arXiv subjects

Jingbo Wang

Publications and source records attributed to Jingbo Wang.

At least 145 records · Page 8Linked to original sources

arXiv2024

CooHOI: Learning Cooperative Human-Object Interaction with Manipulated Object Dynamics

Enabling humanoid robots to clean rooms has long been a pursued dream within humanoid research communities. However, many tasks require multi-humanoid collaboration, such as carrying large and heavy furniture together. Given the scarcity of motion capture data on multi-humanoid collaboration and the efficiency challenges associated with multi-agent learning, these tasks cannot be straightforwardly addressed using training paradigms designed for single-agent scenarios. In this paper, we introduce Cooperative Human-Object Interaction (CooHOI), a framework designed to tackle the challenge of multi-humanoid object transportation problem through a two-phase learning paradigm: individual skill learning and subsequent policy transfer. First, a single humanoid character learns to interact with objects through imitation learning from human motion priors. Then, the humanoid learns to collaborate with others by considering the shared dynamics of the manipulated object using centralized training and decentralized execution (CTDE) multi-agent RL algorithms. When one agent interacts with the object, resulting in specific object dynamics changes, the other agents learn to respond appropriately, thereby achieving implicit communication and coordination between teammates. Unlike previous approaches that relied on tracking-based methods for multi-humanoid HOI, CooHOI is inherently efficient, does not depend on motion capture data of multi-humanoid interactions, and can be seamlessly extended to include more participants and a wide range of object types.

cs.RO↗

arXiv2024

FairQuant: Certifying and Quantifying Fairness of Deep Neural Networks

We propose a method for formally certifying and quantifying individual fairness of deep neural networks (DNN). Individual fairness guarantees that any two individuals who are identical except for a legally protected attribute (e.g., gender or race) receive the same treatment. While there are existing techniques that provide such a guarantee, they tend to suffer from lack of scalability or accuracy as the size and input dimension of the DNN increase. Our method overcomes this limitation by applying abstraction to a symbolic interval based analysis of the DNN followed by iterative refinement guided by the fairness property. Furthermore, our method lifts the symbolic interval based analysis from conventional qualitative certification to quantitative certification, by computing the percentage of individuals whose classification outputs are provably fair, instead of merely deciding if the DNN is fair. We have implemented our method and evaluated it on deep neural networks trained on four popular fairness research datasets. The experimental results show that our method is not only more accurate than state-of-the-art techniques but also several orders-of-magnitude faster.

cs.LG↗

arXiv2024

Precision orbital dynamics from interstellar scintillation arcs for PSR J0437-4715

Intensity scintillations of radio pulsars are known to originate from interference between waves scattered by the electron density irregularities of interstellar plasma, often leading to parabolic arcs in the two-dimensional power spectrum of the recorded dynamic spectrum. The degree of arc curvature depends on the distance to the scattering plasma and its transverse velocity with respect to the line-of-sight. We report the observation of annual and orbital variations in the curvature of scintillation arcs over a period of 16 years for the bright millisecond pulsar, PSR J0437-4715. These variations are the signature of the relative transverse motions of the Earth, pulsar, and scattering medium, which we model to obtain precise measurements of parameters of the pulsar's binary orbit and the scattering medium itself. We observe two clear scintillation arcs in most of our $>$5000 observations and we show that they originate from scattering by thin screens located at distances $D_1 = 89.8 \pm 0.4$ pc and $D_2 = 124 \pm 3$ pc from Earth. The best-fit scattering model we derive for the brightest arc yields the pulsar's orbital inclination angle $i = 137.1 \pm 0.3^\circ$, and longitude of ascending node, $Ω=206.3\pm0.4^\circ$. Using scintillation arcs for precise astrometry and orbital dynamics can be superior to modelling variations in the diffractive scintillation timescale, because the arc curvature is independent of variations in the level of turbulence of interstellar plasma. This technique can be used in combination with pulsar timing to determine the full three-dimensional orbital geometries of binary pulsars, and provides parameters essential for testing theories of gravity and constraining neutron star masses.

astro-ph.HE↗

arXiv2024

Increased resistance to photooxidation in Dion-Jacobson lead halide perovskites -- implication for perovskite device stability

2D metal halide perovskites have enabled significant stability improvements in perovskite devices, particularly in resistance to moisture. However, some 2D perovskites are even more susceptible to photooxidation compared to 3D perovskites. This is particularly true for more commonly investigated Ruddlesden-Popper (RP) perovskites that exhibit increased susceptibility to photoinduced degradation compared to Dion-Jacobson (DJ) perovskites. Comparisons between different RP and DJ perovskites reveal that this phenomenon cannot be explained by commonly proposed differences in superoxide ion generation, interlayer distance and lattice structural rigidity differences. Instead, the resistance to photooxidation of DJ perovskites can be attributed to decreased likelihood of double deprotonation events (compared to single deprotonation events in RP perovskites) required for the loss of organic cations and the perovskite decomposition. Consequently, DJ perovskites are less susceptible to oxidative degradation (both photo- and electrochemically induced), which leads to improved operational stability of solar cells based on these materials.

cond-mat.mtrl-sci↗

arXiv2024

Interactive Character Control with Auto-Regressive Motion Diffusion Models

Real-time character control is an essential component for interactive experiences, with a broad range of applications, including physics simulations, video games, and virtual reality. The success of diffusion models for image synthesis has led to the use of these models for motion synthesis. However, the majority of these motion diffusion models are primarily designed for offline applications, where space-time models are used to synthesize an entire sequence of frames simultaneously with a pre-specified length. To enable real-time motion synthesis with diffusion model that allows time-varying controls, we propose A-MDM (Auto-regressive Motion Diffusion Model). Our conditional diffusion model takes an initial pose as input, and auto-regressively generates successive motion frames conditioned on the previous frame. Despite its streamlined network architecture, which uses simple MLPs, our framework is capable of generating diverse, long-horizon, and high-fidelity motion sequences. Furthermore, we introduce a suite of techniques for incorporating interactive controls into A-MDM, such as task-oriented sampling, in-painting, and hierarchical reinforcement learning. These techniques enable a pre-trained A-MDM to be efficiently adapted for a variety of new downstream tasks. We conduct a comprehensive suite of experiments to demonstrate the effectiveness of A-MDM, and compare its performance against state-of-the-art auto-regressive methods.

cs.CV↗

arXiv2024

Non-variational Quantum Combinatorial Optimisation

This paper introduces a non-variational quantum algorithm designed to solve a wide range of combinatorial optimisation problems, including constrained and non-binary problems. The algorithm leverages an engineered interference process achieved through repeated application of two unitaries; one inducing phase-shifts dependent on objective function values, and the other mixing phase-shifted probability amplitudes via a continuous-time quantum walk (CTQW) on a problem-specific graph. The algorithm's versatility is demonstrated through its application to various problems, namely those for which solutions are characterised by either a vector of binary variables, a vector of non-binary integer variables, or permutations (a vector of integer variables without repetition). An efficient quantum circuit implementation of the CTQW for each of these problem types is also discussed. A penalty function approach for constrained problems is also introduced, including a method for optimising the penalty function. The algorithm's performance is demonstrated through numerical simulation for randomly generated instances of the following problems (and problem sizes): weighted maxcut (18 vertices), maximum independent set (18 vertices), k-means clustering (12 datapoints, 3 clusters), capacitated facility location (12 customers, 3 facility locations), and the quadratic assignment problem (9 locations). For each problem instance, the algorithm finds a globally optimal solution with a small number of iterations.

quant-ph↗

arXiv2024

SMPLOlympics: Sports Environments for Physically Simulated Humanoids

We present SMPLOlympics, a collection of physically simulated environments that allow humanoids to compete in a variety of Olympic sports. Sports simulation offers a rich and standardized testing ground for evaluating and improving the capabilities of learning algorithms due to the diversity and physically demanding nature of athletic activities. As humans have been competing in these sports for many years, there is also a plethora of existing knowledge on the preferred strategy to achieve better performance. To leverage these existing human demonstrations from videos and motion capture, we design our humanoid to be compatible with the widely-used SMPL and SMPL-X human models from the vision and graphics community. We provide a suite of individual sports environments, including golf, javelin throw, high jump, long jump, and hurdling, as well as competitive sports, including both 1v1 and 2v2 games such as table tennis, tennis, fencing, boxing, soccer, and basketball. Our analysis shows that combining strong motion priors with simple rewards can result in human-like behavior in various sports. By providing a unified sports benchmark and baseline implementation of state and reward designs, we hope that SMPLOlympics can help the control and animation communities achieve human-like and performant behaviors.

cs.RO↗

arXiv2024

RoomTex: Texturing Compositional Indoor Scenes via Iterative Inpainting

The advancement of diffusion models has pushed the boundary of text-to-3D object generation. While it is straightforward to composite objects into a scene with reasonable geometry, it is nontrivial to texture such a scene perfectly due to style inconsistency and occlusions between objects. To tackle these problems, we propose a coarse-to-fine 3D scene texturing framework, referred to as RoomTex, to generate high-fidelity and style-consistent textures for untextured compositional scene meshes. In the coarse stage, RoomTex first unwraps the scene mesh to a panoramic depth map and leverages ControlNet to generate a room panorama, which is regarded as the coarse reference to ensure the global texture consistency. In the fine stage, based on the panoramic image and perspective depth maps, RoomTex will refine and texture every single object in the room iteratively along a series of selected camera views, until this object is completely painted. Moreover, we propose to maintain superior alignment between RGB and depth spaces via subtle edge detection methods. Extensive experiments show our method is capable of generating high-quality and diverse room textures, and more importantly, supporting interactive fine-grained texture control and flexible scene editing thanks to our inpainting-based framework and compositional mesh input. Our project page is available at https://qwang666.github.io/RoomTex/.

cs.CV↗

arXiv2024

PACER+: On-Demand Pedestrian Animation Controller in Driving Scenarios

We address the challenge of content diversity and controllability in pedestrian simulation for driving scenarios. Recent pedestrian animation frameworks have a significant limitation wherein they primarily focus on either following trajectory [46] or the content of the reference video [57], consequently overlooking the potential diversity of human motion within such scenarios. This limitation restricts the ability to generate pedestrian behaviors that exhibit a wider range of variations and realistic motions and therefore restricts its usage to provide rich motion content for other components in the driving simulation system, e.g., suddenly changed motion to which the autonomous vehicle should respond. In our approach, we strive to surpass the limitation by showcasing diverse human motions obtained from various sources, such as generated human motions, in addition to following the given trajectory. The fundamental contribution of our framework lies in combining the motion tracking task with trajectory following, which enables the tracking of specific motion parts (e.g., upper body) while simultaneously following the given trajectory by a single policy. This way, we significantly enhance both the diversity of simulated human motion within the given scenario and the controllability of the content, including language-based control. Our framework facilitates the generation of a wide range of human motions, contributing to greater realism and adaptability in pedestrian simulations for driving scenarios. More information is on our project page https://wangjingbo1219.github.io/papers/CVPR2024_PACER_PLUS/PACERPLUSPage.html .

cs.CV↗

arXiv2024

TELA: Text to Layer-wise 3D Clothed Human Generation

This paper addresses the task of 3D clothed human generation from textural descriptions. Previous works usually encode the human body and clothes as a holistic model and generate the whole model in a single-stage optimization, which makes them struggle for clothing editing and meanwhile lose fine-grained control over the whole generation process. To solve this, we propose a layer-wise clothed human representation combined with a progressive optimization strategy, which produces clothing-disentangled 3D human models while providing control capacity for the generation process. The basic idea is progressively generating a minimal-clothed human body and layer-wise clothes. During clothing generation, a novel stratified compositional rendering method is proposed to fuse multi-layer human models, and a new loss function is utilized to help decouple the clothing model from the human body. The proposed method achieves high-quality disentanglement, which thereby provides an effective way for 3D garment generation. Extensive experiments demonstrate that our approach achieves state-of-the-art 3D clothed human generation while also supporting cloth editing applications such as virtual try-on. Project page: http://jtdong.com/tela_layer/

cs.CV↗

arXiv2024

SemGrasp: Semantic Grasp Generation via Language Aligned Discretization

Generating natural human grasps necessitates consideration of not just object geometry but also semantic information. Solely depending on object shape for grasp generation confines the applications of prior methods in downstream tasks. This paper presents a novel semantic-based grasp generation method, termed SemGrasp, which generates a static human grasp pose by incorporating semantic information into the grasp representation. We introduce a discrete representation that aligns the grasp space with semantic space, enabling the generation of grasp postures in accordance with language instructions. A Multimodal Large Language Model (MLLM) is subsequently fine-tuned, integrating object, grasp, and language within a unified semantic space. To facilitate the training of SemGrasp, we have compiled a large-scale, grasp-text-aligned dataset named CapGrasp, featuring about 260k detailed captions and 50k diverse grasps. Experimental findings demonstrate that SemGrasp efficiently generates natural human grasps in alignment with linguistic intentions. Our code, models, and dataset are available publicly at: https://kailinli.github.io/SemGrasp.

cs.CV↗

arXiv2024

A study of 10 Rotating Radio Transients using Parkes radio telescope

Rotating Radio Transients (RRATs) are a relatively new subclass of pulsars that emit detectable radio bursts sporadically. We conducted an analysis of 10 RRATs observed using the Parkes telescope, with 8 of these observed via the Ultra-Wideband Receiver. We measured the burst rate and produced integrated profiles spanning multiple frequency bands for 3 RRATs. We also conducted a spectral analysis on both integrated pulses and individual pulses of 3 RRATs. All of their integrated pulses follow a simple power law, consistent with the known range of pulsar spectral indices. Their average spectral indices of single pulses are -0.9, -1.2, and -1.0 respectively, which are within the known range of pulsar spectral indices. Additionally, we find that the spreads of single-pulse spectral indices for these RRATs (ranging from -3.5 to +0.5) are narrower compared to what has been observed in other RRATs (Shapiro-Albert et al. 2018; Xie et al. 2022). It is notable that the average spectral index and scatter of single pulses are both relatively small. For the remaining 5 RRATs observed at the UWL receiver, we also provided the upper limits on fluence and flux density. In addition, we obtained the timing solution of PSR J1709-43. Our analysis shows that PSRs J1919+1745, J1709-43 and J1649-4653 are potentially nulling pulsars or weak pulsars with sparse strong pulses.

astro-ph.HE↗

arXiv2024

Non-Hemolytic Peptide Classification Using A Quantum Support Vector Machine

Quantum machine learning (QML) is one of the most promising applications of quantum computation. However, it is still unclear whether quantum advantages exist when the data is of a classical nature and the search for practical, real-world applications of QML remains active. In this work, we apply the well-studied quantum support vector machine (QSVM), a powerful QML model, to a binary classification task which classifies peptides as either hemolytic or non-hemolytic. Using three peptide datasets, we apply and contrast the performance of the QSVM, numerous classical SVMs, and the best published results on the same peptide classification task, out of which the QSVM performs best. The contributions of this work include (i) the first application of the QSVM to this specific peptide classification task, (ii) an explicit demonstration of QSVMs outperforming the best published results attained with classical machine learning models on this classification task and (iii) empirical results showing that the QSVM is capable of outperforming many (and possibly all) classical SVMs on this classification task. This foundational work paves the way to verifiable quantum advantages in the field of computational biology and facilitates safer therapeutic development.

quant-ph↗

arXiv2023

The topological entanglement entropy of black holes in loop quantum gravity

Topological order (long-range entanglement) play important role in modern condensed matter physics. In this paper, we will show that the four dimensional black hole can also have topological order, by showing that the topological entanglement entropy is non-zero. The properties of the topological order show that the large diffeomorphisms will act as symmetry (not gauge) transformation on the physical states. More importantly, the long-range entanglement will make the Hawking radiation pure.

gr-qc↗

arXiv2023

Cinematic Behavior Transfer via NeRF-based Differentiable Filming

In the evolving landscape of digital media and video production, the precise manipulation and reproduction of visual elements like camera movements and character actions are highly desired. Existing SLAM methods face limitations in dynamic scenes and human pose estimation often focuses on 2D projections, neglecting 3D statuses. To address these issues, we first introduce a reverse filming behavior estimation technique. It optimizes camera trajectories by leveraging NeRF as a differentiable renderer and refining SMPL tracks. We then introduce a cinematic transfer pipeline that is able to transfer various shot types to a new 2D video or a 3D virtual environment. The incorporation of 3D engine workflow enables superior rendering and control abilities, which also achieves a higher rating in the user study.

cs.CV↗

arXiv2023

Task-Oriented Human-Object Interactions Generation with Implicit Neural Representations

Digital human motion synthesis is a vibrant research field with applications in movies, AR/VR, and video games. Whereas methods were proposed to generate natural and realistic human motions, most only focus on modeling humans and largely ignore object movements. Generating task-oriented human-object interaction motions in simulation is challenging. For different intents of using the objects, humans conduct various motions, which requires the human first to approach the objects and then make them move consistently with the human instead of staying still. Also, to deploy in downstream applications, the synthesized motions are desired to be flexible in length, providing options to personalize the predicted motions for various purposes. To this end, we propose TOHO: Task-Oriented Human-Object Interactions Generation with Implicit Neural Representations, which generates full human-object interaction motions to conduct specific tasks, given only the task type, the object, and a starting human status. TOHO generates human-object motions in three steps: 1) it first estimates the keyframe poses of conducting a task given the task type and object information; 2) then, it infills the keyframes and generates continuous motions; 3) finally, it applies a compact closed-form object motion estimation to generate the object motion. Our method generates continuous motions that are parameterized only by the temporal coordinate, which allows for upsampling or downsampling of the sequence to arbitrary frames and adjusting the motion speeds by designing the temporal coordinate vector. We demonstrate the effectiveness of our method, both qualitatively and quantitatively. This work takes a step further toward general human-scene interaction simulation.

cs.CV↗

arXiv2023

DNA-Rendering: A Diverse Neural Actor Repository for High-Fidelity Human-centric Rendering

Realistic human-centric rendering plays a key role in both computer vision and computer graphics. Rapid progress has been made in the algorithm aspect over the years, yet existing human-centric rendering datasets and benchmarks are rather impoverished in terms of diversity, which are crucial for rendering effect. Researchers are usually constrained to explore and evaluate a small set of rendering problems on current datasets, while real-world applications require methods to be robust across different scenarios. In this work, we present DNA-Rendering, a large-scale, high-fidelity repository of human performance data for neural actor rendering. DNA-Rendering presents several alluring attributes. First, our dataset contains over 1500 human subjects, 5000 motion sequences, and 67.5M frames' data volume. Second, we provide rich assets for each subject -- 2D/3D human body keypoints, foreground masks, SMPLX models, cloth/accessory materials, multi-view images, and videos. These assets boost the current method's accuracy on downstream rendering tasks. Third, we construct a professional multi-view system to capture data, which contains 60 synchronous cameras with max 4096 x 3000 resolution, 15 fps speed, and stern camera calibration steps, ensuring high-quality resources for task training and evaluation. Along with the dataset, we provide a large-scale and quantitative benchmark in full-scale, with multiple tasks to evaluate the existing progress of novel view synthesis, novel pose animation synthesis, and novel identity rendering methods. In this manuscript, we describe our DNA-Rendering effort as a revealing of new observations, challenges, and future directions to human-centric rendering. The dataset, code, and benchmarks will be publicly available at https://dna-rendering.github.io/

cs.CV↗

arXiv2023

Systematic Testing of the Data-Poisoning Robustness of KNN

Data poisoning aims to compromise a machine learning based software component by contaminating its training set to change its prediction results for test inputs. Existing methods for deciding data-poisoning robustness have either poor accuracy or long running time and, more importantly, they can only certify some of the truly-robust cases, but remain inconclusive when certification fails. In other words, they cannot falsify the truly-non-robust cases. To overcome this limitation, we propose a systematic testing based method, which can falsify as well as certify data-poisoning robustness for a widely used supervised-learning technique named k-nearest neighbors (KNN). Our method is faster and more accurate than the baseline enumeration method, due to a novel over-approximate analysis in the abstract domain, to quickly narrow down the search space, and systematic testing in the concrete domain, to find the actual violations. We have evaluated our method on a set of supervised-learning datasets. Our results show that the method significantly outperforms state-of-the-art techniques, and can decide data-poisoning robustness of KNN prediction results for most of the test inputs.

cs.SE↗