arXiv subjects

Chen Feng

Publications and source records attributed to Chen Feng.

At least 145 records · Page 8Linked to original sources

arXiv2023

Toward Zero-Shot Sim-to-Real Transfer Learning for Pneumatic Soft Robot 3D Proprioceptive Sensing

Pneumatic soft robots present many advantages in manipulation tasks. Notably, their inherent compliance makes them safe and reliable in unstructured and fragile environments. However, full-body shape sensing for pneumatic soft robots is challenging because of their high degrees of freedom and complex deformation behaviors. Vision-based proprioception sensing methods relying on embedded cameras and deep learning provide a good solution to proprioception sensing by extracting the full-body shape information from the high-dimensional sensing data. But the current training data collection process makes it difficult for many applications. To address this challenge, we propose and demonstrate a robust sim-to-real pipeline that allows the collection of the soft robot's shape information in high-fidelity point cloud representation. The model trained on simulated data was evaluated with real internal camera images. The results show that the model performed with averaged Chamfer distance of 8.85 mm and tip position error of 10.12 mm even with external perturbation for a pneumatic soft robot with a length of 100.0 mm. We also demonstrated the sim-to-real pipeline's potential for exploring different configurations of visual patterns to improve vision-based reconstruction results. The code and dataset are available at https://github.com/DeepSoRo/DeepSoRoSim2Real.

cs.RO↗

arXiv2023

Robust Collaborative 3D Object Detection in Presence of Pose Errors

Collaborative 3D object detection exploits information exchange among multiple agents to enhance accuracy of object detection in presence of sensor impairments such as occlusion. However, in practice, pose estimation errors due to imperfect localization would cause spatial message misalignment and significantly reduce the performance of collaboration. To alleviate adverse impacts of pose errors, we propose CoAlign, a novel hybrid collaboration framework that is robust to unknown pose errors. The proposed solution relies on a novel agent-object pose graph modeling to enhance pose consistency among collaborating agents. Furthermore, we adopt a multi-scale data fusion strategy to aggregate intermediate features at multiple spatial resolutions. Comparing with previous works, which require ground-truth pose for training supervision, our proposed CoAlign is more practical since it doesn't require any ground-truth pose supervision in the training and makes no specific assumptions on pose errors. Extensive evaluation of the proposed method is carried out on multiple datasets, certifying that CoAlign significantly reduce relative localization error and achieving the state of art detection performance when pose errors exist. Code are made available for the use of the research community at https://github.com/yifanlu0227/CoAlign.

cs.CV↗

arXiv2023

PredRecon: A Prediction-boosted Planning Framework for Fast and High-quality Autonomous Aerial Reconstruction

Autonomous UAV path planning for 3D reconstruction has been actively studied in various applications for high-quality 3D models. However, most existing works have adopted explore-then-exploit, prior-based or exploration-based strategies, demonstrating inefficiency with repeated flight and low autonomy. In this paper, we propose PredRecon, a prediction-boosted planning framework that can autonomously generate paths for high 3D reconstruction quality. We obtain inspiration from humans can roughly infer the complete construction structure from partial observation. Hence, we devise a surface prediction module (SPM) to predict the coarse complete surfaces of the target from the current partial reconstruction. Then, the uncovered surfaces are produced by online volumetric mapping waiting for observation by UAV. Lastly, a hierarchical planner plans motions for 3D reconstruction, which sequentially finds efficient global coverage paths, plans local paths for maximizing the performance of Multi-View Stereo (MVS), and generates smooth trajectories for image-pose pairs acquisition. We conduct benchmarks in the realistic simulator, which validates the performance of PredRecon compared with the classical and state-of-the-art methods. The open-source code is released at https://github.com/HKUST-Aerial-Robotics/PredRecon.

cs.RO↗

arXiv2022

Decentralized Voltage Control with Peer-to-peer Energy Trading in a Distribution Network

Utilizing distributed renewable and energy storage resources via peer-to-peer (P2P) energy trading has long been touted as a solution to improve energy system's resilience and sustainability. Consumers and prosumers (those who have energy generation resources), however, do not have expertise to engage in repeated P2P trading, and the zero-marginal costs of renewables present challenges in determining fair market prices. To address these issues, we propose a multi-agent reinforcement learning (MARL) framework to help automate consumers' bidding and management of their solar PV and energy storage resources, under a specific P2P clearing mechanism that utilizes the so-called supply-demand ratio. In addition, we show how the MARL framework can integrate physical network constraints to realize decentralized voltage control, hence ensuring physical feasibility of the P2P energy trading and paving ways for real-world implementations.

eess.SY↗

arXiv2022

Sequential Anomaly Detection Against Demodulation Reference Signal Spoofing in 5G NR

In fifth generation (5G) new radio (NR), the demodulation reference signal (DMRS) is employed for channel estimation as part of coherent demodulation of the physical uplink shared channel. However, DMRS spoofing poses a serious threat to 5G NR since inaccurate channel estimation will severely degrade the decoding performance. In this correspondence, we propose to exploit the spatial sparsity structure of the channel to detect the DMRS spoofing, which is motivated by the fact that the spatial sparsity structure of the channel will be significantly impacted if the DMRS spoofing happens. We first extract the spatial sparsity structure of the channel by solving a sparse feature retrieval problem, then propose a sequential sparsity structure anomaly detection method to detect DMRS spoofing. In simulation experiments, we exploit clustered delay line based channel model from 3GPP standards for verifications. Numerical results show that our method outperforms both the subspace dimension based and energy detector based methods.

cs.CR↗

arXiv2022

Fast-HotStuff: A Fast and Resilient HotStuff Protocol

The HotStuff protocol is a breakthrough in Byzantine Fault Tolerant (BFT) consensus that enjoys both responsiveness and linear view change. It creatively adds an additional round to classic BFT protocols (like PBFT) using two rounds. This brings us to an interesting question: Is this additional round really necessary in practice? In this paper, we answer this question by designing a new two-round BFT protocol called Fast-HotStuff, which enjoys responsiveness and efficient view change that is comparable to linear view change in terms of performance. Compared to (three-round) HotStuff, Fast-HotStuff has lower latency and is more robust against performance attacks that HotStuff is susceptible to.

cs.DC↗

arXiv2022

SSR: An Efficient and Robust Framework for Learning with Unknown Label Noise

Despite the large progress in supervised learning with neural networks, there are significant challenges in obtaining high-quality, large-scale and accurately labelled datasets. In such a context, how to learn in the presence of noisy labels has received more and more attention. As a relatively complex problem, in order to achieve good results, current approaches often integrate components from several fields, such as supervised learning, semi-supervised learning, transfer learning and resulting in complicated methods. Furthermore, they often make multiple assumptions about the type of noise of the data. This affects the model robustness and limits its performance under different noise conditions. In this paper, we consider a novel problem setting, Learning with Unknown Label Noise}(LULN), that is, learning when both the degree and the type of noise are unknown. Under this setting, unlike previous methods that often introduce multiple assumptions and lead to complex solutions, we propose a simple, efficient and robust framework named Sample Selection and Relabelling(SSR), that with a minimal number of hyperparameters achieves SOTA results in various conditions. At the heart of our method is a sample selection and relabelling mechanism based on a non-parametric KNN classifier~(NPK) $g_q$ and a parametric model classifier~(PMC) $g_p$, respectively, to select the clean samples and gradually relabel the noisy samples. Without bells and whistles, such as model co-training, self-supervised pre-training and semi-supervised learning, and with robustness concerning the settings of its few hyper-parameters, our method significantly surpasses previous methods on both CIFAR10/CIFAR100 with synthetic noise and real-world noisy datasets such as WebVision, Clothing1M and ANIMAL-10N. Code is available at https://github.com/MrChenFeng/SSR_BMVC2022.

cs.CV↗

arXiv2022

Scaling Blockchain Consensus via a Robust Shared Mempool

There is a resurgence of interest in Byzantine fault-tolerant (BFT) systems due to blockchains. However, leader-based BFT consensus protocols used by permissioned blockchains have limited scalability and robustness. To alleviate the leader bottleneck in BFT consensus, we introduce Stratus, a robust shared mempool protocol that decouples transaction distribution from consensus. Our idea is to have replicas disseminate transactions in a distributed manner and have the leader only propose transaction ids. Stratus uses a provably available broadcast (PAB) protocol to ensure the availability of the referenced transactions. We implemented and evaluated Stratus by integrating it with state-of-the-art BFT-based blockchain protocols and evaluated these protocols in both LAN and WAN settings. Our results show that Stratus-based protocols achieve up to $5\sim20\times$ more throughput than their native counterparts in a network with hundreds of replicas. In addition, the performance of Stratus degrades gracefully in the presence of network asynchrony, Byzantine attackers, and unbalanced workloads. Our design provides easy-to-use APIs so that other BFT systems suffering from leader bottlenecks can use Stratus.

cs.DC↗

arXiv2022

UNav: An Infrastructure-Independent Vision-Based Navigation System for People with Blindness and Low vision

Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed sensor infrastructure, which is costly, time-consuming, and/or often infeasible at scale. Herein, we propose a novel vision-based localization pipeline for a specific use case: navigation support for end-users with blindness and low vision. Given a query image taken by an end-user on a mobile application, the pipeline leverages a visual place recognition (VPR) algorithm to find similar images in a reference image database of the target space. The geolocations of these similar images are utilized in downstream tasks that employ a weighted-average method to estimate the end-user's location and a perspective-n-point (PnP) algorithm to estimate the end-user's direction. Additionally, this system implements Dijkstra's algorithm to calculate a shortest path based on a navigable map that includes trip origin and destination. The topometric map used for localization and navigation is built using a customized graphical user interface that projects a 3D reconstructed sparse map, built from a sequence of images, to the corresponding a priori 2D floor plan. Sequential images used for map construction can be collected in a pre-mapping step or scavenged through public databases/citizen science. The end-to-end system can be installed on any internet-accessible device with a camera that hosts a custom mobile application. For evaluation purposes, mapping and localization were tested in a complex hospital environment. The evaluation results demonstrate that our system can achieve localization with an average error of less than 1 meter without knowledge of the camera's intrinsic parameters, such as focal length.

cs.CV↗

arXiv2022

NYU-VPR: Long-Term Visual Place Recognition Benchmark with View Direction and Data Anonymization Influences

Visual place recognition (VPR) is critical in not only localization and mapping for autonomous driving vehicles, but also in assistive navigation for the visually impaired population. To enable a long-term VPR system on a large scale, several challenges need to be addressed. First, different applications could require different image view directions, such as front views for self-driving cars while side views for the low vision people. Second, VPR in metropolitan scenes can often cause privacy concerns due to the imaging of pedestrian and vehicle identity information, calling for the need for data anonymization before VPR queries and database construction. Both factors could lead to VPR performance variations that are not well understood yet. To study their influences, we present the NYU-VPR dataset that contains more than 200,000 images over a 2km by 2km area near the New York University campus, taken within the whole year of 2016. We present benchmark results on several popular VPR algorithms showing that side views are significantly more challenging for current VPR methods while the influence of data anonymization is almost negligible, together with our hypothetical explanations and in-depth analysis.

cs.CV↗

arXiv2022

Adaptive Soft Contrastive Learning

Self-supervised learning has recently achieved great success in representation learning without human annotations. The dominant method -- that is contrastive learning, is generally based on instance discrimination tasks, i.e., individual samples are treated as independent categories. However, presuming all the samples are different contradicts the natural grouping of similar samples in common visual datasets, e.g., multiple views of the same dog. To bridge the gap, this paper proposes an adaptive method that introduces soft inter-sample relations, namely Adaptive Soft Contrastive Learning (ASCL). More specifically, ASCL transforms the original instance discrimination task into a multi-instance soft discrimination task, and adaptively introduces inter-sample relations. As an effective and concise plug-in module for existing self-supervised learning frameworks, ASCL achieves the best performance on several benchmarks in terms of both performance and efficiency. Code is available at https://github.com/MrChenFeng/ASCL_ICPR2022.

cs.CV↗

arXiv2022

Enhancing HDR Video Compression through CNN-based Effective Bit Depth Adaptation

It is well known that high dynamic range (HDR) video can provide more immersive visual experiences compared to conventional standard dynamic range content. However, HDR content is typically more challenging to encode due to the increased detail associated with the wider dynamic range. In this paper, we improve HDR compression performance using the effective bit depth adaptation approach (EBDA). This method reduces the effective bit depth of the original video content before encoding and reconstructs the full bit depth using a CNN-based up-sampling method at the decoder. In this work, we modify the MFRNet network architecture to enable multiple frame processing, and the new network, multi-frame MFRNet, has been integrated into the EBDA framework using two Versatile Video Coding (VVC) host codecs: VTM 16.2 and the Fraunhofer Versatile Video Encoder (VVenC 1.4.0). The proposed approach was evaluated under the JVET HDR Common Test Conditions using the Random Access configuration. The results show coding gains over both the original VVC VTM 16.2 and VVenC 1.4.0 (w/o EBDA) on JVET HDR tested sequences, with average bitrate savings of 2.9% (over VTM) and 4.8% (against VVenC) based on the Bjontegaard Delta measurement. The source code of multi-frame MFRNet has been released at https://github.com/fan-aaron-zhang/MF-MFRNet.

eess.IV↗

arXiv2022

V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Driving

Vehicle-to-everything (V2X) communication techniques enable the collaboration between vehicles and many other entities in the neighboring environment, which could fundamentally improve the perception system for autonomous driving. However, the lack of a public dataset significantly restricts the research progress of collaborative perception. To fill this gap, we present V2X-Sim, a comprehensive simulated multi-agent perception dataset for V2X-aided autonomous driving. V2X-Sim provides: (1) \hl{multi-agent} sensor recordings from the road-side unit (RSU) and multiple vehicles that enable collaborative perception, (2) multi-modality sensor streams that facilitate multi-modality perception, and (3) diverse ground truths that support various perception tasks. Meanwhile, we build an open-source testbed and provide a benchmark for the state-of-the-art collaborative perception algorithms on three tasks, including detection, tracking and segmentation. V2X-Sim seeks to stimulate collaborative perception research for autonomous driving before realistic datasets become widely available. Our dataset and code are available at \url{https://ai4ce.github.io/V2X-Sim/}.

cs.CV↗

arXiv2022

TENET: Transformer Encoding Network for Effective Temporal Flow on Motion Prediction

This technical report presents an effective method for motion prediction in autonomous driving. We develop a Transformer-based method for input encoding and trajectory prediction. Besides, we propose the Temporal Flow Header to enhance the trajectory encoding. In the end, an efficient K-means ensemble method is used. Using our Transformer network and ensemble method, we win the first place of Argoverse 2 Motion Forecasting Challenge with the state-of-the-art brier-minFDE score of 1.90.

cs.CV↗

arXiv2022

Opportunistic Routing in Quantum Networks

Unlike classical routing algorithms, quantum routing algorithms make use of entangled states - a type of resources that have a limited lifetime and need to be regenerated after consumption. In a nutshell, quantum routing algorithms have to use these resources efficiently, while optimizing some objectives such as the total waiting time. Current routing algorithms tend to keep a routing request waiting until all of the resources on its path are available. In this paper, we introduce a new way of managing entanglement resources in an opportunistic fashion: a request can move forward along its path as soon as possible (even if some resources on its path are not ready). We show that this opportunistic approach is fundamentally better than conventional approaches. In particular, our results indicate that this new approach achieves a 30-50% improvement in the average total waiting time and average link waiting time compared with several state-of-the-art routing algorithms. As a by-product of this work, we develop a new simulator for quantum routing, which can be used to evaluate various design choices under different scenarios.

cs.NI↗

arXiv2022

Enhancing VVC with Deep Learning based Multi-Frame Post-Processing

This paper describes a CNN-based multi-frame post-processing approach based on a perceptually-inspired Generative Adversarial Network architecture, CVEGAN. This method has been integrated with the Versatile Video Coding Test Model (VTM) 15.2 to enhance the visual quality of the final reconstructed content. The evaluation results on the CLIC 2022 validation sequences show consistent coding gains over the original VVC VTM at the same bitrates when assessed by PSNR. The integrated codec has been submitted to the Challenge on Learned Image Compression (CLIC) 2022 (video track), and the team name associated with this submission is BVI_VC.

eess.IV↗

arXiv2022

Self-supervised Spatial Reasoning on Multi-View Line Drawings

Spatial reasoning on multi-view line drawings by state-of-the-art supervised deep networks is recently shown with puzzling low performances on the SPARE3D dataset. Based on the fact that self-supervised learning is helpful when a large number of data are available, we propose two self-supervised learning approaches to improve the baseline performance for view consistency reasoning and camera pose reasoning tasks on the SPARE3D dataset. For the first task, we use a self-supervised binary classification network to contrast the line drawing differences between various views of any two similar 3D objects, enabling the trained networks to effectively learn detail-sensitive yet view-invariant line drawing representations of 3D objects. For the second type of task, we propose a self-supervised multi-class classification framework to train a model to select the correct corresponding view from which a line drawing is rendered. Our method is even helpful for the downstream tasks with unseen camera poses. Experiments show that our method could significantly increase the baseline performance in SPARE3D, while some popular self-supervised learning methods cannot.

cs.CV↗

arXiv2022

Egocentric Prediction of Action Target in 3D

We are interested in anticipating as early as possible the target location of a person's object manipulation action in a 3D workspace from egocentric vision. It is important in fields like human-robot collaboration, but has not yet received enough attention from vision and learning communities. To stimulate more research on this challenging egocentric vision task, we propose a large multimodality dataset of more than 1 million frames of RGB-D and IMU streams, and provide evaluation metrics based on our high-quality 2D and 3D labels from semi-automatic annotation. Meanwhile, we design baseline methods using recurrent neural networks and conduct various ablation studies to validate their effectiveness. Our results demonstrate that this new task is worthy of further study by researchers in robotics, vision, and learning communities.

cs.CV↗