arXiv subjects

Chao Xu

Publications and source records attributed to Chao Xu.

At least 325 records · Page 18Linked to original sources

arXiv2021

Fast-Tracker 2.0: Improving Autonomy of Aerial Tracking with Active Vision and Human Location Regression

In recent years, several progressive works promote the development of aerial tracking. One of the representative works is our previous work Fast-tracker which is applicable to various challenging tracking scenarios. However, it suffers from two main drawbacks: 1) the over simplification in target detection by using artificial markers and 2) the contradiction between simultaneous target and environment perception with limited onboard vision. In this paper, we upgrade the target detection in Fast-tracker to detect and localize a human target based on deep learning and non-linear regression to solve the former problem. For the latter one, we equip the quadrotor system with 360 degree active vision on a customized gimbal camera. Furthermore, we improve the tracking trajectory planning in Fast-tracker by incorporating an occlusion-aware mechanism that generates observable tracking trajectories. Comprehensive real-world tests confirm the proposed system's robustness and real-time capability. Benchmark comparisons with Fast-tracker validate that the proposed system presents better tracking performance even when performing more difficult tracking tasks.

cs.RO↗

arXiv2021

Visibility-aware Trajectory Optimization with Application to Aerial Tracking

The visibility of targets determines performance and even success rate of various applications, such as active slam, exploration, and target tracking. Therefore, it is crucial to take the visibility of targets into explicit account in trajectory planning. In this paper, we propose a general metric for target visibility, considering observation distance and angle as well as occlusion effect. We formulate this metric into a differentiable visibility cost function, with which spatial trajectory and yaw can be jointly optimized. Furthermore, this visibility-aware trajectory optimization handles dynamic feasibility of position and yaw simultaneously. To validate that our method is practical and generic, we integrate it into a customized quadrotor tracking system. The experimental results show that our visibility-aware planner performs more robustly and observes targets better. In order to benefit related researches, we release our code to the public.

cs.RO↗

arXiv2021

Manifold Regularized Dynamic Network Pruning

Neural network pruning is an essential approach for reducing the computational complexity of deep models so that they can be well deployed on resource-limited devices. Compared with conventional methods, the recently developed dynamic pruning methods determine redundant filters variant to each input instance which achieves higher acceleration. Most of the existing methods discover effective sub-networks for each instance independently and do not utilize the relationship between different inputs. To maximally excavate redundancy in the given network architecture, this paper proposes a new paradigm that dynamically removes redundant filters by embedding the manifold information of all instances into the space of pruned networks (dubbed as ManiDP). We first investigate the recognition complexity and feature similarity between images in the training set. Then, the manifold relationship between instances and the pruned sub-networks will be aligned in the training procedure. The effectiveness of the proposed method is verified on several benchmarks, which shows better performance in terms of both accuracy and computational cost compared to the state-of-the-art methods. For example, our method can reduce 55.3% FLOPs of ResNet-34 with only 0.57% top-1 accuracy degradation on ImageNet.

cs.CV↗

arXiv2021

Autonomous Flights in Dynamic Environments with Onboard Vision

In this paper, we introduce a complete system for autonomous flight of quadrotors in dynamic environments with onboard sensing. Extended from existing work, we develop an occlusion-aware dynamic perception method based on depth images, which classifies obstacles as dynamic and static. For representing generic dynamic environment, we model dynamic objects with moving ellipsoids and fuse static ones into an occupancy grid map. To achieve dynamic avoidance, we design a planning method composed of modified kinodynamic path searching and gradient-based optimization. The method leverages manually constructed gradients without maintaining a signed distance field (SDF), making the planning procedure finished in milliseconds. We integrate the above methods into a customized quadrotor system and thoroughly test it in realworld experiments, verifying its effective collision avoidance in dynamic environments.

cs.RO↗

arXiv2021

Integrating Fast Regional Optimization into Sampling-based Kinodynamic Planning for Multirotor Flight

For real-time multirotor kinodynamic motion planning, the efficiency of sampling-based methods is usually hindered by difficult-to-sample homotopy classes like narrow passages. In this paper, we address this issue by a hybrid scheme. We firstly propose a fast regional optimizer exploiting the information of local environments and then integrate it into a global sampling process to ensure faster convergence. The incorporation of local optimization on different sampling-based methods shows significantly improved success rates and less planning time in various types of challenging environments. We also present a refinement module that fully investigates the resulting trajectory of the global sampling and greatly improves its smoothness with negligible computation effort. Benchmark results illustrate that compared to the state-of-the-art ones, our proposed method can better exploit a previous trajectory. The planning methods are applied to generate trajectories for a simulated quadrotor system, and its capability is validated in real-time applications.

cs.RO↗

arXiv2021

CMPCC: Corridor-based Model Predictive Contouring Control for Aggressive Drone Flight

In this paper, we propose an efficient, receding horizon, local adaptive low-level planner as the middle layer between our original planner and controller. Our method is named as corridor-based model predictive contouring control (CMPCC) since it builds upon on MPCC and utilizes the flight corridor as hard safety constraints. It optimizes the flight aggressiveness and tracking accuracy simultaneously, thus improving our system's robustness by overcoming unmeasured disturbances. Our method features its online flight speed optimization, strict safety and feasibility, and real-time performance, and will be released as a low-level plugin for a large variety of quadrotor systems.

cs.RO↗

arXiv2021

Strain engineering of epitaxial oxide heterostructures beyond substrate limitations

The limitation of commercially available single-crystal substrates and the lack of continuous strain tunability preclude the ability to take full advantage of strain engineering for further exploring novel properties and exhaustively studying fundamental physics in complex oxides. Here we report an approach for imposing continuously tunable, large epitaxial strain in oxide heterostructures beyond substrate limitations by inserting an interface layer through tailoring its gradual strain relaxation. Taking BiFeO3 as a model system, we demonstrate that the introduction of an ultrathin interface layer allows the creation of a desired strain that can induce phase transition and stabilize a new metastable super-tetragonal phase as well as morphotropic phase boundaries overcoming substrate limitations. Furthermore, continuously tunable strain from tension to compression can be generated by precisely adjusting the thickness of the interface layer, leading to the first achievement of continuous O-R-T phase transition in BiFeO3 on a single substrate. This proposed route could be extended to other oxide heterostructures, providing a platform for creating exotic phases and emergent phenomena.

cond-mat.mtrl-sci↗

arXiv2021

The Paradox of Information Access: On Modeling Social-Media-Induced Polarization

The paper develops a stochastic model of drift in human beliefs that shows that today's sheer volume of accessible information, combined with consumers' confirmation bias and natural preference to more outlying content, necessarily lead to increased polarization. The model explains the paradox of growing ideological fragmentation in the age of increased sharing. As social media, search engines, and other real-time information sharing outlets purport to facilitate access to information, a need for content filtering arises due to the ensuing information overload. In general, consumers select information that matches their individual views and values. The bias inherent in such selection is echoed by today's information curation services that maximize user engagement by filtering new content in accordance with observed consumer preferences. Consequently, individuals get exposed to increasingly narrower bands of the ideology spectrum, thus fragmenting society into increasingly ideologically isolated enclaves. We call this dynamic the paradox of information access. The model also suggests the disproportionate damage attainable with a small infusion of well-positioned misinformation. The paper describes the modeling methodology, and evaluates modeling results for different population sizes and parameter settings.

cs.SI↗

arXiv2021

SCOP: Scientific Control for Reliable Neural Network Pruning

This paper proposes a reliable neural network pruning algorithm by setting up a scientific control. Existing pruning methods have developed various hypotheses to approximate the importance of filters to the network and then execute filter pruning accordingly. To increase the reliability of the results, we prefer to have a more rigorous research design by including a scientific control group as an essential part to minimize the effect of all factors except the association between the filter and expected network output. Acting as a control group, knockoff feature is generated to mimic the feature map produced by the network filter, but they are conditionally independent of the example label given the real feature map. We theoretically suggest that the knockoff condition can be approximately preserved given the information propagation of network layers. Besides the real feature map on an intermediate layer, the corresponding knockoff feature is brought in as another auxiliary input signal for the subsequent layers. Redundant filters can be discovered in the adversarial process of different features. Through experiments, we demonstrate the superiority of the proposed algorithm over state-of-the-art methods. For example, our method can reduce 57.8% parameters and 60.2% FLOPs of ResNet-101 with only 0.01% top-1 accuracy loss on ImageNet. The code is available at https://github.com/huawei-noah/Pruning/tree/master/SCOP_NeurIPS2020.

cs.CV↗

arXiv2020

Understanding Age of Information in Large-Scale Wireless Networks

The notion of age-of-information (AoI) is investigated in the context of large-scale wireless networks, in which transmitters need to send a sequence of information packets, which are generated as independent Bernoulli processes, to their intended receivers over a shared spectrum. Due to interference, the rate of packet depletion at any given node is entangled with both the spatial configurations, which determine the path loss, and temporal dynamics, which influence the active states, of the other transmitters, resulting in the queues to interact with each other in both space and time over the entire network. To that end, variants in the packet update frequency affect not just the inter-arrival time but also the departure process, and the impact of such phenomena on the AoI is not well understood. In this paper, we establish a theoretical framework to characterize the AoI performance in the aforementioned setting. Particularly, tractable expressions are derived for both the peak and average AoI under two different transmission protocols, namely the FCFS and the LCFS-PR. Based on the theoretical outcomes, we find that: i) networks operating under LCFS-PR are able to attain smaller values of peak and average AoI than that under FCFS, whereas the gain is more pronounced when the infrastructure is densely deployed, ii) in sparsely deployed networks, ALOHA with a universally designed channel access probability is not instrumental in reducing the AoI, thus calling for more advanced channel access approaches, and iii) when the infrastructure is densely rolled out, there exists a non-trivial ALOHA channel access probability that minimizes the peak and average AoI under both FCFS and LCFS-PR.

cs.IT↗

arXiv2020

Single branch of chiral Majorana modes from doubly degenerate Fermi surfaces

Majorana fermions are often proposed to be realized by first singling out one Fermi surface without spin degeneracy via spin-orbit coupling, and then imposing boundaries or defects. In this work, we take a different route starting with two degenerate Fermi surfaces without spin-orbit coupling, and show that by the method of "kink on boundary", the dispersive chiral Majorana fermions can be realized in superconducting systems with $p\pm is$ pairings. The surfaces of these systems develop spontaneous magnetizations whose directions are determined by the boundary orientations and the phase difference between the $p$ and $s$-component gap functions. Along the magnetic domain walls on the surface, there exist chiral Majorana fermions propagating unidirectionally, which can be conveniently dragged and controlled by external magnetic fields. Furthermore, the surface magnetization is shown to be a magnetoelectric effect based on a Ginzburg-Landau free energy analysis. We also discuss how to use the proximity effects to realize chiral Majorana fermions by performing the "kink on boundary" method.

cond-mat.supr-con↗

arXiv2020

HourNAS: Extremely Fast Neural Architecture Search Through an Hourglass Lens

Neural Architecture Search (NAS) refers to automatically design the architecture. We propose an hourglass-inspired approach (HourNAS) for this problem that is motivated by the fact that the effects of the architecture often proceed from the vital few blocks. Acting like the narrow neck of an hourglass, vital blocks in the guaranteed path from the input to the output of a deep neural network restrict the information flow and influence the network accuracy. The other blocks occupy the major volume of the network and determine the overall network complexity, corresponding to the bulbs of an hourglass. To achieve an extremely fast NAS while preserving the high accuracy, we propose to identify the vital blocks and make them the priority in the architecture search. The search space of those non-vital blocks is further shrunk to only cover the candidates that are affordable under the computational resource constraints. Experimental results on the ImageNet show that only using 3 hours (0.1 days) with one GPU, our HourNAS can search an architecture that achieves a 77.0% Top-1 accuracy, which outperforms the state-of-the-art methods.

cs.CV↗

arXiv2020

EGO-Planner: An ESDF-free Gradient-based Local Planner for Quadrotors

Gradient-based planners are widely used for quadrotor local planning, in which a Euclidean Signed Distance Field (ESDF) is crucial for evaluating gradient magnitude and direction. Nevertheless, computing such a field has much redundancy since the trajectory optimization procedure only covers a very limited subspace of the ESDF updating range. In this paper, an ESDF-free gradient-based planning framework is proposed, which significantly reduces computation time. The main improvement is that the collision term in the penalty function is formulated by comparing the colliding trajectory with a collision-free guiding path. The resulting obstacle information will be stored only if the trajectory hits new obstacles, making the planner only extract necessary obstacle information. Then, we lengthen the time allocation if dynamical feasibility is violated. An anisotropic curve fitting algorithm is introduced to adjust higher-order derivatives of the trajectory while maintaining the original shape. Benchmark comparisons and real-world experiments verify its robustness and high-performance. The source code is released as ROS packages.

cs.RO↗

arXiv2020

Generating Large Convex Polytopes Directly on Point Clouds

In this paper, we present a method to efficiently generate large, free, and guaranteed convex space among arbitrarily cluttered obstacles. Our method operates directly on point clouds, avoids expensive calculations, and processes thousands of points within a few milliseconds, which extremely suits embedded platforms. The base stone of our method is sphere flipping, a one-one invertible nonlinear transformation, which maps a set of unordered points to a nonlinear space. With these wrapped points, we obtain a collision-free star convex polytope. Then, utilizing the star convexity, we efficiently modify the polytope to convex and guarantee its free of obstacles. Extensive quantitative evaluations show that our method significantly outperforms state-of-the-art works in efficiency. We also present practical applications with our method in 3D, including large-scale deformable topological mapping and quadrotor optimal trajectory planning, to validate its capability and efficiency. The source code of our method will be released for the reference of the community.

cs.RO↗

arXiv2020

Mapless-Planner: A Robust and Fast Planning Framework for Aggressive Autonomous Flight without Map Fusion

Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner which directly conducts such abstraction on the unfused sensor data. A limited-memory data structure with a reliable proximity query algorithm is proposed for maintaining raw historical information. A sampling-based scheme is designed to extract the free-space skeleton. A smart waypoint selection strategy enables to generate high-quality trajectories within the resultant flight corridors. Our planner differs from other mapless ones in that it can abstract and exploit the environment information efficiently. The online replan consistency and success rate are both significantly improved against conventional mapless methods.

cs.RO↗

arXiv2020

Attractive and repulsive dipolar interaction in bilayers of indirect excitons

We explore attractive dipolar interaction in indirect excitons (IXs). For one layer of IXs in a single pair of coupled quantum wells (CQW), the out-of-plane IX electric dipoles lead to repulsive dipolar interaction between IXs. The attractive dipolar interaction between IXs is realized in a 2-CQW heterostructure with two IX layers in two separated CQW pairs. We found both in experimental measurements and theoretical simulations that increasing density of IXs in one layer causes a monotonic energy reduction for IXs in the other layer. We also found an in-plane shift of a cloud of IXs in one layer towards a cloud of IXs in the other layer. This behaviour is qualitatively consistent with attractive dipolar interaction. The measured IX energy reduction and IX cloud shift are higher than the values given by the correlated liquid theory.

cond-mat.mes-hall↗

arXiv2020

TGK-Planner: An Efficient Topology Guided Kinodynamic Planner for Autonomous Quadrotors

In this paper, we propose a lightweight yet effective Topology Guided Kinodynamic planner (TGK-Planner) for quadrotor aggressive flights with limited onboard computing resources. The proposed system follows the traditional hierarchical planning workflow, with novel designs to improve the robustness and efficiency in both the pathfinding and trajectory optimization sub-modules. Firstly, we propose the topology guided graph, which roughly captures the topological structure of the environment and guides the state sampling of a sampling-based kinodynamic planner. In this way, we significantly improve the efficiency of finding a safe and dynamically feasible trajectory. Then, we refine the smoothness and continuity of the trajectory in an optimization framework, which incorporates the homotopy constraint to guarantee the safety of the trajectory. The optimization program is formulated as a sequence of quadratic programmings (QPs) and can be iteratively solved in a few milliseconds. Finally, the proposed system is integrated into a fully autonomous quadrotor and validated in various simulated and real-world scenarios. Benchmark comparisons show that our method outperforms state-of-the-art methods with regard to efficiency and trajectory quality. Moreover, we will release our code as an open-source package.

cs.RO↗

arXiv2020

Fast-Tracker: A Robust Aerial System for Tracking Agile Target in Cluttered Environments

This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense environments are unknown to the UAV. Our work is divided into two parts: target motion prediction and tracking trajectory planning. The target motion prediction method utilizes target observations to reliably predict the future motion of the target considering dynamic constraints. The tracking trajectory planner follows the traditional hierarchical workflow.A target informed kinodynamic searching method is adopted as the front-end, which heuristically searches for a safe tracking trajectory. The back-end optimizer then refines it into a spatial-temporal optimal and collision-free trajectory. The proposed solution is integrated into an onboard quadrotor system. We fully test the system in challenging real-world tracking missions.Moreover, benchmark comparisons validate that the proposed method surpasses the cutting-edge methods on time efficiency and tracking effectiveness.

cs.RO↗