arXiv subjects

Hui Zhang

Publications and source records attributed to Hui Zhang.

At least 235 records · Page 13Linked to original sources

arXiv2024

FunGrasp: Functional Grasping for Diverse Dexterous Hands

Functional grasping is essential for humans to perform specific tasks, such as grasping scissors by the finger holes to cut materials or by the blade to safely hand them over. Enabling dexterous robot hands with functional grasping capabilities is crucial for their deployment to accomplish diverse real-world tasks. Recent research in dexterous grasping, however, often focuses on power grasps while overlooking task- and object-specific functional grasping poses. In this paper, we introduce FunGrasp, a system that enables functional dexterous grasping across various robot hands and performs one-shot transfer to unseen objects. Given a single RGBD image of functional human grasping, our system estimates the hand pose and transfers it to different robotic hands via a human-to-robot (H2R) grasp retargeting module. Guided by the retargeted grasping poses, a policy is trained through reinforcement learning in simulation for dynamic grasping control. To achieve robust sim-to-real transfer, we employ several techniques including privileged learning, system identification, domain randomization, and gravity compensation. In our experiments, we demonstrate that our system enables diverse functional grasping of unseen objects using single RGBD images, and can be successfully deployed across various dexterous robot hands. The significance of the components is validated through comprehensive ablation studies. Project page: https://hly-123.github.io/FunGrasp/ .

cs.RO↗

arXiv2024

The Moon-forming Impact as a Constraint for the Inner Solar System's Formation

The solar system planets are benchmarks for the planet formation theory. Yet two paradigms coexist for the four terrestrial planets: the prolonged collisional growth among planetesimals lasting $>100$ million years (Myr) and the fast formation via planetesimals accreting pebbles within 10 Myr. Despite their dramatic difference, we can hardly tell which theory is more relevant to the true history of the terrestrial planets' formation. Here, we show that the Moon's origin puts stringent constraints on the pebble accretion scenario, rendering it less favourable. In the pebble accretion model, the one-off giant impact between proto-Earth and Theia rarely (probability $<$ 1\textperthousand) occurs at the right timing and configuration for the Moon formation. Even if a potential impact happens by chance, giant impact simulations reveal perfect mixing between proto-Earth and Theia, leaving no room for the observed primordial Earth mantle heterogeneity and the compositional difference, though small, between Earth and the Moon. Thus, the Earth-Moon system along other terrestrial planets should preferably form from chaotic collisional growth in the inner solar system.

astro-ph.EP↗

arXiv2024

Occlusion-Aware Seamless Segmentation

Panoramic images can broaden the Field of View (FoV), occlusion-aware prediction can deepen the understanding of the scene, and domain adaptation can transfer across viewing domains. In this work, we introduce a novel task, Occlusion-Aware Seamless Segmentation (OASS), which simultaneously tackles all these three challenges. For benchmarking OASS, we establish a new human-annotated dataset for Blending Panoramic Amodal Seamless Segmentation, i.e., BlendPASS. Besides, we propose the first solution UnmaskFormer, aiming at unmasking the narrow FoV, occlusions, and domain gaps all at once. Specifically, UnmaskFormer includes the crucial designs of Unmasking Attention (UA) and Amodal-oriented Mix (AoMix). Our method achieves state-of-the-art performance on the BlendPASS dataset, reaching a remarkable mAPQ of 26.58% and mIoU of 43.66%. On public panoramic semantic segmentation datasets, i.e., SynPASS and DensePASS, our method outperforms previous methods and obtains 45.34% and 48.08% in mIoU, respectively. The fresh BlendPASS dataset and our source code are available at https://github.com/yihong-97/OASS.

cs.CV↗

arXiv2024

Variational learning of integrated quantum photonic circuits

Integrated photonic circuits play a crucial role in implementing quantum information processing in the noisy intermediate-scale quantum (NISQ) era. Variational learning is a promising avenue that leverages classical optimization techniques to enhance quantum advantages on NISQ devices. However, most variational algorithms are circuit-model-based and encounter challenges when implemented on integrated photonic circuits, because they involve explicit decomposition of large quantum circuits into sequences of basic entangled gates, leading to an exponential decay of success probability due to the non-deterministic nature of photonic entangling gates. Here, we present a variational learning approach for designing quantum photonic circuits, which directly incorporates post-selection and elementary photonic elements into the training process. The complicated circuit is treated as a single nonlinear logical operator, and a unified design is discovered for it through variational learning. Engineering an integrated photonic chip with automated control, we adjust and optimize the internal parameters of the chip in real time for task-specific cost functions. We utilize a simple case of designing photonic circuits for a single ancilla CNOT gate with improved success rate to illustrate how our proposed approach works, and then apply the approach in the first demonstration of quantum stochastic simulation using integrated photonics.

quant-ph↗

arXiv2024

Study of Asymptotic Free Scalar Field Theories from Adaptive Perturbation Method

We focus on the behavior of (2+1)d $λϕ^4$ and (5+1)d $λϕ^3$ or $λ|ϕ|^3$ theories in different regimes and compare the results obtained from the adaptive perturbation method with those obtained from lattice simulation. These theories are simple models that exhibit asymptotic freedom, which is a property that is also observed in more complex theories such as QCD, which describes the strong interaction between quarks and gluons. Asymptotic freedom is an important feature of these theories because it allows for a perturbative treatment of interactions at high energies. However, the standard perturbation scheme breaks down in the presence of strong interactions, and the adaptive perturbation method, which involves resuming the Feynman diagrams, is more suitable for studying these interactions. Our research involves comparing the perturbation result to lattice simulation. In the case of the $ϕ^3$ theory, there is no stable vacuum, so we explore evidence from the $|ϕ|^3$ theory instead. Our results appear to show that resummation improves the strong coupling result for both the $λϕ^4$ and $λ|ϕ|^3$ theories. Additionally, we improve the resummation method for the three-point coupling vertex and study the RG flow to analyze the resummation contribution and theoretical properties.

hep-th↗

arXiv2024

Transient Upstream Mesoscale Structures: Drivers of Solar-Quiet Space Weather

In recent years, it has become increasingly clear that space weather disturbances can be triggered by transient upstream mesoscale structures (TUMS), independently of the occurrence of large-scale solar wind (SW) structures, such as interplanetary coronal mass ejections and stream interaction regions. Different types of magnetospheric pulsations, transient perturbations of the geomagnetic field and auroral structures are often observed during times when SW monitors indicate quiet conditions, and have been found to be associated to TUMS. In this mini-review we describe the space weather phenomena that have been associated with four of the largest-scale and the most energetic TUMS, namely hot flow anomalies, foreshock bubbles, travelling foreshocks and foreshock compressional boundaries. The space weather phenomena associated with TUMS tend to be more localized and less intense compared to geomagnetic storms. However, the quiet time space weather may occur more often since, especially during solar minima, quiet SW periods prevail over the perturbed times.

astro-ph.SR↗

arXiv2024

Transverse Bending Mimicry of Longitudinal Piezoelectricity

The origin of frequently observed ultrahigh electric-induced longitudinal strain, ranging from 1% to 26%, remains an open question. Recent evidence suggests that this phenomenon is linked to the bending deformation of samples, but the mechanisms driving this bending and the strong dependence of nominal strain on sample thickness have yet to be fully understood. Here, we demonstrate that the bending in piezoceramics can be induced by non-zero gradient of d31 acrcoss thickness direction. Our calculations show that in standard perovskite piezoceramics, such as KNbO3, a 0.69% concentration of oxygen vacancies results in a 6.3 pC/N change in d31 by inhibiting polarization rotation, which is sufficient to produce ultrahigh nominal strain in thin samples. The gradients of defect concentration, composition, and stress can all cause sufficient inhomogeneity in the distribution of d31, leading to the bending effect. We propose several approaches to distinguish true electric-induced strain from bending-induced effects. Our work provides clarity on the origin of nominal ultrahigh electricinduced strain and offers valuable insights for advancing piezoelectric materials.

cond-mat.mtrl-sci↗

arXiv2024

Physically Realizable Natural-Looking Clothing Textures Evade Person Detectors via 3D Modeling

Recent works have proposed to craft adversarial clothes for evading person detectors, while they are either only effective at limited viewing angles or very conspicuous to humans. We aim to craft adversarial texture for clothes based on 3D modeling, an idea that has been used to craft rigid adversarial objects such as a 3D-printed turtle. Unlike rigid objects, humans and clothes are non-rigid, leading to difficulties in physical realization. In order to craft natural-looking adversarial clothes that can evade person detectors at multiple viewing angles, we propose adversarial camouflage textures (AdvCaT) that resemble one kind of the typical textures of daily clothes, camouflage textures. We leverage the Voronoi diagram and Gumbel-softmax trick to parameterize the camouflage textures and optimize the parameters via 3D modeling. Moreover, we propose an efficient augmentation pipeline on 3D meshes combining topologically plausible projection (TopoProj) and Thin Plate Spline (TPS) to narrow the gap between digital and real-world objects. We printed the developed 3D texture pieces on fabric materials and tailored them into T-shirts and trousers. Experiments show high attack success rates of these clothes against multiple detectors.

cs.CV↗

arXiv2024

MAGORINO: Magnitude-only fat fraction and R2* estimation with Rician noise modelling

Purpose: Magnitude-based fitting of chemical shift-encoded data enables proton density fat fraction (PDFF) and R2* estimation where complex-based methods fail or when phase data is inaccessible or unreliable. However, traditional magnitude-based fitting algorithms do not account for Rician noise, creating a source of bias. To address these issues, we propose an algorithm for Magnitude-Only PDFF and R2* estimation with Rician Noise modelling (MAGORINO). Methods: Simulations of multi-echo gradient echo signal intensities are used to investigate the performance and behavior of MAGORINO over the space of clinically-plausible PDFF, R2* and signal-to-noise ratio (SNR) values. Fitting performance is assessed through detailed simulation, including likelihood function visualization, and in a multi-site, multi-vendor and multi-field-strength phantom dataset and in vivo. Results: Simulations show that Rician noise-based magnitude fitting outperforms existing Gaussian noise-based fitting and reveals two key mechanisms underpinning the observed improvement. Firstly, the likelihood functions exhibit two local optima; Rician noise modelling increases the chance the global optimum corresponds to the ground truth. Secondly, when the global optimum corresponds to ground truth for both noise models, the optimum from Rician noise modelling is closer to ground truth. Multisite phantom experiments show good agreement of MAGORINO PDFF with reference values, and in vivo experiments replicate the performance benefits observed in simulation. Conclusion: MAGORINO reduces Rician noise-related bias in PDFF and R2* estimation, thus addressing a key limitation of existing magnitude-only fitting methods. Our results offer an insight into the importance of the noise model for selecting the correct optimum when multiple plausible optima exist.

q-bio.QM↗

arXiv2024

Bidirectional Optimization onto Thermoelectric Performance via Hydrostatic-Pressure in Chalcopyrite AgXTe2 (X=In, Ga)

Pressure tuning has emerged as a powerful strategy for manipulating the thermoelectric properties of materials by inducing structural and electronic modifications. Herein, we systematically investigate the transport properties and thermoelectric performance concerning lattice distortions induced by hydrostatic pressure in Ag-based chalcopyrite AgXTe2 (X=In, Ga). The findings reveal that the lattice distortion in AgXTe2 exhibits distinct behaviors under lattice compression, diverging from trends observed at ambient pressure. Importantly, the hydrostatic pressure breaks the phenomenally negative correlation between thermal conductivity and lattice distortion. Pressure-induced softening of low-frequency acoustic phonons broadens the low-energy phonon spectrum, enhancing interactions between acoustic and optical phonons. Such broadening substantially increases the number of available three-phonon scattering channels, resulting in a marked reduction in thermal conductivity. Meanwhile, we establish a macroscopic connection between metavalent bonding and anharmonicity, providing an indirect explanation for lattice anharmonicity through pressure-driven transferred charge. Additionally, the applied pressure achieves a notable net increase in the power factor despite the strong coupling of electrical transport parameters, which underscores the potential for bidirectional optimization of transport properties in AgXTe2. As a result, the maximum ZT value of AgInTe2 is nearly doubled, demonstrating that pressure modulation is a powerful strategy for enhancing thermoelectric performance. Our work not only establishes the link between pressure, lattice dynamics, and thermoelectric properties within chalcopyrite AgXTe2, but also inspires the exploration of pressure-related optimization strategies for conventional thermoelectric materials.

cond-mat.mtrl-sci↗

arXiv2024

Is Your HD Map Constructor Reliable under Sensor Corruptions?

Driving systems often rely on high-definition (HD) maps for precise environmental information, which is crucial for planning and navigation. While current HD map constructors perform well under ideal conditions, their resilience to real-world challenges, \eg, adverse weather and sensor failures, is not well understood, raising safety concerns. This work introduces MapBench, the first comprehensive benchmark designed to evaluate the robustness of HD map construction methods against various sensor corruptions. Our benchmark encompasses a total of 29 types of corruptions that occur from cameras and LiDAR sensors. Extensive evaluations across 31 HD map constructors reveal significant performance degradation of existing methods under adverse weather conditions and sensor failures, underscoring critical safety concerns. We identify effective strategies for enhancing robustness, including innovative approaches that leverage multi-modal fusion, advanced data augmentation, and architectural techniques. These insights provide a pathway for developing more reliable HD map construction methods, which are essential for the advancement of autonomous driving technology. The benchmark toolkit and affiliated code and model checkpoints have been made publicly accessible.

cs.RO↗

arXiv2024

Edge-Cloud Collaborative Satellite Image Analysis for Efficient Man-Made Structure Recognition

The increasing availability of high-resolution satellite imagery has created immense opportunities for various applications. However, processing and analyzing such vast amounts of data in a timely and accurate manner poses significant challenges. The paper presents a new satellite image processing architecture combining edge and cloud computing to better identify man-made structures against natural landscapes. By employing lightweight models at the edge, the system initially identifies potential man-made structures from satellite imagery. These identified images are then transmitted to the cloud, where a more complex model refines the classification, determining specific types of structures. The primary focus is on the trade-off between latency and accuracy, as efficient models often sacrifice accuracy. We compare this hybrid edge-cloud approach against traditional "bent-pipe" method in virtual environment experiments as well as introduce a practical model and compare its performance with existing lightweight models for edge deployment, focusing on accuracy and latency. The results demonstrate that the edge-cloud collaborative model not only reduces overall latency due to minimized data transmission but also maintains high accuracy, offering substantial improvements over traditional approaches under this scenario.

cs.CV↗

arXiv2024

Highly coherent grain boundaries induced by local pseudo-mirror symmetry in $β$-Ga2O3

Grain boundaries have extensive influence on the performance of crystal materials. However, the atomic-scale structure and its relation with local and crystallographic symmetries remain elusive in low-symmetry crystals. Herein, we find that the local pseudo-mirror-symmetric atomic layer is the common physical origin of a series of highly coherent grain boundaries in the low-symmetry $β$-Ga2O3 crystal. These include the (100) twin boundary and an emerging series of $(h-1'0'2)/(h+1'0'\bar{2})$ coherent asymmetric grain boundaries (CAGBs). Owing to the local pseudo-mirror symmetry and the special geometric relation of the $β$-Ga2O3 conventional cell, these CAGBs place 80% of the boundary atoms in pseudo-coincident sites, exhibiting high coherence under the coincident-site lattice model. With a combination of density functional theory calculations, Czochralski growth experiment, and atomic-scale characterizations, the structure and stability of the $(002)/(20\bar{2})$-A CAGB are confirmed, with a boundary energy density as low as 0.36 J/m2. This CAGB is responsible for the spontaneous formation of a twinned defect facet at the surface steps during the epitaxy growth of $β$-Ga2O3, warranting a substrate orientation selection rule for $β$-Ga2O3. Through this study, we provide insights into the grain boundary physics in the low-symmetry $β$-Ga2O3 crystal while emphasizing the importance of the local pseudo-symmetries in the low-symmetry crystals.

cond-mat.mtrl-sci↗

arXiv2024

ToolEENet: Tool Affordance 6D Pose Estimation

The exploration of robotic dexterous hands utilizing tools has recently attracted considerable attention. A significant challenge in this field is the precise awareness of a tool's pose when grasped, as occlusion by the hand often degrades the quality of the estimation. Additionally, the tool's overall pose often fails to accurately represent the contact interaction, thereby limiting the effectiveness of vision-guided, contact-dependent activities. To overcome this limitation, we present the innovative TOOLEE dataset, which, to the best of our knowledge, is the first to feature affordance segmentation of a tool's end-effector (EE) along with its defined 6D pose based on its usage. Furthermore, we propose the ToolEENet framework for accurate 6D pose estimation of the tool's EE. This framework begins by segmenting the tool's EE from raw RGBD data, then uses a diffusion model-based pose estimator for 6D pose estimation at a category-specific level. Addressing the issue of symmetry in pose estimation, we introduce a symmetry-aware pose representation that enhances the consistency of pose estimation. Our approach excels in this field, demonstrating high levels of precision and generalization. Furthermore, it shows great promise for application in contact-based manipulation scenarios. All data and codes are available on the project website: https://tooleenet-iros2024.github.io/

cs.RO↗

arXiv2024

Segmentation-guided Layer-wise Image Vectorization with Gradient Fills

The widespread use of vector graphics creates a significant demand for vectorization methods. While recent learning-based techniques have shown their capability to create vector images of clear topology, filling these primitives with gradients remains a challenge. In this paper, we propose a segmentation-guided vectorization framework to convert raster images into concise vector graphics with radial gradient fills. With the guidance of an embedded gradient-aware segmentation subroutine, our approach progressively appends gradient-filled Bézier paths to the output, where primitive parameters are initiated with our newly designed initialization technique and are optimized to minimize our novel loss function. We build our method on a differentiable renderer with traditional segmentation algorithms to develop it as a model-free tool for raster-to-vector conversion. It is tested on various inputs to demonstrate its feasibility, independent of datasets, to synthesize vector graphics with improved visual quality and layer-wise topology compared to prior work.

cs.CV↗

arXiv2024

La-SoftMoE CLIP for Unified Physical-Digital Face Attack Detection

Facial recognition systems are susceptible to both physical and digital attacks, posing significant security risks. Traditional approaches often treat these two attack types separately due to their distinct characteristics. Thus, when being combined attacked, almost all methods could not deal. Some studies attempt to combine the sparse data from both types of attacks into a single dataset and try to find a common feature space, which is often impractical due to the space is difficult to be found or even non-existent. To overcome these challenges, we propose a novel approach that uses the sparse model to handle sparse data, utilizing different parameter groups to process distinct regions of the sparse feature space. Specifically, we employ the Mixture of Experts (MoE) framework in our model, expert parameters are matched to tokens with varying weights during training and adaptively activated during testing. However, the traditional MoE struggles with the complex and irregular classification boundaries of this problem. Thus, we introduce a flexible self-adapting weighting mechanism, enabling the model to better fit and adapt. In this paper, we proposed La-SoftMoE CLIP, which allows for more flexible adaptation to the Unified Attack Detection (UAD) task, significantly enhancing the model's capability to handle diversity attacks. Experiment results demonstrate that our proposed method has SOTA performance.

cs.CV↗

arXiv2024

Compartment-specific estimation of T2 and T2* with diffusion-PEPTIDE MRI

We present a microstructure imaging technique for estimating compartment-specific T2 and T2* simultaneously in the human brain. Microstructure imaging with diffusion MRI (dMRI) has enabled the modelling of intra-neurite and extra-neurite diffusion signals separately allowing for the estimation of compartment-specific tissue properties. These compartment-specific properties have been widely used in clinical studies. However, conventional dMRI cannot disentangle differences in relaxations between tissue compartments, causing biased estimates of diffusion measures which also change with TE. To solve the problem, combined relaxometry-diffusion imaging methods have been developed in recent years, providing compartmental T2-diffusion or T2*-diffusion imaging respectively, but not T2 and T2* together. As they provide complementary information, a technique that can estimate both jointly with diffusion is appealing to neuroimaging studies. The aim of this work is to develop a method to map compartmental T2-T2*-diffusion simultaneously. Using an advanced MRI acquisition called diffusion-PEPTIDE, a novel microstructure model is proposed and a multi-step fitting method is developed to estimate parameters of interest. We demonstrate for the first time that compartmental T2, T2* can be estimated simultaneously from in vivo data. we further show the accuracy and precision of parameter estimation with simulation.

physics.med-ph↗

arXiv2024

SCREENER: A general framework for task-specific experiment design in quantitative MRI

Quantitative magnetic resonance imaging (qMRI) is increasingly investigated for use in a variety of clinical tasks from diagnosis, through staging, to treatment monitoring. However, experiment design in qMRI, the identification of the optimal acquisition protocols, has been focused on obtaining the most precise parameter estimations, with no regard for the specific requirements of downstream tasks. Here we propose SCREENER: A general framework for task-specific experiment design in quantitative MRI. SCREENER incorporates a task-specific objective and seeks the optimal protocol with a deep-reinforcement-learning (DRL) based optimization strategy. To illustrate this framework, we employ a task of classifying the inflammation status of bone marrow using diffusion MRI data with intravoxel incoherent motion (IVIM) modelling. Results demonstrate SCREENER outperforms previous ad hoc and optimized protocols under clinical signal-to-noise ratio (SNR) conditions, achieving significant improvement, both in binary classification tasks, e.g. from 67% to 89%, and in a multi-class classification task, from 46% to 59%. Additionally, we show this improvement is robust to the SNR. Lastly, we demonstrate the advantage of DRL-based optimization strategy, enabling zero-shot discovery of near-optimal protocols for a range of SNRs not used in training. In conclusion, SCREENER has the potential to enable wider uptake of qMRI in the clinic.

cs.CV↗