arXiv subjects

Jun Ma

Publications and source records attributed to Jun Ma.

At least 307 records · Page 17Linked to original sources

arXiv2023

Decentralized iLQR for Cooperative Trajectory Planning of Connected Autonomous Vehicles via Dual Consensus ADMM

Developments in cooperative trajectory planning of connected autonomous vehicles (CAVs) have gathered considerable momentum and research attention. Generally, such problems present strong non-linearity and non-convexity, rendering great difficulties in finding the optimal solution. Existing methods typically suffer from low computational efficiency, and this hinders the appropriate applications in large-scale scenarios involving an increasing number of vehicles. To tackle this problem, we propose a novel decentralized iterative linear quadratic regulator (iLQR) algorithm by leveraging the dual consensus alternating direction method of multipliers (ADMM). First, the original non-convex optimization problem is reformulated into a series of convex optimization problems through iterative neighbourhood approximation. Then, the dual of each convex optimization problem is shown to have a consensus structure, which facilitates the use of consensus ADMM to solve for the dual solution in a fully decentralized and parallel architecture. Finally, the primal solution corresponding to the trajectory of each vehicle is recovered by solving a linear quadratic regulator (LQR) problem iteratively, and a novel trajectory update strategy is proposed to ensure the dynamic feasibility of vehicles. With the proposed development, the computation burden is significantly alleviated such that real-time performance is attainable. Two traffic scenarios are presented to validate the proposed algorithm, and thorough comparisons between our proposed method and baseline methods (including centralized iLQR, IPOPT, and SQP) are conducted to demonstrate the scalability of the proposed approach.

cs.RO↗

arXiv2022

Variational Reasoning over Incomplete Knowledge Graphs for Conversational Recommendation

Conversational recommender systems (CRSs) often utilize external knowledge graphs (KGs) to introduce rich semantic information and recommend relevant items through natural language dialogues. However, original KGs employed in existing CRSs are often incomplete and sparse, which limits the reasoning capability in recommendation. Moreover, only few of existing studies exploit the dialogue context to dynamically refine knowledge from KGs for better recommendation. To address the above issues, we propose the Variational Reasoning over Incomplete KGs Conversational Recommender (VRICR). Our key idea is to incorporate the large dialogue corpus naturally accompanied with CRSs to enhance the incomplete KGs; and perform dynamic knowledge reasoning conditioned on the dialogue context. Specifically, we denote the dialogue-specific subgraphs of KGs as latent variables with categorical priors for adaptive knowledge graphs refactor. We propose a variational Bayesian method to approximate posterior distributions over dialogue-specific subgraphs, which not only leverages the dialogue corpus for restructuring missing entity relations but also dynamically selects knowledge based on the dialogue context. Finally, we infuse the dialogue-specific subgraphs to decode the recommendation and responses. We conduct experiments on two benchmark CRSs datasets. Experimental results confirm the effectiveness of our proposed method.

cs.AI↗

arXiv2022

The Liver Tumor Segmentation Benchmark (LiTS)

In this work, we report the set-up and results of the Liver Tumor Segmentation Benchmark (LiTS), which was organized in conjunction with the IEEE International Symposium on Biomedical Imaging (ISBI) 2017 and the International Conferences on Medical Image Computing and Computer-Assisted Intervention (MICCAI) 2017 and 2018. The image dataset is diverse and contains primary and secondary tumors with varied sizes and appearances with various lesion-to-background levels (hyper-/hypo-dense), created in collaboration with seven hospitals and research institutions. Seventy-five submitted liver and liver tumor segmentation algorithms were trained on a set of 131 computed tomography (CT) volumes and were tested on 70 unseen test images acquired from different patients. We found that not a single algorithm performed best for both liver and liver tumors in the three events. The best liver segmentation algorithm achieved a Dice score of 0.963, whereas, for tumor segmentation, the best algorithms achieved Dices scores of 0.674 (ISBI 2017), 0.702 (MICCAI 2017), and 0.739 (MICCAI 2018). Retrospectively, we performed additional analysis on liver tumor detection and revealed that not all top-performing segmentation algorithms worked well for tumor detection. The best liver tumor detection method achieved a lesion-wise recall of 0.458 (ISBI 2017), 0.515 (MICCAI 2017), and 0.554 (MICCAI 2018), indicating the need for further research. LiTS remains an active benchmark and resource for research, e.g., contributing the liver-related segmentation tasks in \url{http://medicaldecathlon.com/}. In addition, both data and online evaluation are accessible via \url{www.lits-challenge.com}.

cs.CV↗

arXiv2022

A Method to Judge the Style of Classical Poetry Based on Pre-trained Model

One of the important topics in the research field of Chinese classical poetry is to analyze the poetic style. By examining the relevant works of previous dynasties, researchers judge a poetic style mostly by their subjective feelings, and refer to the previous evaluations that have become a certain conclusion. Although this judgment method is often effective, there may be some errors. This paper builds the most perfect data set of Chinese classical poetry at present, trains a BART-poem pre -trained model on this data set, and puts forward a generally applicable poetry style judgment method based on this BART-poem model, innovatively introduces in-depth learning into the field of computational stylistics, and provides a new research method for the study of classical poetry. This paper attempts to use this method to solve the problem of poetry style identification in the Tang and Song Dynasties, and takes the poetry schools that are considered to have a relatively clear and consistent poetic style, such as the Hongzheng Qizi and Jiajing Qizi, Jiangxi poetic school and Tongguang poetic school, as the research object, and takes the poems of their representative poets for testing. Experiments show that the judgment results of the tested poetry work made by the model are basically consistent with the conclusions given by critics of previous dynasties, verify some avant-garde judgments of Mr. Qian Zhongshu, and better solve the task of poetry style recognition in the Tang and Song dynasties.

cs.CL↗

arXiv2022

3D Theory of Microscopic Instabilities Driven by Space-Charge Forces

Microscopic, or short-wavelength, instabilities are known for drastic reduction of the beam quality and strong amplification of the noise in a beam. Space charge and coherent synchrotron radiation are known to be the leading causes for such instabilities. In this paper we present rigorous 3D theory of such instabilities driven by the space-charge forces. We define the condition when our theory is applicable for an arbitrary accelerator system with 3D coupling. Finally, we derive a linear integral equation describing such instability and identify conditions when it can be reduced to an ordinary second order differential equation.

physics.acc-ph↗

arXiv2022

On the User Behavior Leakage from Recommender System Exposure

Modern recommender systems are trained to predict users potential future interactions from users historical behavior data. During the interaction process, despite the data coming from the user side recommender systems also generate exposure data to provide users with personalized recommendation slates. Compared with the sparse user behavior data, the system exposure data is much larger in volume since only very few exposed items would be clicked by the user. Besides, the users historical behavior data is privacy sensitive and is commonly protected with careful access authorization. However, the large volume of recommender exposure data usually receives less attention and could be accessed within a relatively larger scope of various information seekers. In this paper, we investigate the problem of user behavior leakage in recommender systems. We show that the privacy sensitive user past behavior data can be inferred through the modeling of system exposure. Besides, one can infer which items the user have clicked just from the observation of current system exposure for this user. Given the fact that system exposure data could be widely accessed from a relatively larger scope, we believe that the user past behavior privacy has a high risk of leakage in recommender systems. More precisely, we conduct an attack model whose input is the current recommended item slate (i.e., system exposure) for the user while the output is the user's historical behavior. Experimental results on two real-world datasets indicate a great danger of user behavior leakage. To address the risk, we propose a two-stage privacy-protection mechanism which firstly selects a subset of items from the exposure slate and then replaces the selected items with uniform or popularity-based exposure. Experimental evaluation reveals a trade-off effect between the recommendation accuracy and the privacy disclosure risk.

cs.IR↗

arXiv2022

Span-based joint entity and relation extraction augmented with sequence tagging mechanism

Span-based joint extraction simultaneously conducts named entity recognition (NER) and relation extraction (RE) in text span form. However, since previous span-based models rely on span-level classifications, they cannot benefit from token-level label information, which has been proven advantageous for the task. In this paper, we propose a Sequence Tagging augmented Span-based Network (STSN), a span-based joint model that can make use of token-level label information. In STSN, we construct a core neural architecture by deep stacking multiple attention layers, each of which consists of three basic attention units. On the one hand, the core architecture enables our model to learn token-level label information via the sequence tagging mechanism and then uses the information in the span-based joint extraction; on the other hand, it establishes a bi-directional information interaction between NER and RE. Experimental results on three benchmark datasets show that STSN consistently outperforms the strongest baselines in terms of F1, creating new state-of-the-art results.

cs.CL↗

arXiv2022

Neural-iLQR: A Learning-Aided Shooting Method for Trajectory Optimization

Iterative linear quadratic regulator (iLQR) has gained wide popularity in addressing trajectory optimization problems with nonlinear system models. However, as a model-based shooting method, it relies heavily on an accurate system model to update the optimal control actions and the trajectory determined with forward integration, thus becoming vulnerable to inevitable model inaccuracies. Recently, substantial research efforts in learning-based methods for optimal control problems have been progressing significantly in addressing unknown system models, particularly when the system has complex interactions with the environment. Yet a deep neural network is normally required to fit substantial scale of sampling data. In this work, we present Neural-iLQR, a learning-aided shooting method over the unconstrained control space, in which a neural network with a simple structure is used to represent the local system model. In this framework, the trajectory optimization task is achieved with simultaneous refinement of the optimal policy and the neural network iteratively, without relying on the prior knowledge of the system model. Through comprehensive evaluations on two illustrative control tasks, the proposed method is shown to outperform the conventional iLQR significantly in the presence of inaccuracies in system models.

cs.LG↗

arXiv2022

Robust Fixed-Order Controller Design for Uncertain Systems with Generalized Common Lyapunov Strictly Positive Realness Characterization

This paper investigates the design of a robust fixed-order controller for single-input-single-output (SISO) polytopic systems with interval uncertainties, with the aim that the closed-loop stability is appropriately ensured and the performance specifications on sensitivity shaping are conformed in a specific finite frequency range. Utilizing the notion of generalized common Lyapunov strictly positive realness (CL-SPRness), the equivalence between strictly positive realness (SPRness) and strictly bounded realness (SBRness) is established; and then the specifications on robust stability and performance are transformed into the SPRness of newly constructed systems and further characterized in the framework of linear matrix inequality (LMI) conditions. The proposed methodology avoids the tedious yet mandatory evaluations of the specifications on all vertices of the uncertain polytopic system in an explicit form. Instead, solving five LMIs exclusively suffices for ensuring the robust stability and performance regardless of the number of vertices, and thus the typically heavy computational burden is considerably alleviated. It is also noteworthy that the proposed methodology additionally provides the necessary and sufficient conditions for this robust controller design with the consideration of a prescribed finite frequency range, and therefore significantly less conservatism is attained in the system performance.

eess.SY↗

arXiv2022

QU-BraTS: MICCAI BraTS 2020 Challenge on Quantifying Uncertainty in Brain Tumor Segmentation - Analysis of Ranking Scores and Benchmarking Results

Deep learning (DL) models have provided state-of-the-art performance in various medical imaging benchmarking challenges, including the Brain Tumor Segmentation (BraTS) challenges. However, the task of focal pathology multi-compartment segmentation (e.g., tumor and lesion sub-regions) is particularly challenging, and potential errors hinder translating DL models into clinical workflows. Quantifying the reliability of DL model predictions in the form of uncertainties could enable clinical review of the most uncertain regions, thereby building trust and paving the way toward clinical translation. Several uncertainty estimation methods have recently been introduced for DL medical image segmentation tasks. Developing scores to evaluate and compare the performance of uncertainty measures will assist the end-user in making more informed decisions. In this study, we explore and evaluate a score developed during the BraTS 2019 and BraTS 2020 task on uncertainty quantification (QU-BraTS) and designed to assess and rank uncertainty estimates for brain tumor multi-compartment segmentation. This score (1) rewards uncertainty estimates that produce high confidence in correct assertions and those that assign low confidence levels at incorrect assertions, and (2) penalizes uncertainty measures that lead to a higher percentage of under-confident correct assertions. We further benchmark the segmentation uncertainties generated by 14 independent participating teams of QU-BraTS 2020, all of which also participated in the main BraTS segmentation task. Overall, our findings confirm the importance and complementary value that uncertainty estimates provide to segmentation algorithms, highlighting the need for uncertainty quantification in medical image analyses. Finally, in favor of transparency and reproducibility, our evaluation code is made publicly available at: https://github.com/RagMeh11/QU-BraTS.

eess.IV↗

arXiv2022

A Two-Phase Paradigm for Joint Entity-Relation Extraction

An exhaustive study has been conducted to investigate span-based models for the joint entity and relation extraction task. However, these models sample a large number of negative entities and negative relations during the model training, which are essential but result in grossly imbalanced data distributions and in turn cause suboptimal model performance. In order to address the above issues, we propose a two-phase paradigm for the span-based joint entity and relation extraction, which involves classifying the entities and relations in the first phase, and predicting the types of these entities and relations in the second phase. The two-phase paradigm enables our model to significantly reduce the data distribution gap, including the gap between negative entities and other entities, as well as the gap between negative relations and other relations. In addition, we make the first attempt at combining entity type and entity distance as global features, which has proven effective, especially for the relation extraction. Experimental results on several datasets demonstrate that the spanbased joint extraction model augmented with the two-phase paradigm and the global features consistently outperforms previous state-of-the-art span-based models for the joint extraction task, establishing a new standard benchmark. Qualitative and quantitative analyses further validate the effectiveness the proposed paradigm and the global features.

cs.CL↗

arXiv2022

Few-shot Named Entity Recognition with Entity-level Prototypical Network Enhanced by Dispersedly Distributed Prototypes

Few-shot named entity recognition (NER) enables us to build a NER system for a new domain using very few labeled examples. However, existing prototypical networks for this task suffer from roughly estimated label dependency and closely distributed prototypes, thus often causing misclassifications. To address the above issues, we propose EP-Net, an Entity-level Prototypical Network enhanced by dispersedly distributed prototypes. EP-Net builds entity-level prototypes and considers text spans to be candidate entities, so it no longer requires the label dependency. In addition, EP-Net trains the prototypes from scratch to distribute them dispersedly and aligns spans to prototypes in the embedding space using a space projection. Experimental results on two evaluation tasks and the Few-NERD settings demonstrate that EP-Net consistently outperforms the previous strong models in terms of overall performance. Extensive analyses further validate the effectiveness of EP-Net.

cs.CL↗

arXiv2022

A Context-Aware Approach for Textual Adversarial Attack through Probability Difference Guided Beam Search

Textual adversarial attacks expose the vulnerabilities of text classifiers and can be used to improve their robustness. Existing context-aware methods solely consider the gold label probability and use the greedy search when searching an attack path, often limiting the attack efficiency. To tackle these issues, we propose PDBS, a context-aware textual adversarial attack model using Probability Difference guided Beam Search. The probability difference is an overall consideration of all class label probabilities, and PDBS uses it to guide the selection of attack paths. In addition, PDBS uses the beam search to find a successful attack path, thus avoiding suffering from limited search space. Extensive experiments and human evaluation demonstrate that PDBS outperforms previous best models in a series of evaluation metrics, especially bringing up to a +19.5% attack success rate. Ablation studies and qualitative analyses further confirm the efficiency of PDBS.

cs.CL↗

arXiv2022

On Symmetric Gauss-Seidel ADMM Algorithm for $\mathcal{H}_\infty$ Guaranteed Cost Control with Convex Parameterization

This paper involves the innovative development of a symmetric Gauss-Seidel ADMM algorithm to solve the H-infinity guaranteed cost control problem. In the presence of parametric uncertainties, the H-infinity guaranteed cost control problem generally leads to the large-scale optimization. This is due to the exponential growth of the number of the extreme systems involved with respect to the number of parametric uncertainties. In this work, through a variant of the Youla-Kucera parameterization, the stabilizing controllers are parameterized in a convex set; yielding the outcome that the H-infinity guaranteed cost control problem is converted to a convex optimization problem. Based on an appropriate re-formulation using the Schur complement, it then renders possible the use of the ADMM algorithm with symmetric Gauss-Seidel backward and forward sweeps. Significantly, this approach alleviates the often-times prohibitively heavy computational burden typical in many H-infinity optimization problems while exhibiting good convergence guarantees, which is particularly essential for the related large-scale optimization procedures involved. With this approach, the desired robust stability is ensured, and the disturbance attenuation is maintained at the minimum level in the presence of parametric uncertainties. Rather importantly too, with the attained effectiveness, the methodology thus evidently possesses extensive applicability in various important controller synthesis problems, such as decentralized control, sparse control, and output feedback control problems.

math.OC↗

arXiv2022

Alternating Direction Method of Multipliers for Constrained Iterative LQR in Autonomous Driving

In the context of autonomous driving, the iterative linear quadratic regulator (iLQR) is known to be an efficient approach to deal with the nonlinear vehicle model in motion planning problems. Particularly, the constrained iLQR algorithm has shown noteworthy advantageous outcomes of computation efficiency in achieving motion planning tasks under general constraints of different types. However, the constrained iLQR methodology requires a feasible trajectory at the first iteration as a prerequisite when the logarithmic barrier function is used. Also, the methodology leaves open the possibility for incorporation of fast, efficient, and effective optimization methods to further speed up the optimization process such that the requirements of real-time implementation can be successfully fulfilled. In this paper, a well-defined motion planning problem is formulated under nonlinear vehicle dynamics and various constraints, and an alternating direction method of multipliers (ADMM) is utilized to determine the optimal control actions leveraging the iLQR. The approach is able to circumvent the feasibility requirement of the trajectory at the first iteration. An illustrative example of motion planning for autonomous vehicles is then investigated. A noteworthy achievement of high computation efficiency is attained with the proposed development; comparing with the constrained iLQR algorithm based on the logarithmic barrier function, our proposed method reduces the average computation time by 31.93%, 38.52%, and 44.57% in the three driving scenarios; compared with the optimization solver IPOPT, our proposed method reduces the average computation time by 46.02%, 53.26%, and 88.43% in the three driving scenarios. As a result, real-time computation and implementation can be realized through our proposed framework, and thus it provides additional safety to the on-road driving tasks.

cs.RO↗

arXiv2022

Sequential Convex Programming for Collaboration of Connected and Automated Vehicles

This paper investigates the collaboration of multiple connected and automated vehicles (CAVs) in different scenarios. In general, the collaboration of CAVs can be formulated as a nonlinear and nonconvex model predictive control (MPC) problem. Most of the existing approaches available for utilization to solve such an optimization problem suffer from the drawback of considerable computational burden, which hinders the practical implementation in real time. This paper proposes the use of sequential convex programming (SCP), which is a powerful approach to solving the nonlinear and nonconvex MPC problem in real time. To appropriately deploy the methodology, as a first stage, SCP requires linearization and discretization when addressing the nonlinear dynamics of the system model adequately. Based on the linearization and discretization, the original MPC problem can be transformed into a quadratically constrained quadratic programming (QCQP) problem. Besides, SCP also involves convexification to handle the associated nonconvex constraints. Thus, the nonconvex QCQP can be reduced to a quadratic programming (QP) problem that can be solved rather quickly. Therefore, the computational efficiency is suitably improved despite the existence of nonlinear and nonconvex characteristics, whereby the implementation is realized in real time. Furthermore, simulation results in three different scenarios of autonomous driving are presented to validate the effectiveness and efficiency of our proposed approach.

math.OC↗

arXiv2022

Boosting Span-based Joint Entity and Relation Extraction via Squence Tagging Mechanism

Span-based joint extraction simultaneously conducts named entity recognition (NER) and relation extraction (RE) in text span form. Recent studies have shown that token labels can convey crucial task-specific information and enrich token semantics. However, as far as we know, due to completely abstain from sequence tagging mechanism, all prior span-based work fails to use token label in-formation. To solve this problem, we pro-pose Sequence Tagging enhanced Span-based Network (STSN), a span-based joint extrac-tion network that is enhanced by token BIO label information derived from sequence tag-ging based NER. By stacking multiple atten-tion layers in depth, we design a deep neu-ral architecture to build STSN, and each atten-tion layer consists of three basic attention units. The deep neural architecture first learns seman-tic representations for token labels and span-based joint extraction, and then constructs in-formation interactions between them, which also realizes bidirectional information interac-tions between span-based NER and RE. Fur-thermore, we extend the BIO tagging scheme to make STSN can extract overlapping en-tity. Experiments on three benchmark datasets show that our model consistently outperforms previous optimal models by a large margin, creating new state-of-the-art results.

cs.CL↗

arXiv2022

Win-Win Cooperation: Bundling Sequence and Span Models for Named Entity Recognition

For Named Entity Recognition (NER), sequence labeling-based and span-based paradigms are quite different. Previous research has demonstrated that the two paradigms have clear complementary advantages, but few models have attempted to leverage these advantages in a single NER model as far as we know. In our previous work, we proposed a paradigm known as Bundling Learning (BL) to address the above problem. The BL paradigm bundles the two NER paradigms, enabling NER models to jointly tune their parameters by weighted summing each paradigm's training loss. However, three critical issues remain unresolved: When does BL work? Why does BL work? Can BL enhance the existing state-of-the-art (SOTA) NER models? To address the first two issues, we implement three NER models, involving a sequence labeling-based model--SeqNER, a span-based NER model--SpanNER, and BL-NER that bundles SeqNER and SpanNER together. We draw two conclusions regarding the two issues based on the experimental results on eleven NER datasets from five domains. We then apply BL to five existing SOTA NER models to investigate the third issue, consisting of three sequence labeling-based models and two span-based models. Experimental results indicate that BL consistently enhances their performance, suggesting that it is possible to construct a new SOTA NER system by incorporating BL into the current SOTA system. Moreover, we find that BL reduces both entity boundary and type prediction errors. In addition, we compare two commonly used labeling tagging methods as well as three types of span semantic representations.

cs.CL↗