.

eess.IV↗

arXiv2020

Non-Local Part-Aware Point Cloud Denoising

This paper presents a novel non-local part-aware deep neural network to denoise point clouds by exploring the inherent non-local self-similarity in 3D objects and scenes. Different from existing works that explore small local patches, we design the non-local learning unit (NLU) customized with a graph attention module to adaptively capture non-local semantically-related features over the entire point cloud. To enhance the denoising performance, we cascade a series of NLUs to progressively distill the noise features from the noisy inputs. Further, besides the conventional surface reconstruction loss, we formulate a semantic part loss to regularize the predictions towards the relevant parts and enable denoising in a part-aware manner. Lastly, we performed extensive experiments to evaluate our method, both quantitatively and qualitatively, and demonstrate its superiority over the state-of-the-arts on both synthetic and real-scanned noisy inputs.

cs.CV↗

arXiv2020

Human-Machine Collaboration for Automated Vehicles via an Intelligent Two-Phase Haptic Interface

Prior to realizing fully autonomous driving, human intervention will be required periodically to guarantee vehicle safety. This fact poses a new challenge in human-machine interaction, particularly during control authority transition from the automated functionality to a human driver. This paper addresses this challenge by proposing an intelligent haptic interface based on a newly developed two-phase human-machine interaction model. The intelligent haptic torque is applied on the steering wheel and switches its functionality between predictive guidance and haptic assistance according to the varying state and control ability of human drivers, helping drivers gradually resume manual control during takeover. The developed approach is validated by conducting vehicle experiments with 26 human participants. The results suggest that the proposed method can effectively enhance the driving state recovery and control performance of human drivers during takeover compared with an existing approach, further improving the safety and smoothness of the human-machine interaction in automated vehicles.

eess.SY↗

arXiv2020

Extreme Image Coding via Multiscale Autoencoders With Generative Adversarial Optimization

We propose a MultiScale AutoEncoder(MSAE) based extreme image compression framework to offer visually pleasing reconstruction at a very low bitrate. Our method leverages the "priors" at different resolution scale to improve the compression efficiency, and also employs the generative adversarial network(GAN) with multiscale discriminators to perform the end-to-end trainable rate-distortion optimization. We compare the perceptual quality of our reconstructions with traditional compression algorithms using High-Efficiency Video Coding(HEVC) based Intra Profile and JPEG2000 on the public Cityscapes and ADE20K datasets, demonstrating the significant subjective quality improvement.

eess.IV↗