arXiv subjects

Fei Gao

Publications and source records attributed to Fei Gao.

At least 217 records · Page 12Linked to original sources

arXiv2024

LF-3PM: a LiDAR-based Framework for Perception-aware Planning with Perturbation-induced Metric

Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to enhance LiDAR-based LAS through strategic trajectory generation, known as Perception-aware Planning. Unlike vision-based frameworks, the LiDAR-based requires different considerations due to unique sensor attributes. Our approach focuses on two main aspects: firstly, assessing the impact of LiDAR observations on LAS. We introduce a perturbation-induced metric to provide a comprehensive and reliable evaluation of LiDAR observations. Secondly, we aim to improve motion planning efficiency. By creating a Static Observation Loss Map (SOLM) as an intermediary, we logically separate the time-intensive evaluation and motion planning phases, significantly boosting the planning process. In the experimental section, we demonstrate the effectiveness of the proposed metrics across various scenes and the feature of trajectories guided by different metrics. Ultimately, our framework is tested in a real-world scenario, enabling the robot to actively choose topologies and orientations preferable for localization. The source code is accessible at https://github.com/ZJU-FAST-Lab/LF-3PM.

cs.RO↗

arXiv2024

Intention-Aware Planner for Robust and Safe Aerial Tracking

Autonomous target tracking with quadrotors has wide applications in many scenarios, such as cinematographic follow-up shooting or suspect chasing. Target motion prediction is necessary when designing the tracking planner. However, the widely used constant velocity or constant rotation assumption can not fully capture the dynamics of the target. The tracker may fail when the target happens to move aggressively, such as sudden turn or deceleration. In this paper, we propose an intention-aware planner by additionally considering the intention of the target to enhance safety and robustness in aerial tracking applications. Firstly, a designated intention prediction method is proposed, which combines a user-defined potential assessment function and a state observation function. A reachable region is generated to specifically evaluate the turning intentions. Then we design an intention-driven hybrid A* method to predict the future possible positions for the target. Finally, an intention-aware optimization approach is designed to generate a spatial-temporal optimal trajectory, allowing the tracker to perceive unexpected situations from the target. Benchmark comparisons and real-world experiments are conducted to validate the performance of our method.

cs.RO↗

arXiv2024

WING: Wheel-Inertial Neural Odometry with Ground Manifold Constraints

In this paper, we propose an interoceptive-only odometry system for ground robots with neural network processing and soft constraints based on the assumption of a globally continuous ground manifold. Exteroceptive sensors such as cameras, GPS and LiDAR may encounter difficulties in scenarios with poor illumination, indoor environments, dusty areas and straight tunnels. Therefore, improving the pose estimation accuracy only using interoceptive sensors is important to enhance the reliability of navigation system even in degrading scenarios mentioned above. However, interoceptive sensors like IMU and wheel encoders suffer from large drift due to noisy measurements. To overcome these challenges, the proposed system trains deep neural networks to correct the measurements from IMU and wheel encoders, while considering their uncertainty. Moreover, because ground robots can only travel on the ground, we model the ground surface as a globally continuous manifold using a dual cubic B-spline manifold to further improve the estimation accuracy by this soft constraint. A novel space-based sliding-window filtering framework is proposed to fully exploit the $C^2$ continuity of ground manifold soft constraints and fuse all the information from raw measurements and neural networks in a yaw-independent attitude convention. Extensive experiments demonstrate that our proposed approach can outperform state-of-the-art learning-based interoceptive-only odometry methods.

cs.RO↗

arXiv2024

Contact interaction study of proton parton distributions

Using a symmetry-preserving formulation of a vector$\,\times\,$vector contact interaction (SCI) and treating the proton as a quark + interacting-diquark bound state, whose structure is obtained by solving a Poincaré-covariant Faddeev equation, we provide a comprehensive, coherent set of predictions for unpolarised and polarised proton parton distribution functions (DFs): valence, glue, and four-flavour separated sea. The results enable many themes to be addressed, including: the asymmetry of antimatter in the proton; the neutron:proton structure function ratio; helicity retention in hard scattering processes; the charm quark momentum fraction; the sign and size of the polarised gluon DF; and the origin of the proton spin. In all cases where sound analyses of data are available, SCI predictions are semiquantitatively in agreement with the results. Those mismatches which exist are typically attributable to the momentum-independence of the underlying interaction. Judiciously interpreted, the SCI delivers a sound and insightful explanation of proton structure as expressed in DFs.

hep-ph↗

arXiv2024

Statistical Localization of Electromagnetic Signals in Disordered Time-Varying Cavity

In this letter, we investigate the statistical properties of electromagnetic signals after different times of duration within one-dimensional local-disordered time-varying cavities, where both spatial and temporal disorders are added. Our findings reveal that, in the vast majority of cases, adequate temporal disorder in local space can make the electromagnetic field statistically localized, obeying a normal distribution at a specific point in time of arbitrary location within the cavity. We employ the concept of disordered space-time crystals and leverage Lindeberg's and Lyapunov's theorems to theoretically prove the normal distribution of the field values. Furthermore, we find that with the increase of energy provided by time variation, the probability of extreme fields will significantly increase and the field intensity eventually is de-normalized, that is, deviating from the normal distribution. This study not only sheds light on the statistical properties of transient signals in local-disordered time-varying systems but also paves the way for further exploration in wave dynamics of analogous systems.

cond-mat.dis-nn↗

arXiv2024

Learning Speed Adaptation for Flight in Clutter

Animals learn to adapt speed of their movements to their capabilities and the environment they observe. Mobile robots should also demonstrate this ability to trade-off aggressiveness and safety for efficiently accomplishing tasks. The aim of this work is to endow flight vehicles with the ability of speed adaptation in prior unknown and partially observable cluttered environments. We propose a hierarchical learning and planning framework where we utilize both well-established methods of model-based trajectory generation and trial-and-error that comprehensively learns a policy to dynamically configure the speed constraint. Technically, we use online reinforcement learning to obtain the deployable policy. The statistical results in simulation demonstrate the advantages of our method over the constant speed constraint baselines and an alternative method in terms of flight efficiency and safety. In particular, the policy behaves perception awareness, which distinguish it from alternative approaches. By deploying the policy to hardware, we verify that these advantages can be brought to the real world.

cs.RO↗

arXiv2024

PharmaGPT: Domain-Specific Large Language Models for Bio-Pharmaceutical and Chemistry

Large language models (LLMs) have revolutionized Natural Language Processing (NLP) by minimizing the need for complex feature engineering. However, the application of LLMs in specialized domains like biopharmaceuticals and chemistry remains largely unexplored. These fields are characterized by intricate terminologies, specialized knowledge, and a high demand for precision areas where general purpose LLMs often fall short. In this study, we introduce PharmaGPT, a suite of domain specilized LLMs with 13 billion and 70 billion parameters, specifically trained on a comprehensive corpus tailored to the Bio-Pharmaceutical and Chemical domains. Our evaluation shows that PharmaGPT surpasses existing general models on specific-domain benchmarks such as NAPLEX, demonstrating its exceptional capability in domain-specific tasks. Remarkably, this performance is achieved with a model that has only a fraction, sometimes just one-tenth-of the parameters of general-purpose large models. This advancement establishes a new benchmark for LLMs in the bio-pharmaceutical and chemical fields, addressing the existing gap in specialized language modeling. It also suggests a promising path for enhanced research and development, paving the way for more precise and effective NLP applications in these areas.

cs.CL↗

arXiv2024

The spin alignment of vector mesons with light front quarks

The global spin alignment of the vector meson has been observed in relativistic heavy ion collisions, but is still on hot debates in the theoretical community. Here we propose to apply the light front framework to explain this phenomenon since the light front form explicitly describes the hadron spin including both the quark spin and the orbital angular momentum. After applying the light front spinor, we find that the spin alignment in the polarization of vector mesons with $ρ_{00}>1/3$ can be naturally manifested and in particular, the obtained spin alignment for $ϕ$ meson is in good agreement with the experimental data. This implies that to explain the spin alignment it is important to properly include the contribution from the gluon interactions that are presented in terms of the orbital angular momentum of the hadron bound state.

hep-ph↗

arXiv2024

Active-Controlled Trial Design for HIV Prevention Trials with a Counterfactual Placebo

In the quest for enhanced HIV prevention methods, the advent of antiretroviral drugs as pre-exposure prophylaxis (PrEP) has marked a significant stride forward. However, the ethical challenges in conducting placebo-controlled trials for new PrEP agents against a backdrop of highly effective existing PrEP options necessitates innovative approaches. This manuscript delves into the design and implementation of active-controlled trials that incorporate a counterfactual placebo estimate - a theoretical estimate of what HIV incidence would have been without effective prevention. We introduce a novel statistical framework for regulatory approval of new PrEP agents, predicated on the assumption of an available and consistent counterfactual placebo estimate. Our approach aims to assess the absolute efficacy (i.e., against placebo) of the new PrEP agent relative to the absolute efficacy of the active control. We propose a two-step procedure for hypothesis testing and further develop an approach that addresses potential biases inherent in non-randomized comparison to counterfactual placebos. By exploring different scenarios with moderately and highly effective active controls and counterfactual placebo estimates from various sources, we demonstrate how our design can significantly reduce sample sizes compared to traditional non-inferiority trials and offer a robust framework for evaluating new PrEP agents. This work contributes to the methodological repertoire for HIV prevention trials and underscores the importance of adaptability in the face of ethical and practical challenges.

stat.ME↗

arXiv2024

Cross-Dimensional Medical Self-Supervised Representation Learning Based on a Pseudo-3D Transformation

Medical image analysis suffers from a shortage of data, whether annotated or not. This becomes even more pronounced when it comes to 3D medical images. Self-Supervised Learning (SSL) can partially ease this situation by using unlabeled data. However, most existing SSL methods can only make use of data in a single dimensionality (e.g. 2D or 3D), and are incapable of enlarging the training dataset by using data with differing dimensionalities jointly. In this paper, we propose a new cross-dimensional SSL framework based on a pseudo-3D transformation (CDSSL-P3D), that can leverage both 2D and 3D data for joint pre-training. Specifically, we introduce an image transformation based on the im2col algorithm, which converts 2D images into a format consistent with 3D data. This transformation enables seamless integration of 2D and 3D data, and facilitates cross-dimensional self-supervised learning for 3D medical image analysis. We run extensive experiments on 13 downstream tasks, including 2D and 3D classification and segmentation. The results indicate that our CDSSL-P3D achieves superior performance, outperforming other advanced SSL methods.

cs.CV↗

arXiv2024

UniQuad: A Unified and Versatile Quadrotor Platform Series for UAV Research and Application

As quadrotors take on an increasingly diverse range of roles, researchers often need to develop new hardware platforms tailored for specific tasks, introducing significant engineering overhead. In this article, we introduce the UniQuad series, a unified and versatile quadrotor platform series that offers high flexibility to adapt to a wide range of common tasks, excellent customizability for advanced demands, and easy maintenance in case of crashes. This project is fully open-source at https://hkust-aerial-robotics.github.io/UniQuad.

cs.RO↗

arXiv2024

Limited-View Photoacoustic Imaging Reconstruction Via High-quality Self-supervised Neural Representation

In practical applications within the human body, it is often challenging to fully encompass the target tissue or organ, necessitating the use of limited-view arrays, which can lead to the loss of crucial information. Addressing the reconstruction of photoacoustic sensor signals in limited-view detection spaces has become a focal point of current research. In this study, we introduce a self-supervised network termed HIgh-quality Self-supervised neural representation (HIS), which tackles the inverse problem of photoacoustic imaging to reconstruct high-quality photoacoustic images from sensor data acquired under limited viewpoints. We regard the desired reconstructed photoacoustic image as an implicit continuous function in 2D image space, viewing the pixels of the image as sparse discrete samples. The HIS's objective is to learn the continuous function from limited observations by utilizing a fully connected neural network combined with Fourier feature position encoding. By simply minimizing the error between the network's predicted sensor data and the actual sensor data, HIS is trained to represent the observed continuous model. The results indicate that the proposed HIS model offers superior image reconstruction quality compared to three commonly used methods for photoacoustic image reconstruction.

cs.CV↗

arXiv2024

Preserving Relative Localization of FoV-Limited Drone Swarm via Active Mutual Observation

Relative state estimation is crucial for vision-based swarms to estimate and compensate for the unavoidable drift of visual odometry. For autonomous drones equipped with the most compact sensor setting -- a stereo camera that provides a limited field of view (FoV), the demand for mutual observation for relative state estimation conflicts with the demand for environment observation. To balance the two demands for FoV limited swarms by acquiring mutual observations with a safety guarantee, this paper proposes an active localization correction system, which plans camera orientations via a yaw planner during the flight. The yaw planner manages the contradiction by calculating suitable timing and yaw angle commands based on the evaluation of localization uncertainty estimated by the Kalman Filter. Simulation validates the scalability of our algorithm. In real-world experiments, we reduce positioning drift by up to 65% and managed to maintain a given formation in both indoor and outdoor GPS-denied flight, from which the accuracy, efficiency, and robustness of the proposed system are verified.

cs.RO↗

arXiv2024

Edge Accelerated Robot Navigation With Collaborative Motion Planning

Low-cost distributed robots suffer from limited onboard computing power, resulting in excessive computation time when navigating in cluttered environments. This paper presents Edge Accelerated Robot Navigation (EARN), to achieve real-time collision avoidance by adopting collaborative motion planning (CMP). As such, each robot can dynamically switch between a conservative motion planner executed locally to guarantee safety (e.g., path-following) and an aggressive motion planner executed non-locally to guarantee efficiency (e.g., overtaking). In contrast to existing motion planning approaches that ignore the interdependency between low-level motion planning and high-level resource allocation, EARN adopts model predictive switching (MPS) that maximizes the expected switching gain with respect to robot states and actions under computation and communication resource constraints. The MPS problem is solved by a tightly-coupled decision making and motion planning framework based on bilevel mixed-integer nonlinear programming and penalty dual decomposition. We validate the performance of EARN in indoor simulation, outdoor simulation, and real-world environments. Experiments show that EARN achieves significantly smaller navigation time and higher success rates than state-of-the-art navigation approaches.

cs.RO↗

arXiv2024

Sparse-view Signal-domain Photoacoustic Tomography Reconstruction Method Based on Neural Representation

Photoacoustic tomography is a hybrid biomedical technology, which combines the advantages of acoustic and optical imaging. However, for the conventional image reconstruction method, the image quality is affected obviously by artifacts under the condition of sparse sampling. in this paper, a novel model-based sparse reconstruction method via implicit neural representation was proposed for improving the image quality reconstructed from sparse data. Specially, the initial acoustic pressure distribution was modeled as a continuous function of spatial coordinates, and parameterized by a multi-layer perceptron. The weights of multi-layer perceptron were determined by training the network in self-supervised manner. And the total variation regularization term was used to offer the prior knowledge. We compared our result with some ablation studies, and the results show that out method outperforms existing methods on simulation and experimental data. Under the sparse sampling condition, our method can suppress the artifacts and avoid the ill-posed problem effectively, which reconstruct images with higher signal-to-noise ratio and contrast-to-noise ratio than traditional methods. The high-quality results for sparse data make the proposed method hold the potential for further decreasing the hardware cost of photoacoustic tomography system.

eess.IV↗

arXiv2024

Confidence-Based Task Prediction in Continual Disease Classification Using Probability Distribution

Deep learning models are widely recognized for their effectiveness in identifying medical image findings in disease classification. However, their limitations become apparent in the dynamic and ever-changing clinical environment, characterized by the continuous influx of newly annotated medical data from diverse sources. In this context, the need for continual learning becomes particularly paramount, not only to adapt to evolving medical scenarios but also to ensure the privacy of healthcare data. In our research, we emphasize the utilization of a network comprising expert classifiers, where a new expert classifier is added each time a new task is introduced. We present CTP, a task-id predictor that utilizes confidence scores, leveraging the probability distribution (logits) of the classifier to accurately determine the task-id at inference time. Logits are adjusted to ensure that classifiers yield a high-entropy distribution for data associated with tasks other than their own. By defining a noise region in the distribution and computing confidence scores, CTP achieves superior performance when compared to other relevant continual learning methods. Additionally, the performance of CTP can be further improved by providing it with a continuum of data at the time of inference.

cs.LG↗

arXiv2024

Scalable Distance-based Multi-Agent Relative State Estimation via Block Multiconvex Optimization

This paper explores the distance-based relative state estimation problem in large-scale systems, which is hard to solve effectively due to its high-dimensionality and non-convexity. In this paper, we alleviate this inherent hardness to simultaneously achieve scalability and robustness of inference on this problem. Our idea is launched from a universal geometric formulation, called \emph{generalized graph realization}, for the distance-based relative state estimation problem. Based on this formulation, we introduce two collaborative optimization models, one of which is convex and thus globally solvable, and the other enables fast searching on non-convex landscapes to refine the solution offered by the convex one. Importantly, both models enjoy \emph{multiconvex} and \emph{decomposable} structures, allowing efficient and safe solutions using \emph{block coordinate descent} that enjoys scalability and a distributed nature. The proposed algorithms collaborate to demonstrate superior or comparable solution precision to the current centralized convex relaxation-based methods, which are known for their high optimality. Distinctly, the proposed methods demonstrate scalability beyond the reach of previous convex relaxation-based methods. We also demonstrate that the combination of the two proposed algorithms achieves a more robust pipeline than deploying the local search method alone in a continuous-time scenario.

cs.RO↗

arXiv2024

Microsaccade-inspired Event Camera for Robotics

Neuromorphic vision sensors or event cameras have made the visual perception of extremely low reaction time possible, opening new avenues for high-dynamic robotics applications. These event cameras' output is dependent on both motion and texture. However, the event camera fails to capture object edges that are parallel to the camera motion. This is a problem intrinsic to the sensor and therefore challenging to solve algorithmically. Human vision deals with perceptual fading using the active mechanism of small involuntary eye movements, the most prominent ones called microsaccades. By moving the eyes constantly and slightly during fixation, microsaccades can substantially maintain texture stability and persistence. Inspired by microsaccades, we designed an event-based perception system capable of simultaneously maintaining low reaction time and stable texture. In this design, a rotating wedge prism was mounted in front of the aperture of an event camera to redirect light and trigger events. The geometrical optics of the rotating wedge prism allows for algorithmic compensation of the additional rotational motion, resulting in a stable texture appearance and high informational output independent of external motion. The hardware device and software solution are integrated into a system, which we call Artificial MIcrosaccade-enhanced EVent camera (AMI-EV). Benchmark comparisons validate the superior data quality of AMI-EV recordings in scenarios where both standard cameras and event cameras fail to deliver. Various real-world experiments demonstrate the potential of the system to facilitate robotics perception both for low-level and high-level vision tasks.

cs.RO↗