arXiv subjects

Yu Zhang

Publications and source records attributed to Yu Zhang.

At least 865 records · Page 48Linked to original sources

arXiv2024

ERASOR++: Height Coding Plus Egocentric Ratio Based Dynamic Object Removal for Static Point Cloud Mapping

Mapping plays a crucial role in location and navigation within automatic systems. However, the presence of dynamic objects in 3D point cloud maps generated from scan sensors can introduce map distortion and long traces, thereby posing challenges for accurate mapping and navigation. To address this issue, we propose ERASOR++, an enhanced approach based on the Egocentric Ratio of Pseudo Occupancy for effective dynamic object removal. To begin, we introduce the Height Coding Descriptor, which combines height difference and height layer information to encode the point cloud. Subsequently, we propose the Height Stack Test, Ground Layer Test, and Surrounding Point Test methods to precisely and efficiently identify the dynamic bins within point cloud bins, thus overcoming the limitations of prior approaches. Through extensive evaluation on open-source datasets, our approach demonstrates superior performance in terms of precision and efficiency compared to existing methods. Furthermore, the techniques described in our work hold promise for addressing various challenging tasks or aspects through subsequent migration.

cs.CV↗

arXiv2024

SplattingAvatar: Realistic Real-Time Human Avatars with Mesh-Embedded Gaussian Splatting

We present SplattingAvatar, a hybrid 3D representation of photorealistic human avatars with Gaussian Splatting embedded on a triangle mesh, which renders over 300 FPS on a modern GPU and 30 FPS on a mobile device. We disentangle the motion and appearance of a virtual human with explicit mesh geometry and implicit appearance modeling with Gaussian Splatting. The Gaussians are defined by barycentric coordinates and displacement on a triangle mesh as Phong surfaces. We extend lifted optimization to simultaneously optimize the parameters of the Gaussians while walking on the triangle mesh. SplattingAvatar is a hybrid representation of virtual humans where the mesh represents low-frequency motion and surface deformation, while the Gaussians take over the high-frequency geometry and detailed appearance. Unlike existing deformation methods that rely on an MLP-based linear blend skinning (LBS) field for motion, we control the rotation and translation of the Gaussians directly by mesh, which empowers its compatibility with various animation techniques, e.g., skeletal animation, blend shapes, and mesh editing. Trainable from monocular videos for both full-body and head avatars, SplattingAvatar shows state-of-the-art rendering quality across multiple datasets.

cs.GR↗

arXiv2024

Dynamic Inertial Poser (DynaIP): Part-Based Motion Dynamics Learning for Enhanced Human Pose Estimation with Sparse Inertial Sensors

This paper introduces a novel human pose estimation approach using sparse inertial sensors, addressing the shortcomings of previous methods reliant on synthetic data. It leverages a diverse array of real inertial motion capture data from different skeleton formats to improve motion diversity and model generalization. This method features two innovative components: a pseudo-velocity regression model for dynamic motion capture with inertial sensors, and a part-based model dividing the body and sensor data into three regions, each focusing on their unique characteristics. The approach demonstrates superior performance over state-of-the-art models across five public datasets, notably reducing pose error by 19\% on the DIP-IMU dataset, thus representing a significant improvement in inertial sensor-based human pose estimation. Our codes are available at {\url{https://github.com/dx118/dynaip}}.

cs.CV↗

arXiv2024

Real-Time Adaptive Safety-Critical Control with Gaussian Processes in High-Order Uncertain Models

This paper presents an adaptive online learning framework for systems with uncertain parameters to ensure safety-critical control in non-stationary environments. Our approach consists of two phases. The initial phase is centered on a novel sparse Gaussian process (GP) framework. We first integrate a forgetting factor to refine a variational sparse GP algorithm, thus enhancing its adaptability. Subsequently, the hyperparameters of the Gaussian model are trained with a specially compound kernel, and the Gaussian model's online inferential capability and computational efficiency are strengthened by updating a solitary inducing point derived from new samples, in conjunction with the learned hyperparameters. In the second phase, we propose a safety filter based on high-order control barrier functions (HOCBFs), synergized with the previously trained learning model. By leveraging the compound kernel from the first phase, we effectively address the inherent limitations of GPs in handling high-dimensional problems for real-time applications. The derived controller ensures a rigorous lower bound on the probability of satisfying the safety specification. Finally, the efficacy of our proposed algorithm is demonstrated through real-time obstacle avoidance experiments executed using both a simulation platform and a real-world 7-DOF robot.

cs.LG↗

arXiv2024

Microcavity induced by few-layer GaSe crystal on silicon photonic crystal waveguide for efficient optical frequency conversion

We demonstrate the post-induction of high-quality microcavity on silicon photonic crystal (PC) waveguide by integrating few-layer GaSe crystal, which promises highly efficient on-chip optical frequency conversions. The integration of GaSe shifts the dispersion bands of the PC waveguide mode into the bandgap, resulting in localized modes confined by the bare PC waveguides. Thanks to the small contrast of refractive index at the boundaries of microcavity, it is reliably to obtain quality (Q) factors exceeding 10^4. With the enhanced light-GaSe interaction by the microcavity modes and high second-order nonlinearity of GaSe, remarkable second-harmonic generation (SHG) and sum-frequency generation (SFG) are achieved. A record-high on-chip SHG conversion efficiency of 131100% W^-1 is obtained, enabling the clear SHG imaging of the resonant modes with the pump of sub-milliwatts continuous-wave (CW) laser. Driven by a pump of on-resonance CW laser, strong SFGs are successfully carried out with the other pump of a CW laser spanning over the broad telecom-band. Broadband frequency conversion of an incoherent superluminescent light-emitting diode with low spectral power density is also realized in the integrated GaSe-PC waveguide. Our results are expected to provide new strategies for high-efficiency light-matter interactions, nonlinear photonics and light source generation in silicon photonic integrated circuits.

physics.optics↗

arXiv2024

Flexible Informed Trees (FIT*): Adaptive Batch-Size Approach in Informed Sampling-Based Path Planning

In path planning, anytime almost-surely asymptotically optimal planners dominate the benchmark of sampling-based planners. A notable example is Batch Informed Trees (BIT*), where planners iteratively determine paths to batches of vertices within the exploration area. However, utilizing a consistent batch size is inefficient for initial pathfinding and optimal performance, it relies on effective task allocation. This paper introduces Flexible Informed Trees (FIT*), a sampling-based planner that integrates an adaptive batch-size method to enhance the initial path convergence rate. FIT* employs a flexible approach in adjusting batch sizes dynamically based on the inherent dimension of the configuration spaces and the hypervolume of the n-dimensional hyperellipsoid. By applying dense and sparse sampling strategy, FIT* improves convergence rate while finding successful solutions faster with lower initial solution cost. This method enhances the planner's ability to handle confined, narrow spaces in the initial finding phase and increases batch vertices sampling frequency in the optimization phase. FIT* outperforms existing single-query, sampling-based planners on the tested problems in R^2 to R^8, and was demonstrated on a real-world mobile manipulation task.

cs.RO↗

arXiv2024

"It Felt Like Having a Second Mind": Investigating Human-AI Co-creativity in Prewriting with Large Language Models

Prewriting is the process of discovering and developing ideas before a first draft, which requires divergent thinking and often implies unstructured strategies such as diagramming, outlining, free-writing, etc. Although large language models (LLMs) have been demonstrated to be useful for a variety of tasks including creative writing, little is known about how users would collaborate with LLMs to support prewriting. The preferred collaborative role and initiative of LLMs during such a creativity process is also unclear. To investigate human-LLM collaboration patterns and dynamics during prewriting, we conducted a three-session qualitative study with 15 participants in two creative tasks: story writing and slogan writing. The findings indicated that during collaborative prewriting, there appears to be a three-stage iterative Human-AI Co-creativity process that includes Ideation, Illumination, and Implementation stages. This collaborative process champions the human in a dominant role, in addition to mixed and shifting levels of initiative that exist between humans and LLMs. This research also reports on collaboration breakdowns that occur during this process, user perceptions of using existing LLMs during Human-AI Co-creativity, and discusses design implications to support this co-creativity process.

cs.HC↗

arXiv2024

A Survey of Network Protocol Fuzzing: Model, Techniques and Directions

As one of the most successful and effective software testing techniques in recent years, fuzz testing has uncovered numerous bugs and vulnerabilities in modern software, including network protocol software. In contrast to other fuzzing targets, network protocol software exhibits its distinct characteristics and challenges, introducing a plethora of research questions that need to be addressed in the design and implementation of network protocol fuzzers. While some research work has evaluated and systematized the knowledge of general fuzzing techniques at a high level, there is a lack of similar analysis and summarization for fuzzing research specific to network protocols. This paper offers a comprehensive exposition of network protocol software's fuzzing-related features and conducts a systematic review of some representative advancements in network protocol fuzzing since its inception. We summarize state-of-the-art strategies and solutions in various aspects, propose a unified protocol fuzzing process model, and introduce the techniques involved in each stage of the model. At the same time, this paper also summarizes the promising research directions in the landscape of protocol fuzzing to foster exploration within the community for more efficient and intelligent modern network protocol fuzzing techniques.

cs.NI↗

arXiv2024

Chip-scale high-performance photonic microwave oscillator

Optical frequency division based on bulk or fiber optics provides unprecedented spectral purity for microwave oscillators. To extend the applications of this approach, the big challenges are to develop miniaturized optical frequency division oscillators without trading off phase noise performance. In this paper, we report a chip-scale electro-optical frequency division microwave oscillator with ultra-low phase noise performance. Dual laser sources are co-self-injection-locked to a single silicon nitride spiral resonator to provide a record high-stability, fully on-chip optical reference. An integrated electro-optical frequency comb based on a novel thin-film lithium niobate phase modulator chip is incorporated for the first time to perform optical-to-microwave frequency division. The resulting chip-scale photonic microwave oscillator achieves a phase noise level of -129 dBc/Hz at 10 kHz offset for 37.7 GHz carrier. The results represent a major advance in high performance, integrated photonic microwave oscillators for applications including signal processing, radar, timing, and coherent communications.

physics.optics↗

arXiv2024

Online Efficient Safety-Critical Control for Mobile Robots in Unknown Dynamic Multi-Obstacle Environments

This paper proposes a LiDAR-based goal-seeking and exploration framework, addressing the efficiency of online obstacle avoidance in unstructured environments populated with static and moving obstacles. This framework addresses two significant challenges associated with traditional dynamic control barrier functions (D-CBFs): their online construction and the diminished real-time performance caused by utilizing multiple D-CBFs. To tackle the first challenge, the framework's perception component begins with clustering point clouds via the DBSCAN algorithm, followed by encapsulating these clusters with the minimum bounding ellipses (MBEs) algorithm to create elliptical representations. By comparing the current state of MBEs with those stored from previous moments, the differentiation between static and dynamic obstacles is realized, and the Kalman filter is utilized to predict the movements of the latter. Such analysis facilitates the D-CBF's online construction for each MBE. To tackle the second challenge, we introduce buffer zones, generating Type-II D-CBFs online for each identified obstacle. Utilizing these buffer zones as activation areas substantially reduces the number of D-CBFs that need to be activated. Upon entering these buffer zones, the system prioritizes safety, autonomously navigating safe paths, and hence referred to as the exploration mode. Exiting these buffer zones triggers the system's transition to goal-seeking mode. We demonstrate that the system's states under this framework achieve safety and asymptotic stabilization. Experimental results in simulated and real-world environments have validated our framework's capability, allowing a LiDAR-equipped mobile robot to efficiently and safely reach the desired location within dynamic environments containing multiple obstacles.

cs.RO↗

arXiv2024

A Novel Observer-Centric Approach for Detecting Faults in Islanded AC Microgrids with Uncertainties

Fault detection is vital in ensuring AC microgrids' reliable and resilient operation. Its importance lies in swiftly identifying and isolating faults, preventing cascading failures, and enabling rapid power restoration. This paper proposes a strategy based on observers and residuals for detecting internal faults in grid-forming inverters with power-sharing coordination. The dynamics of the inverters are captured through a nonlinear state space model. The design of our observers and residuals considers $H_{-}/H_{\infty}$ conditions to ensure robustness against disturbances and responsiveness to faults. The proposed design is less restrictive than existing observer-based fault detection schemes by leveraging the properties of quadratic inner-boundedness and one-sided Lipschitz conditions. The internal faults considered in this paper include actuator faults, busbar faults, and inverter bridge faults, which are modeled using vector-matrix representations that modify the state space model of the inverters. One significant advantage of the proposed approach is its cost-effectiveness, as it does not require additional sensors. Experiments are conducted on an islanded AC microgrid with three inductive lines, four inductive loads, and four grid-forming inverters to validate the merits of the proposed fault detection strategy. The results demonstrate that our design outperforms existing methods in the field.

eess.SY↗

arXiv2024

Nonlinear photodetector based on InSe p-n homojunction for improving spatial imaging resolution

We demonstrate an efficient nonlinear photodetector (NLPD) with quadratic response based on a few-layer InSe p-n homojunction, which is beneficial from the strong second harmonic generation (SHG) process in InSe and effective harvest of photocarriers actuated by the high-quality homojunction. The NLPD can sense light with photon energy smaller than InSe electronic bandgap because the SHG process in InSe doubles the frequency of incident light, extending InSe photodetection wavelength range to 1750 nm. The InSe p-n homojunction, which is electrostatically doped by two split back gates, presents a rectification ratio exceeding 106 with a dark current down to 2 pA and a high normalized responsivity of 0.534 A/W2 for the telecom-band pulsed light at 1550 nm. The photocurrents of the SHG-assisted photodetection have a quadratic dependence on the optical powers, making the NLPD highly sensitive to light intensity variation with improved spatial resolution. As examples, the NLPD is employed to precisely determine the localization point of a focused laser beam waist and implement spatial imaging with an improved resolution compared with the linear photodetector. These features highlight the potential of the proposed NLPD in developing advanced optical sensing and imaging systems.

physics.optics↗

arXiv2024

Evaluating Large Language Models in Analysing Classroom Dialogue

This study explores the application of Large Language Models (LLMs), specifically GPT-4, in the analysis of classroom dialogue, a crucial research task for both teaching diagnosis and quality improvement. Recognizing the knowledge-intensive and labor-intensive nature of traditional qualitative methods in educational research, this study investigates the potential of LLM to streamline and enhance the analysis process. The study involves datasets from a middle school, encompassing classroom dialogues across mathematics and Chinese classes. These dialogues were manually coded by educational experts and then analyzed using a customised GPT-4 model. This study focuses on comparing manual annotations with the outputs of GPT-4 to evaluate its efficacy in analyzing educational dialogues. Time efficiency, inter-coder agreement, and inter-coder reliability between human coders and GPT-4 are evaluated. Results indicate substantial time savings with GPT-4, and a high degree of consistency in coding between the model and human coders, with some discrepancies in specific codes. These findings highlight the strong potential of LLM in teaching evaluation and facilitation.

cs.CL↗

arXiv2024

KICGPT: Large Language Model with Knowledge in Context for Knowledge Graph Completion

Knowledge Graph Completion (KGC) is crucial for addressing knowledge graph incompleteness and supporting downstream applications. Many models have been proposed for KGC. They can be categorized into two main classes: triple-based and text-based approaches. Triple-based methods struggle with long-tail entities due to limited structural information and imbalanced entity distributions. Text-based methods alleviate this issue but require costly training for language models and specific finetuning for knowledge graphs, which limits their efficiency. To alleviate these limitations, in this paper, we propose KICGPT, a framework that integrates a large language model (LLM) and a triple-based KGC retriever. It alleviates the long-tail problem without incurring additional training overhead. KICGPT uses an in-context learning strategy called Knowledge Prompt, which encodes structural knowledge into demonstrations to guide the LLM. Empirical results on benchmark datasets demonstrate the effectiveness of KICGPT with smaller training overhead and no finetuning.

cs.CL↗

arXiv2024

From Abstractions to Grounded Languages for Robust Coordination of Task Planning Robots

In this paper, we consider a first step to bridge a gap in coordinating task planning robots. Specifically, we study the automatic construction of languages that are maximally flexible while being sufficiently explicative for coordination. To this end, we view language as a machinery for specifying temporal-state constraints of plans. Such a view enables us to reverse-engineer a language from the ground up by mapping these composable constraints to words. Our language expresses a plan for any given task as a "plan sketch" to convey just-enough details while maximizing the flexibility to realize it, leading to robust coordination with optimality guarantees among other benefits. We formulate and analyze the problem, provide an approximate solution, and validate the advantages of our approach under various scenarios to shed light on its applications.

cs.AI↗

arXiv2024

E^2-LLM: Efficient and Extreme Length Extension of Large Language Models

Typically, training LLMs with long context sizes is computationally expensive, requiring extensive training hours and GPU resources. Existing long-context extension methods usually need additional training procedures to support corresponding long-context windows, where the long-context training data (e.g., 32k) is needed, and high GPU training costs are assumed. To address the aforementioned issues, we propose an Efficient and Extreme length extension method for Large Language Models, called E 2 -LLM, with only one training procedure and dramatically reduced computation cost, which also removes the need to collect long-context data. Concretely, first, the training data of our E 2 -LLM only requires a short length (e.g., 4k), which reduces the tuning cost greatly. Second, the training procedure on the short training context window is performed only once time, and we can support different evaluation context windows at inference. Third, in E 2 - LLM, based on RoPE position embeddings, we introduce two different augmentation methods on the scale and position index parameters for different samples in training. It aims to make the model more robust to the different relative differences when directly interpolating the arbitrary context length at inference. Comprehensive experimental results on multiple benchmark datasets demonstrate the effectiveness of our E 2 -LLM on challenging long-context tasks.

cs.CL↗

arXiv2024

Seed-Guided Fine-Grained Entity Typing in Science and Engineering Domains

Accurately typing entity mentions from text segments is a fundamental task for various natural language processing applications. Many previous approaches rely on massive human-annotated data to perform entity typing. Nevertheless, collecting such data in highly specialized science and engineering domains (e.g., software engineering and security) can be time-consuming and costly, without mentioning the domain gaps between training and inference data if the model needs to be applied to confidential datasets. In this paper, we study the task of seed-guided fine-grained entity typing in science and engineering domains, which takes the name and a few seed entities for each entity type as the only supervision and aims to classify new entity mentions into both seen and unseen types (i.e., those without seed entities). To solve this problem, we propose SEType which first enriches the weak supervision by finding more entities for each seen type from an unlabeled corpus using the contextualized representations of pre-trained language models. It then matches the enriched entities to unlabeled text to get pseudo-labeled samples and trains a textual entailment model that can make inferences for both seen and unseen types. Extensive experiments on two datasets covering four domains demonstrate the effectiveness of SEType in comparison with various baselines.

cs.CL↗

arXiv2024

Unity is Strength: Enhancing Precision in Reentrancy Vulnerability Detection of Smart Contract Analysis Tools

Reentrancy is one of the most notorious vulnerabilities in smart contracts, resulting in significant digital asset losses. However, many previous works indicate that current Reentrancy detection tools suffer from high false positive rates. Even worse, recent years have witnessed the emergence of new Reentrancy attack patterns fueled by intricate and diverse vulnerability exploit mechanisms. Unfortunately, current tools face a significant limitation in their capacity to adapt and detect these evolving Reentrancy patterns. Consequently, ensuring precise and highly extensible Reentrancy vulnerability detection remains critical challenges for existing tools. To address this issue, we propose a tool named ReEP, designed to reduce the false positives for Reentrancy vulnerability detection. Additionally, ReEP can integrate multiple tools, expanding its capacity for vulnerability detection. It evaluates results from existing tools to verify vulnerability likelihood and reduce false positives. ReEP also offers excellent extensibility, enabling the integration of different detection tools to enhance precision and cover different vulnerability attack patterns. We perform ReEP to eight existing state-of-the-art Reentrancy detection tools. The average precision of these eight tools increased from the original 0.5% to 73% without sacrificing recall. Furthermore, ReEP exhibits robust extensibility. By integrating multiple tools, the precision further improved to a maximum of 83.6%. These results demonstrate that ReEP effectively unites the strengths of existing works, enhances the precision of Reentrancy vulnerability detection tools.

cs.CR↗