arXiv subjects

Yuan Gao

Publications and source records attributed to Yuan Gao.

At least 433 records · Page 24Linked to original sources

arXiv2021

Matlab program method of computing Carleman estimates and applications

In this paper, we introduce a Matlab program method to compute Carleman estimate for the fourth order partial differential operator $γ\partial_t+\partial_x^4\ (γ\in\mathbb{R})$. We obtain two kinds of Carleman estimates with different weight functions, i.e. singular weight function and regular weight function, respectively. Based on Carleman estimate with singular weight function, one can obtain the known controllability and observability results for the 1-d fourth order parabolic-type equation, while based on Carleman estimate with regular weight function, one can deduce not only the known result on conditional stability in the inverse problem of half-order fractional diffusion equation, but also a new result on conditional stability in the inverse problem of half-order fractional Schrödinger equation.

math.OC↗

arXiv2021

Robust Weakly Supervised Learning for COVID-19 Recognition Using Multi-Center CT Images

The world is currently experiencing an ongoing pandemic of an infectious disease named coronavirus disease 2019 (i.e., COVID-19), which is caused by the severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2). Computed Tomography (CT) plays an important role in assessing the severity of the infection and can also be used to identify those symptomatic and asymptomatic COVID-19 carriers. With a surge of the cumulative number of COVID-19 patients, radiologists are increasingly stressed to examine the CT scans manually. Therefore, an automated 3D CT scan recognition tool is highly in demand since the manual analysis is time-consuming for radiologists and their fatigue can cause possible misjudgment. However, due to various technical specifications of CT scanners located in different hospitals, the appearance of CT images can be significantly different leading to the failure of many automated image recognition approaches. The multi-domain shift problem for the multi-center and multi-scanner studies is therefore nontrivial that is also crucial for a dependable recognition and critical for reproducible and objective diagnosis and prognosis. In this paper, we proposed a COVID-19 CT scan recognition model namely coronavirus information fusion and diagnosis network (CIFD-Net) that can efficiently handle the multi-domain shift problem via a new robust weakly supervised learning paradigm. Our model can resolve the problem of different appearance in CT scan images reliably and efficiently while attaining higher accuracy compared to other state-of-the-art methods.

eess.IV↗

arXiv2021

Towards Panoptic 3D Parsing for Single Image in the Wild

Performing single image holistic understanding and 3D reconstruction is a central task in computer vision. This paper presents an integrated system that performs dense scene labeling, object detection, instance segmentation, depth estimation, 3D shape reconstruction, and 3D layout estimation for indoor and outdoor scenes from a single RGB image. We name our system panoptic 3D parsing (Panoptic3D) in which panoptic segmentation ("stuff" segmentation and "things" detection/segmentation) with 3D reconstruction is performed. We design a stage-wise system, Panoptic3D (stage-wise), where a complete set of annotations is absent. Additionally, we present an end-to-end pipeline, Panoptic3D (end-to-end), trained on a synthetic dataset with a full set of annotations. We show results on both indoor (3D-FRONT) and outdoor (COCO and Cityscapes) scenes. Our proposed panoptic 3D parsing framework points to a promising direction in computer vision. Panoptic3D can be applied to a variety of applications, including autonomous driving, mapping, robotics, design, computer graphics, robotics, human-computer interaction, and augmented reality.

cs.CV↗

arXiv2021

High-performance green and blue quantum-dot light-emitting diodes with eliminated charge leakage

Quantum-dot light-emitting diodes (QD-LEDs) promise a new generation of efficient, low-cost, large-area, and flexible electroluminescent devices. However, the inferior performance of green and blue QD-LEDs is hindering the commercialization of QD-LEDs in display and solid-state lighting. Here, we demonstrate best-performing green and blue QD-LEDs with ~100% conversion of the injected charge carriers into emissive excitons. Key to this success is eliminating electron leakage at the organic/inorganic interface by using hole-transport polymers with low electron affinity and reduced energetic disorder. Our devices exhibit record-high peak external quantum efficiencies (28.7% for green, 21.9% for blue), exceptionally high efficiencies in wide ranges of luminance, and unprecedented stability (T95 lifetime: 580,000 h for green, 4,400 h for blue). The overall performance surpasses previously reported solution-processed green and blue LEDs.

physics.optics↗

arXiv2021

An Asymptotic Analysis of Minibatch-Based Momentum Methods for Linear Regression Models

Momentum methods have been shown to accelerate the convergence of the standard gradient descent algorithm in practice and theory. In particular, the minibatch-based gradient descent methods with momentum (MGDM) are widely used to solve large-scale optimization problems with massive datasets. Despite the success of the MGDM methods in practice, their theoretical properties are still underexplored. To this end, we investigate the theoretical properties of MGDM methods based on the linear regression models. We first study the numerical convergence properties of the MGDM algorithm and further provide the theoretically optimal tuning parameters specification to achieve faster convergence rate. In addition, we explore the relationship between the statistical properties of the resulting MGDM estimator and the tuning parameters. Based on these theoretical findings, we give the conditions for the resulting estimator to achieve the optimal statistical efficiency. Finally, extensive numerical experiments are conducted to verify our theoretical results.

stat.ME↗

arXiv2021

ADDS: Adaptive Differentiable Sampling for Robust Multi-Party Learning

Distributed multi-party learning provides an effective approach for training a joint model with scattered data under legal and practical constraints. However, due to the quagmire of a skewed distribution of data labels across participants and the computation bottleneck of local devices, how to build smaller customized models for clients in various scenarios while providing updates appliable to the central model remains a challenge. In this paper, we propose a novel adaptive differentiable sampling framework (ADDS) for robust and communication-efficient multi-party learning. Inspired by the idea of dropout in neural networks, we introduce a network sampling strategy in the multi-party setting, which distributes different subnets of the central model to clients for updating, and the differentiable sampling rates allow each client to extract optimal local architecture from the supernet according to its private data distribution. The approach requires minimal modifications to the existing multi-party learning structure, and it is capable of integrating local updates of all subnets into the supernet, improving the robustness of the central model. The proposed framework significantly reduces local computation and communication costs while speeding up the central model convergence, as we demonstrated through experiments on real-world datasets.

cs.LG↗

arXiv2021

FEANet: Feature-Enhanced Attention Network for RGB-Thermal Real-time Semantic Segmentation

The RGB-Thermal (RGB-T) information for semantic segmentation has been extensively explored in recent years. However, most existing RGB-T semantic segmentation usually compromises spatial resolution to achieve real-time inference speed, which leads to poor performance. To better extract detail spatial information, we propose a two-stage Feature-Enhanced Attention Network (FEANet) for the RGB-T semantic segmentation task. Specifically, we introduce a Feature-Enhanced Attention Module (FEAM) to excavate and enhance multi-level features from both the channel and spatial views. Benefited from the proposed FEAM module, our FEANet can preserve the spatial information and shift more attention to high-resolution features from the fused RGB-T images. Extensive experiments on the urban scene dataset demonstrate that our FEANet outperforms other state-of-the-art (SOTA) RGB-T methods in terms of objective metrics and subjective visual comparison (+2.6% in global mAcc and +0.8% in global mIoU). For the 480 x 640 RGB-T test images, our FEANet can run with a real-time speed on an NVIDIA GeForce RTX 2080 Ti card.

cs.CV↗

arXiv2021

Abnormal Occupancy Grid Map Recognition using Attention Network

The occupancy grid map is a critical component of autonomous positioning and navigation in the mobile robotic system, as many other systems' performance depends heavily on it. To guarantee the quality of the occupancy grid maps, researchers previously had to perform tedious manual recognition for a long time. This work focuses on automatic abnormal occupancy grid map recognition using the residual neural networks and a novel attention mechanism module. We propose an effective channel and spatial Residual SE(csRSE) attention module, which contains a residual block for producing hierarchical features, followed by both channel SE (cSE) block and spatial SE (sSE) block for the sufficient information extraction along the channel and spatial pathways. To further summarize the occupancy grid map characteristics and experiment with our csRSE attention modules, we constructed a dataset called occupancy grid map dataset (OGMD) for our experiments. On this OGMD test dataset, we tested few variants of our proposed structure and compared them with other attention mechanisms. Our experimental results show that the proposed attention network can infer the abnormal map with state-of-the-art (SOTA) accuracy of 96.23% for abnormal occupancy grid map recognition.

cs.CV↗

arXiv2021

Relative Entropy Gradient Sampler for Unnormalized Distributions

We propose a relative entropy gradient sampler (REGS) for sampling from unnormalized distributions. REGS is a particle method that seeks a sequence of simple nonlinear transforms iteratively pushing the initial samples from a reference distribution into the samples from an unnormalized target distribution. To determine the nonlinear transforms at each iteration, we consider the Wasserstein gradient flow of relative entropy. This gradient flow determines a path of probability distributions that interpolates the reference distribution and the target distribution. It is characterized by an ODE system with velocity fields depending on the density ratios of the density of evolving particles and the unnormalized target density. To sample with REGS, we need to estimate the density ratios and simulate the ODE system with particle evolution. We propose a novel nonparametric approach to estimating the logarithmic density ratio using neural networks. Extensive simulation studies on challenging multimodal 1D and 2D mixture distributions and Bayesian logistic regression on real datasets demonstrate that the REGS outperforms the state-of-the-art sampling methods included in the comparison.

stat.ML↗

arXiv2021

Online Market Equilibrium with Application to Fair Division

Computing market equilibria is a problem of both theoretical and applied interest. Much research to date focuses on the case of static Fisher markets with full information on buyers' utility functions and item supplies. Motivated by real-world markets, we consider an online setting: individuals have linear, additive utility functions; items arrive sequentially and must be allocated and priced irrevocably. We define the notion of an online market equilibrium in such a market as time-indexed allocations and prices which guarantee buyer optimality and market clearance in hindsight. We propose a simple, scalable and interpretable allocation and pricing dynamics termed as PACE. When items are drawn i.i.d. from an unknown distribution (with a possibly continuous support), we show that PACE leads to an online market equilibrium asymptotically. In particular, PACE ensures that buyers' time-averaged utilities converge to the equilibrium utilities w.r.t. a static market with item supplies being the unknown distribution and that buyers' time-averaged expenditures converge to their per-period budget. Hence, many desirable properties of market equilibrium-based fair division such as no envy, Pareto optimality, and the proportional-share guarantee are also attained asymptotically in the online setting. Next, we extend the dynamics to handle quasilinear buyer utilities, which gives the first online algorithm for computing first-price pacing equilibria. Finally, numerical experiments on real and synthetic datasets show that the dynamics converges quickly under various metrics.

cs.GT↗

arXiv2021

AB-Mapper: Attention and BicNet Based Multi-agent Path Finding for Dynamic Crowded Environment

Multi-agent path finding in dynamic crowded environments is of great academic and practical value for multi-robot systems in the real world. To improve the effectiveness and efficiency of communication and learning process during path planning in dynamic crowded environments, we introduce an algorithm called Attention and BicNet based Multi-agent path planning with effective reinforcement (AB-Mapper)under the actor-critic reinforcement learning framework. In this framework, on the one hand, we utilize the BicNet with communication function in the actor-network to achieve intra team coordination. On the other hand, we propose a centralized critic network that can selectively allocate attention weights to surrounding agents. This attention mechanism allows an individual agent to automatically learn a better evaluation of actions by also considering the behaviours of its surrounding agents. Compared with the state-of-the-art method Mapper,our AB-Mapper is more effective (85.86% vs. 81.56% in terms of success rate) in solving the general path finding problems with dynamic obstacles. In addition, in crowded scenarios, our method outperforms the Mapper method by a large margin,reaching a stunning gap of more than 40% for each experiment.

cs.RO↗

arXiv2021

Surfactant-dependent contact line dynamics and droplet spreading on textured substrates: derivations and computations

We study spreading of a droplet, with insoluble surfactant covering its capillary surface, on a textured substrate. In this process, the surfactant-dependent surface tension dominates the behaviors of the whole dynamics, particularly the moving contact lines. This allows us to derive the full dynamics of the droplets laid by the insoluble surfactant: (i) the moving contact lines, (ii) the evolution of the capillary surface, (iii) the surfactant dynamics on this moving surface with a boundary condition at the contact lines and (iv) the incompressible viscous fluids inside the droplet. Our derivations base on Onsager's principle with Rayleigh dissipation functionals for either the viscous flow inside droplets or the motion by mean curvature of the capillary surface. We also prove the Rayleigh dissipation functional for viscous flow case is stronger than the one for the motion by mean curvature. After incorporating the textured substrate profile, we design a numerical scheme based on unconditionally stable explicit boundary updates and moving grids, which enable efficient computations for many challenging examples showing significant impacts of the surfactant to the deformation of droplets.

physics.flu-dyn↗

arXiv2021

Meta Reinforcement Learning Based Sensor Scanning in 3D Uncertain Environments for Heterogeneous Multi-Robot Systems

We study a novel problem that tackles learning based sensor scanning in 3D and uncertain environments with heterogeneous multi-robot systems. Our motivation is two-fold: first, 3D environments are complex, the use of heterogeneous multi-robot systems intuitively can facilitate sensor scanning by fully taking advantage of sensors with different capabilities. Second, in uncertain environments (e.g. rescue), time is of great significance. Since the learning process normally takes time to train and adapt to a new environment, we need to find an effective way to explore and adapt quickly. To this end, in this paper, we present a meta-learning approach to improve the exploration and adaptation capabilities. The experimental results demonstrate our method can outperform other methods by approximately 15%-27% on success rate and 70%-75% on adaptation speed.

cs.RO↗

arXiv2021

Tele-Operated Oropharyngeal Swab (TOOS) RobotEnabled by TSS Soft Hand for Safe and EffectiveCOVID-19 OP Sampling

The COVID-19 pandemic has imposed serious challenges in multiple perspectives of human life. To diagnose COVID-19, oropharyngeal swab (OP SWAB) sampling is generally applied for viral nucleic acid (VNA) specimen collection. However, manual sampling exposes medical staff to a high risk of infection. Robotic sampling is promising to mitigate this risk to the minimum level, but traditional robot suffers from safety, cost, and control complexity issues for wide-scale deployment. In this work, we present soft robotic technology is promising to achieve robotic OP swab sampling with excellent swab manipulability in a confined oral space and works as dexterous as existing manual approach. This is enabled by a novel Tstone soft (TSS) hand, consisting of a soft wrist and a soft gripper, designed from human sampling observation and bio-inspiration. TSS hand is in a compact size, exerts larger workspace, and achieves comparable dexterity compared to human hand. The soft wrist is capable of agile omnidirectional bending with adjustable stiffness. The terminal soft gripper is effective for disposable swab pinch and replacement. The OP sampling force is easy to be maintained in a safe and comfortable range (throat sampling comfortable region) under a hybrid motion and stiffness virtual fixture-based controller. A dedicated 3 DOFs RCM platform is used for TSS hand global positioning. Design, modeling, and control of the TSS hand are discussed in detail with dedicated experimental validations. A sampling test based on human tele-operation is processed on the oral cavity model with excellent success rate. The proposed TOOS robot demonstrates a highly promising solution for tele-operated, safe, cost-effective, and quick deployable COVID-19 OP swab sampling.

cs.RO↗

arXiv2021

Temporal Pyramid Transformer with Multimodal Interaction for Video Question Answering

Video question answering (VideoQA) is challenging given its multimodal combination of visual understanding and natural language understanding. While existing approaches seldom leverage the appearance-motion information in the video at multiple temporal scales, the interaction between the question and the visual information for textual semantics extraction is frequently ignored. Targeting these issues, this paper proposes a novel Temporal Pyramid Transformer (TPT) model with multimodal interaction for VideoQA. The TPT model comprises two modules, namely Question-specific Transformer (QT) and Visual Inference (VI). Given the temporal pyramid constructed from a video, QT builds the question semantics from the coarse-to-fine multimodal co-occurrence between each word and the visual content. Under the guidance of such question-specific semantics, VI infers the visual clues from the local-to-global multi-level interactions between the question and the video. Within each module, we introduce a multimodal attention mechanism to aid the extraction of question-video interactions, with residual connections adopted for the information passing across different levels. Through extensive experiments on three VideoQA datasets, we demonstrate better performances of the proposed method in comparison with the state-of-the-arts.

cs.CV↗

arXiv2021

Existence and rigidity of the Peierls-Nabarro model for dislocations in high dimensions

We focus on existence and rigidity problems of the vectorial Peierls-Nabarro (PN) model for dislocations. Under the assumption that the misfit potential on the slip plane only depends on the shear displacement along the Burgers vector, a reduced non-local scalar Ginzburg-Landau equation with an anisotropic positive (if Poisson ratio belongs to $(-1/2,1/3)$) singular kernel is derived on the slip plane. We first prove that minimizers of the PN energy for this reduced scalar problem exist. Starting from $H^{1/2}$ regularity, we prove that these minimizers are smooth 1D profiles only depending on the shear direction, monotonically and uniformly converge to two stable states at far fields in the direction of the Burgers vector. Then a De Giorgi-type conjecture of single-variable symmetry for both minimizers and layer solutions is established. As a direct corollary, minimizers and layer solutions are unique up to translations. The proof of this De Giorgi-type conjecture relies on a delicate spectral analysis which is especially powerful for nonlocal pseudo-differential operators with strong maximal principle. All these results hold in any dimension since we work on the domain periodic in the transverse directions of the slip plane. The physical interpretation of this rigidity result is that the equilibrium dislocation on the slip plane only admits shear displacements and is a strictly monotonic 1D profile provided exclusive dependence of the misfit potential on the shear displacement.

math.AP↗

arXiv2021

Invariant Filtering for Bipedal Walking on Dynamic Rigid Surfaces with Orientation-based Measurement Model

Real-world applications of bipedal robot walking require accurate, real-time state estimation. State estimation for locomotion over dynamic rigid surfaces (DRS), such as elevators, ships, public transport vehicles, and aircraft, remains under-explored, although state estimator designs for stationary rigid surfaces have been extensively studied. Addressing DRS locomotion in state estimation is a challenging problem mainly due to the nonlinear, hybrid nature of walking dynamics, the nonstationary surface-foot contact points, and hardware imperfections (e.g., limited availability, noise, and drift of onboard sensors). Towards solving this problem, we introduce an Invariant Extended Kalman Filter (InEKF) whose process and measurement models explicitly consider the DRS movement and hybrid walking behaviors while respectively satisfying the group-affine condition and invariant form. Due to these attractive properties, the estimation error convergence of the filter is provably guaranteed for hybrid DRS locomotion. The measurement model of the filter also exploits the holonomic constraint associated with the support-foot and surface orientations, under which the robot's yaw angle in the world becomes observable in the presence of general DRS movement. Experimental results of bipedal walking on a rocking treadmill demonstrate the proposed filter ensures the rapid error convergence and observable base yaw angle.

cs.RO↗

arXiv2021

A Dual Adversarial Calibration Framework for Automatic Fetal Brain Biometry

This paper presents a novel approach to automatic fetal brain biometry motivated by needs in low- and medium- income countries. Specifically, we leverage high-end (HE) ultrasound images to build a biometry solution for low-cost (LC) point-of-care ultrasound images. We propose a novel unsupervised domain adaptation approach to train deep models to be invariant to significant image distribution shift between the image types. Our proposed method, which employs a Dual Adversarial Calibration (DAC) framework, consists of adversarial pathways which enforce model invariance to; i) adversarial perturbations in the feature space derived from LC images, and ii) appearance domain discrepancy. Our Dual Adversarial Calibration method estimates transcerebellar diameter and head circumference on images from low-cost ultrasound devices with a mean absolute error (MAE) of 2.43mm and 1.65mm, compared with 7.28 mm and 5.65 mm respectively for SOTA.

eess.IV↗