arXiv subjects

Xiao Liu

Publications and source records attributed to Xiao Liu.

At least 451 records · Page 25Linked to original sources

arXiv2021

Improved Signed Distance Function for 2D Real-time SLAM and Accurate Localization

Accurate mapping and localization are very important for many industrial robotics applications. In this paper, we propose an improved Signed Distance Function (SDF) for both 2D SLAM and pure localization to improve the accuracy of mapping and localization. To achieve this goal, firstly we improved the back-end mapping to build a more accurate SDF map by extending the update range and building free space, etc. Secondly, to get more accurate pose estimation for the front-end, we proposed a new iterative registration method to align the current scan to the SDF submap by removing random outliers of laser scanners. Thirdly, we merged all the SDF submaps to produce an integrated SDF map for highly accurate pure localization. Experimental results show that based on the merged SDF map, a localization accuracy of a few millimeters (5mm) can be achieved globally within the map. We believe that this method is important for mobile robots working in scenarios where high localization accuracy matters.

cs.RO↗

arXiv2021

Leveraging Planar Regularities for Point Line Visual-Inertial Odometry

With monocular Visual-Inertial Odometry (VIO) system, 3D point cloud and camera motion can be estimated simultaneously. Because pure sparse 3D points provide a structureless representation of the environment, generating 3D mesh from sparse points can further model the environment topology and produce dense mapping. To improve the accuracy of 3D mesh generation and localization, we propose a tightly-coupled monocular VIO system, PLP-VIO, which exploits point features and line features as well as plane regularities. The co-planarity constraints are used to leverage additional structure information for the more accurate estimation of 3D points and spatial lines in state estimator. To detect plane and 3D mesh robustly, we combine both the line features with point features in the detection method. The effectiveness of the proposed method is verified on both synthetic data and public datasets and is compared with other state-of-the-art algorithms.

cs.CV↗

arXiv2020

SID-NISM: A Self-supervised Low-light Image Enhancement Framework

When capturing images in low-light conditions, the images often suffer from low visibility, which not only degrades the visual aesthetics of images, but also significantly degenerates the performance of many computer vision algorithms. In this paper, we propose a self-supervised low-light image enhancement framework (SID-NISM), which consists of two components, a Self-supervised Image Decomposition Network (SID-Net) and a Nonlinear Illumination Saturation Mapping function (NISM). As a self-supervised network, SID-Net could decompose the given low-light image into its reflectance, illumination and noise directly without any prior training or reference image, which distinguishes it from existing supervised-learning methods greatly. Then, the decomposed illumination map will be enhanced by NISM. Having the restored illumination map, the enhancement can be achieved accordingly. Experiments on several public challenging low-light image datasets reveal that the images enhanced by SID-NISM are more natural and have less unexpected artifacts.

cs.CV↗

arXiv2020

Intelligent Reflecting Surface Aided Multi-Cell NOMA Networks

This paper proposes a novel framework of resource allocation in intelligent reflecting surface (IRS) aided multi-cell non-orthogonal multiple access (NOMA) networks, where a sum-rate maximization problem is formulated. To address this challenging mixed-integer non-linear problem, we decompose it into an optimization problem (P1) with continuous variables and a matching problem (P2) with integer variables. For the non-convex optimization problem (P1), iterative algorithms are proposed for allocating transmit power, designing reflection matrix, and determining decoding order by invoking relaxation methods such as convex upper bound substitution, successive convex approximation and semidefinite relaxation. For the combinational problem (P2), swap matching-based algorithms are proposed to achieve a two-sided exchange-stable state among users, BSs and subchannels. Numerical results are provided for demonstrating that the sum-rate of the NOMA networks is capable of being enhanced with the aid of the IRS.

eess.SP↗

arXiv2020

Path Design and Resource Management for NOMA enhanced Indoor Intelligent Robots

A communication enabled indoor intelligent robots (IRs) service framework is proposed, where non-orthogonal multiple access (NOMA) technique is adopted to enable highly reliable communications. In cooperation with the ultramodern indoor channel model recently proposed by the International Telecommunication Union (ITU), the Lego modeling method is proposed, which can deterministically describe the indoor layout and channel state in order to construct the radio map. The investigated radio map is invoked as a virtual environment to train the reinforcement learning agent, which can save training time and hardware costs. Build on the proposed communication model, motions of IRs who need to reach designated mission destinations and their corresponding down-link power allocation policy are jointly optimized to maximize the mission efficiency and communication reliability of IRs. In an effort to solve this optimization problem, a novel reinforcement learning approach named deep transfer deterministic policy gradient (DT-DPG) algorithm is proposed. Our simulation results demonstrate that 1) With the aid of NOMA techniques, the communication reliability of IRs is effectively improved; 2) The radio map is qualified to be a virtual training environment, and its statistical channel state information improves training efficiency by about 30%; 3) The proposed DT-DPG algorithm is superior to the conventional deep deterministic policy gradient (DDPG) algorithm in terms of optimization performance, training time, and anti-local optimum ability.

cs.AI↗

arXiv2020

Resource Allocation in IRSs Aided MISO-NOMA Networks: A Machine Learning Approach

A novel framework of intelligent reflecting surface (IRS)-aided multiple-input single-output (MISO) non-orthogonal multiple access (NOMA) network is proposed, where a base station (BS) serves multiple clusters with unfixed number of users in each cluster. The goal is to maximize the sum rate of all users by jointly optimizing the passive beamforming vector at the IRS, decoding order and power allocation coefficient vector, subject to the rate requirements of users. In order to tackle the formulated problem, a three-step approach is proposed. More particularly, a long short-term memory (LSTM) based algorithm is first adopted for predicting the mobility of users. Secondly, a K-means based Gaussian mixture model (K-GMM) algorithm is proposed for user clustering. Thirdly, a deep Q-network (DQN) based algorithm is invoked for jointly determining the phase shift matrix and power allocation policy. Simulation results are provided for demonstrating that the proposed algorithm outperforms the benchmarks, while the performance of IRS-NOMA system is better than IRS-OMA system.

cs.IT↗

arXiv2020

Resource Allocation for Multi-Cell IRS-Aided NOMA Networks

This paper proposes a novel framework of resource allocation in multi-cell intelligent reflecting surface (IRS) aided non-orthogonal multiple access (NOMA) networks, where an IRS is deployed to enhance the wireless service. The problem of joint user association, subchannel assignment, power allocation, phase shifts design, and decoding order determination is formulated for maximizing the achievable sum rate. The challenging mixed-integer non-linear problem is decomposed into an optimization subproblem (P1) with continuous variables and a matching subproblem (P2) with integer variables. In an effort to tackle the non-convex optimization problem (P1), iterative algorithms are proposed for allocating transmission power, designing reflection matrix, and determining decoding order by invoking relaxation methods such as convex upper bound substitution, successive convex approximation, and semidefinite relaxation. In terms of the combinational problem (P2), swap matching-based algorithms are developed for achieving a two-sided exchange-stable state among users, BSs and subchannels. Numerical results demonstrate that: 1) the sum rate of multi-cell NOMA networks is capable of being increased by 35% with the aid of the IRS; 2) the proposed algorithms for multi-cell IRS-aided NOMA networks can enjoy 22% higher energy efficiency than conventional NOMA counterparts; 3) the trade-off between spectrum efficiency and coverage area can be tuned by judiciously selecting the location of the IRS.

eess.SP↗

arXiv2020

Classical Communication Enhanced Quantum State Verification

Quantum state verification provides an efficient approach to characterize the reliability of quantum devices for generating certain target states. The figure of merit of a specific strategy is the estimated infidelity $ε$ of the tested state to the target state, given a certain number of performed measurements n. Entangled measurements constitute the globally optimal strategy and achieve the scaling that εis inversely proportional to n. Recent advances show that it is possible to achieve the same scaling simply with non-adaptive local measurements, however, the performance is still worse than the globally optimal bound up to a constant factor. In this work, by introducing classical communication, we experimentally implement an adaptive quantum state verification. The constant-factor is minimized from ~2.5 to 1.5 in this experiment, which means that only 60% measurements are required to achieve a certain value of εcompared to optimal non-adaptive local strategy. Our results indicate that classical communication significantly enhances the performance of quantum state verification, and leads to an efficiency that further approaches the globally optimal bound.

quant-ph↗

arXiv2020

Language Models are Open Knowledge Graphs

This paper shows how to construct knowledge graphs (KGs) from pre-trained language models (e.g., BERT, GPT-2/3), without human supervision. Popular KGs (e.g, Wikidata, NELL) are built in either a supervised or semi-supervised manner, requiring humans to create knowledge. Recent deep language models automatically acquire knowledge from large-scale corpora via pre-training. The stored knowledge has enabled the language models to improve downstream NLP tasks, e.g., answering questions, and writing code and articles. In this paper, we propose an unsupervised method to cast the knowledge contained within language models into KGs. We show that KGs are constructed with a single forward pass of the pre-trained language models (without fine-tuning) over the corpora. We demonstrate the quality of the constructed KGs by comparing to two KGs (Wikidata, TAC KBP) created by humans. Our KGs also provide open factual knowledge that is new in the existing KGs. Our code and KGs will be made publicly available.

cs.CL↗

arXiv2020

Multi-Agent Reinforcement Learning in NOMA-aided UAV Networks for Cellular Offloading

A novel framework is proposed for cellular offloading with the aid of multiple unmanned aerial vehicles (UAVs), while the non-orthogonal multiple access (NOMA) technique is employed at each UAV to further improve the spectrum efficiency of the wireless network. The optimization problem of joint three-dimensional (3D) trajectory design and power allocation is formulated for maximizing the throughput. Since ground mobile users are considered as roaming continuously, the UAVs need to be re-deployed timely based on the movement of users. In an effort to solve this pertinent dynamic problem, a K-means based clustering algorithm is first adopted for periodically partitioning users. Afterward, a mutual deep Q-network (MDQN) algorithm is proposed to jointly determine the optimal 3D trajectory and power allocation of UAVs. In contrast to the conventional DQN algorithm, the MDQN algorithm enables the experience of multi-agent to be input into a shared neural network to shorten the training time with the assistance of state abstraction. Numerical results demonstrate that: 1) the proposed MDQN algorithm is capable of converging under minor constraints and has a faster convergence rate than the conventional DQN algorithm in the multi-agent case; 2) The achievable sum rate of the NOMA enhanced UAV network is 23% superior to the case of orthogonal multiple access (OMA); 3) By designing the optimal 3D trajectory of UAVs with the aid of the MDON algorithm, the sum rate of the network enjoys 142% and 56% gains than that of invoking the circular trajectory and the 2D trajectory, respectively.

cs.LG↗

arXiv2020

NOMA in UAV-aided cellular offloading: A machine learning approach

A novel framework is proposed for cellular offloading with the aid of multiple unmanned aerial vehicles (UAVs), while non-orthogonal multiple access (NOMA) technique is employed at each UAV to further improve the spectrum efficiency of the wireless network. The optimization problem of joint three-dimensional (3D) trajectory design and power allocation is formulated for maximizing the throughput. In an effort to solve this pertinent dynamic problem, a K-means based clustering algorithm is first adopted for periodically partitioning users. Afterward, a mutual deep Q-network (MDQN) algorithm is proposed to jointly determine the optimal 3D trajectory and power allocation of UAVs. In contrast to the conventional deep Q-network (DQN) algorithm, the MDQN algorithm enables the experience of multi-agent to be input into a shared neural network to shorten the training time with the assistance of state abstraction. Numerical results demonstrate that: 1) the proposed MDQN algorithm has a faster convergence rate than the conventional DQN algorithm in the multi-agent case; 2) The achievable sum rate of the NOMA enhanced UAV network is $23\%$ superior to the case of orthogonal multiple access (OMA); 3) By designing the optimal 3D trajectory of UAVs with the aid of the MDON algorithm, the sum rate of the network enjoys ${142\%}$ and ${56\%}$ gains than that of invoking the circular trajectory and the 2D trajectory, respectively.

cs.NI↗

arXiv2020

Difference-in-Differences: Bridging Normalization and Disentanglement in PG-GAN

What mechanisms causes GAN's entanglement? Although developing disentangled GAN has attracted sufficient attention, it is unclear how entanglement is originated by GAN transformation. We in this research propose a difference-in-difference (DID) counterfactual framework to design experiments for analyzing the entanglement mechanism in on of the Progressive-growing GAN (PG-GAN). Our experiment clarify the mechanisms how pixel normalization causes PG-GAN entanglement during a input-unit-ablation transformation. We discover that pixel normalization causes object entanglement by in-painting the area occupied by ablated objects. We also discover the unit-object relation determines whether and how pixel normalization causes objects entanglement. Our DID framework theoretically guarantees that the mechanisms that we discover is solid, explainable and comprehensively.

cs.CV↗

arXiv2020

Coarse-To-Fine Visual Localization Using Semantic Compact Map

Robust visual localization for urban vehicles remains challenging and unsolved. The limitation of computation efficiency and memory size has made it harder for large-scale applications. Since semantic information serves as a stable and compact representation of the environment, we propose a coarse-to-fine localization system based on a semantic compact map. Pole-like objects are stored in the compact map, then are extracted from semantically segmented images as observations. Localization is performed by a particle filter, followed by a pose alignment module decoupling translation and rotation to achieve better accuracy. We evaluate our system both on synthetic and realistic datasets and compare it with two baselines, a state-of-art semantic feature-based system, and a traditional SIFT feature-based system. Experiments demonstrate that even with a significantly small map, such as a 10 KB map for a 3.7 km long trajectory, our system provides a comparable accuracy with the baselines.

cs.RO↗

arXiv2020

Machine Learning Empowered Trajectory and Passive Beamforming Design in UAV-RIS Wireless Networks

A novel framework is proposed for integrating reconfigurable intelligent surfaces (RIS) in unmanned aerial vehicle (UAV) enabled wireless networks, where an RIS is deployed for enhancing the service quality of the UAV. Non-orthogonal multiple access (NOMA) technique is invoked to further improve the spectrum efficiency of the network, while mobile users (MUs) are considered as roaming continuously. The energy consumption minimizing problem is formulated by jointly designing the movement of the UAV, phase shifts of the RIS, power allocation policy from the UAV to MUs, as well as determining the dynamic decoding order. A decaying deep Q-network (D-DQN) based algorithm is proposed for tackling this pertinent problem. In the proposed D-DQN based algorithm, the central controller is selected as an agent for periodically observing the state of UAV-enabled wireless network and for carrying out actions to adapt to the dynamic environment. In contrast to the conventional DQN algorithm, the decaying learning rate is leveraged in the proposed D-DQN based algorithm for attaining a tradeoff between accelerating training speed and converging to the local optimal. Numerical results demonstrate that: 1) In contrast to the conventional Q-learning algorithm, which cannot converge when being adopted for solving the formulated problem, the proposed D-DQN based algorithm is capable of converging with minor constraints; 2) The energy dissipation of the UAV can be significantly reduced by integrating RISs in UAV-enabled wireless networks; 3) By designing the dynamic decoding order and power allocation policy, the RIS-NOMA case consumes 11.7% less energy than the RIS-OMA case.

eess.SP↗

arXiv2020

Calculation of Feynman loop integration and phase-space integration via auxiliary mass flow

We extend the auxiliary-mass-flow (AMF) method originally developed for Feynman loop integration to calculate integrals involving also phase-space integration. Flow of the auxiliary mass from the boundary ($\infty$) to the physical point ($0^+$) is obtained by numerically solving differential equations with respective to the auxiliary mass. For problems with two or more kinematical invariants, the AMF method can be combined with traditional differential equation method by providing systematical boundary conditions and highly nontrivial self-consistent check. The method is described in detail with a pedagogical example of $e^+e^-\rightarrow γ^* \rightarrow t\bar{t}+X$ at NNLO. We show that the AMF method can systematically and efficiently calculate integrals to high precision.

hep-ph↗

arXiv2020

TP-LSD: Tri-Points Based Line Segment Detector

This paper proposes a novel deep convolutional model, Tri-Points Based Line Segment Detector (TP-LSD), to detect line segments in an image at real-time speed. The previous related methods typically use the two-step strategy, relying on either heuristic post-process or extra classifier. To realize one-step detection with a faster and more compact model, we introduce the tri-points representation, converting the line segment detection to the end-to-end prediction of a root-point and two endpoints for each line segment. TP-LSD has two branches: tri-points extraction branch and line segmentation branch. The former predicts the heat map of root-points and the two displacement maps of endpoints. The latter segments the pixels on straight lines out from background. Moreover, the line segmentation map is reused in the first branch as structural prior. We propose an additional novel evaluation metric and evaluate our method on Wireframe and YorkUrban datasets, demonstrating not only the competitive accuracy compared to the most recent methods, but also the real-time run speed up to 78 FPS with the $320\times 320$ input.

cs.CV↗

arXiv2020

Complete reduction of integrals in two-loop five-light-parton scattering amplitudes

We reduce all the most complicated Feynman integrals in two-loop five-light-parton scattering amplitudes to basic master integrals, while other integrals can be reduced even easier. Our results are expressed as systems of linear relations in the block-triangular form, very efficient for numerical calculations. Our results are crucial for complete next-to-next-to-leading order quantum chromodynamics calculations for three-jet, photon, and/or hadron production at hadron colliders. To determine the block-triangular relations, we develop an efficient and general method, which may provide a practical solution to the bottleneck problem of reducing multiloop multiscale integrals.

hep-ph↗

arXiv2020

Disentangled Representations for Domain-generalized Cardiac Segmentation

Robust cardiac image segmentation is still an open challenge due to the inability of the existing methods to achieve satisfactory performance on unseen data of different domains. Since the acquisition and annotation of medical data are costly and time-consuming, recent work focuses on domain adaptation and generalization to bridge the gap between data from different populations and scanners. In this paper, we propose two data augmentation methods that focus on improving the domain adaptation and generalization abilities of state-to-the-art cardiac segmentation models. In particular, our "Resolution Augmentation" method generates more diverse data by rescaling images to different resolutions within a range spanning different scanner protocols. Subsequently, our "Factor-based Augmentation" method generates more diverse data by projecting the original samples onto disentangled latent spaces, and combining the learned anatomy and modality factors from different domains. Our extensive experiments demonstrate the importance of efficient adaptation between seen and unseen domains, as well as model generalization ability, to robust cardiac image segmentation.

eess.IV↗