arXiv subjects

Zhiyuan Zhang

Publications and source records attributed to Zhiyuan Zhang.

At least 109 records · Page 6Linked to original sources

arXiv2024

Bench2Drive-R: Turning Real World Data into Reactive Closed-Loop Autonomous Driving Benchmark by Generative Model

For end-to-end autonomous driving (E2E-AD), the evaluation system remains an open problem. Existing closed-loop evaluation protocols usually rely on simulators like CARLA being less realistic; while NAVSIM using real-world vision data, yet is limited to fixed planning trajectories in short horizon and assumes other agents are not reactive. We introduce Bench2Drive-R, a generative framework that enables reactive closed-loop evaluation. Unlike existing video generative models for AD, the proposed designs are tailored for interactive simulation, where sensor rendering and behavior rollout are decoupled by applying a separate behavioral controller to simulate the reactions of surrounding agents. As a result, the renderer could focus on image fidelity, control adherence, and spatial-temporal coherence. For temporal consistency, due to the step-wise interaction nature of simulation, we design a noise modulating temporal encoder with Gaussian blurring to encourage long-horizon autoregressive rollout of image sequences without deteriorating distribution shifts. For spatial consistency, a retrieval mechanism, which takes the spatially nearest images as references, is introduced to to ensure scene-level rendering fidelity during the generation process. The spatial relations between target and reference are explicitly modeled with 3D relative position encodings and the potential over-reliance of reference images is mitigated with hierarchical sampling and classifier-free guidance. We compare the generation quality of Bench2Drive-R with existing generative models and achieve state-of-the-art performance. We further integrate Bench2Drive-R into nuPlan and evaluate the generative qualities with closed-loop simulation results. We will open source our code.

cs.RO↗

arXiv2024

Hypergraph burning, matchings, and zero forcing

Lazy burning is a recently introduced variation of burning where only one set of vertices is chosen to burn in the first round. In hypergraphs, lazy burning spreads when all but one vertex in a hyperedge is burned. The lazy burning number is the minimum number of initially burned vertices that eventually burns all vertices. We give several equivalent characterizations of lazy burning on hypergraphs using matchings and zero forcing, and then apply these to give new bounds and complexity results. We prove that the lazy burning number of a hypergraph $H$ equals its order minus the maximum cardinality of a certain matching on its incidence graph. Using this characterization, we give a formula for the lazy burning number of a dual hypergraph and give new bounds on the lazy burning number based on various hypergraph parameters. We show that the lazy burning number of a hypergraph may be characterized by a maximal subhypergraph that results from iteratively deleting vertices in singleton hyperedges. We prove that lazy burning on a hypergraph is equivalent to zero forcing on its incidence graph and show an equivalence between skew zero forcing on a graph and lazy burning on its neighborhood hypergraph. As a result, we show that finding an upper bound on the lazy burning number of a hypergraph is NP-complete, which resolves a conjecture from \cite{BJR}. By applying lazy burning, we show that computing an upper bound on the skew zero forcing number for bipartite graphs is NP-complete. We finish with open problems.

math.CO↗

arXiv2024

Bench2Drive: Towards Multi-Ability Benchmarking of Closed-Loop End-To-End Autonomous Driving

In an era marked by the rapid scaling of foundation models, autonomous driving technologies are approaching a transformative threshold where end-to-end autonomous driving (E2E-AD) emerges due to its potential of scaling up in the data-driven manner. However, existing E2E-AD methods are mostly evaluated under the open-loop log-replay manner with L2 errors and collision rate as metrics (e.g., in nuScenes), which could not fully reflect the driving performance of algorithms as recently acknowledged in the community. For those E2E-AD methods evaluated under the closed-loop protocol, they are tested in fixed routes (e.g., Town05Long and Longest6 in CARLA) with the driving score as metrics, which is known for high variance due to the unsmoothed metric function and large randomness in the long route. Besides, these methods usually collect their own data for training, which makes algorithm-level fair comparison infeasible. To fulfill the paramount need of comprehensive, realistic, and fair testing environments for Full Self-Driving (FSD), we present Bench2Drive, the first benchmark for evaluating E2E-AD systems' multiple abilities in a closed-loop manner. Bench2Drive's official training data consists of 2 million fully annotated frames, collected from 13638 short clips uniformly distributed under 44 interactive scenarios (cut-in, overtaking, detour, etc), 23 weathers (sunny, foggy, rainy, etc), and 12 towns (urban, village, university, etc) in CARLA v2. Its evaluation protocol requires E2E-AD models to pass 44 interactive scenarios under different locations and weathers which sums up to 220 routes and thus provides a comprehensive and disentangled assessment about their driving capability under different situations. We implement state-of-the-art E2E-AD models and evaluate them in Bench2Drive, providing insights regarding current status and future directions.

cs.RO↗

arXiv2024

Zimmer's conjecture for non-split semisimple Lie groups

We prove many new cases of Zimmer's conjecture for actions by lattices in non-$\mathbb{R}$-split semisimple Lie groups $G$. By prior arguments, Zimmer's conjecture reduces to studying certain probability measures invariant under a minimal parabolic subgroup for the induced $G$-action. Two techniques are introduced to give lower bounds on the dimension of a manifold $M$ admitting a non-isometric action. First, when the Levi component of the stabilizer of the measure has higher-rank simple factors, cocycle superrigidity provides a lower bound on the dimension of $M$. Second, when certain fiberwise coarse Lyapunov distributions are one-dimensional, a measure rigidity argument provides additional invariance of the measure if the associated root spaces are higher-dimensional.

math.DS↗

arXiv2024

Geometric properties of partially hyperbolic measures and applications to measure rigidity

We give a geometric characterization of the quantitative non-integrability, introduced by Katz, of strong stable and unstable bundles of partially hyperbolic measures and sets in dimension 3. This is done via the use of higher order templates for the invariant bundles. Using the recent work of Katz, we derive some consequences, including the measure rigidity of $uu$-states and the existence of physical measures.

math.DS↗

arXiv2024

SGEdit: Bridging LLM with Text2Image Generative Model for Scene Graph-based Image Editing

Scene graphs offer a structured, hierarchical representation of images, with nodes and edges symbolizing objects and the relationships among them. It can serve as a natural interface for image editing, dramatically improving precision and flexibility. Leveraging this benefit, we introduce a new framework that integrates large language model (LLM) with Text2Image generative model for scene graph-based image editing. This integration enables precise modifications at the object level and creative recomposition of scenes without compromising overall image integrity. Our approach involves two primary stages: 1) Utilizing a LLM-driven scene parser, we construct an image's scene graph, capturing key objects and their interrelationships, as well as parsing fine-grained attributes such as object masks and descriptions. These annotations facilitate concept learning with a fine-tuned diffusion model, representing each object with an optimized token and detailed description prompt. 2) During the image editing phase, a LLM editing controller guides the edits towards specific areas. These edits are then implemented by an attention-modulated diffusion editor, utilizing the fine-tuned model to perform object additions, deletions, replacements, and adjustments. Through extensive experiments, we demonstrate that our framework significantly outperforms existing image editing methods in terms of editing precision and scene aesthetics.

cs.CV↗

arXiv2024

Penalized Sparse Covariance Regression with High Dimensional Covariates

Covariance regression offers an effective way to model the large covariance matrix with the auxiliary similarity matrices. In this work, we propose a sparse covariance regression (SCR) approach to handle the potentially high-dimensional predictors (i.e., similarity matrices). Specifically, we use the penalization method to identify the informative predictors and estimate their associated coefficients simultaneously. We first investigate the Lasso estimator and subsequently consider the folded concave penalized estimation methods (e.g., SCAD and MCP). However, the theoretical analysis of the existing penalization methods is primarily based on i.i.d. data, which is not directly applicable to our scenario. To address this difficulty, we establish the non-asymptotic error bounds by exploiting the spectral properties of the covariance matrix and similarity matrices. Then, we derive the estimation error bound for the Lasso estimator and establish the desirable oracle property of the folded concave penalized estimator. Extensive simulation studies are conducted to corroborate our theoretical results. We also illustrate the usefulness of the proposed method by applying it to a Chinese stock market dataset.

stat.ME↗

arXiv2024

Residual Descent Differential Dynamic Game (RD3G) -- A Fast Newton Solver for Constrained General Sum Games

We present Residual Descent Differential Dynamic Game (RD3G), a Newton-based solver for constrained multi-agent game-control problems. The proposed solver seeks a local Nash equilibrium for problems where agents are coupled through their rewards and state constraints. We compare the proposed method against competing state-of-the-art techniques and showcase the computational benefits of the RD3G algorithm on several example problems.

cs.RO↗

arXiv2024

Motion Avatar: Generate Human and Animal Avatars with Arbitrary Motion

In recent years, there has been significant interest in creating 3D avatars and motions, driven by their diverse applications in areas like film-making, video games, AR/VR, and human-robot interaction. However, current efforts primarily concentrate on either generating the 3D avatar mesh alone or producing motion sequences, with integrating these two aspects proving to be a persistent challenge. Additionally, while avatar and motion generation predominantly target humans, extending these techniques to animals remains a significant challenge due to inadequate training data and methods. To bridge these gaps, our paper presents three key contributions. Firstly, we proposed a novel agent-based approach named Motion Avatar, which allows for the automatic generation of high-quality customizable human and animal avatars with motions through text queries. The method significantly advanced the progress in dynamic 3D character generation. Secondly, we introduced a LLM planner that coordinates both motion and avatar generation, which transforms a discriminative planning into a customizable Q&A fashion. Lastly, we presented an animal motion dataset named Zoo-300K, comprising approximately 300,000 text-motion pairs across 65 animal categories and its building pipeline ZooGen, which serves as a valuable resource for the community. See project website https://steve-zeyu-zhang.github.io/MotionAvatar/

cs.CV↗

arXiv2024

RISurConv: Rotation Invariant Surface Attention-Augmented Convolutions for 3D Point Cloud Classification and Segmentation

Despite the progress on 3D point cloud deep learning, most prior works focus on learning features that are invariant to translation and point permutation, and very limited efforts have been devoted for rotation invariant property. Several recent studies achieve rotation invariance at the cost of lower accuracies. In this work, we close this gap by proposing a novel yet effective rotation invariant architecture for 3D point cloud classification and segmentation. Instead of traditional pointwise operations, we construct local triangle surfaces to capture more detailed surface structure, based on which we can extract highly expressive rotation invariant surface properties which are then integrated into an attention-augmented convolution operator named RISurConv to generate refined attention features via self-attention layers. Based on RISurConv we build an effective neural network for 3D point cloud analysis that is invariant to arbitrary rotations while maintaining high accuracy. We verify the performance on various benchmarks with supreme results obtained surpassing the previous state-of-the-art by a large margin. We achieve an overall accuracy of 96.0% (+4.7%) on ModelNet40, 93.1% (+12.8%) on ScanObjectNN, and class accuracies of 91.5% (+3.6%), 82.7% (+5.1%), and 78.5% (+9.2%) on the three categories of the FG3D dataset for the fine-grained classification task. Additionally, we achieve 81.5% (+1.0%) mIoU on ShapeNet for the segmentation task. Code is available here: https://github.com/cszyzhang/RISurConv

cs.CV↗

arXiv2024

Versatile Method of Engineering the Band Alignment and the Electron Wavefunction Hybridization of Hybrid Quantum Devices

With the development of quantum technology, hybrid devices that combine superconductors (S) and semiconductors (Sm) have attracted great attention due to the possibility of engineering structures that benefit from the integration of the properties of both materials. However, until now, none of the experiments have reported good control of band alignment at the interface, which determines the strength of S-Sm coupling and the proximitized superconducting gap. Here, we fabricate hybrid devices in a generic way with argon milling to modify the interface while maintaining its high quality. First, after the milling the atomically connected S-Sm interfaces appear, resulting in a large induced gap, as well as the ballistic transport revealed by the multiple Andreev reflections and quantized above-gap conductance plateaus. Second, by comparing transport measurement with Schrödinger-Poisson (SP) calculations, we demonstrate that argon milling is capable of varying the band bending strength in the semiconducting wire as the electrons tend to accumulate on the etched surface for longer milling time. Finally, we perform nonlocal measurements on advanced devices to demonstrate the coexistence and tunability of crossed Andreev reflection (CAR) and elastic co-tunneling (ECT) -- key ingredients for building the prototype setup for realization of Kitaev chain and quantum entanglement probing. Such a versatile method, compatible with the standard fabrication process and accompanied by the well-controlled modification of the interface, will definitely boost the creation of more sophisticated hybrid devices for exploring physics in solid-state systems.

cond-mat.mes-hall↗

arXiv2024

Scaling Up Dynamic Human-Scene Interaction Modeling

Confronting the challenges of data scarcity and advanced motion synthesis in human-scene interaction modeling, we introduce the TRUMANS dataset alongside a novel HSI motion synthesis method. TRUMANS stands as the most comprehensive motion-captured HSI dataset currently available, encompassing over 15 hours of human interactions across 100 indoor scenes. It intricately captures whole-body human motions and part-level object dynamics, focusing on the realism of contact. This dataset is further scaled up by transforming physical environments into exact virtual models and applying extensive augmentations to appearance and motion for both humans and objects while maintaining interaction fidelity. Utilizing TRUMANS, we devise a diffusion-based autoregressive model that efficiently generates HSI sequences of any length, taking into account both scene context and intended actions. In experiments, our approach shows remarkable zero-shot generalizability on a range of 3D scene datasets (e.g., PROX, Replica, ScanNet, ScanNet++), producing motions that closely mimic original motion-captured sequences, as confirmed by quantitative experiments and human studies.

cs.CV↗

arXiv2024

Preliminary Design of a General Electronics Platform for Accelerator Facilities

Many accelerators require considerable electronic systems for tests, verification, and operation. In Shenzhen Superconducting Soft X-ray Free Electron Laser (S3FEL), to meet the early tests and verification of various systems, save development expenses, and improve the reusability of hardware, firmware, and software systems, we have considered the needs of each system and preliminarily designed a general electronics platform based on MicroTCA.4. The Advanced Mezzanine Card (AMC) will place an FPGA Mezzanine Card (FMC) that supports 500 MSPS to 2 GSPS ADC/DAC. We will design two FMC cards on the Rear Transition Module (RTM), which can be used for analog signal conditioning and waveform digitization by 10 MSPS to 250 MSPS ADC/DAC or motor control. The commercial MCH, CPU, power module, and MTCA crate are deployed. This platform can also be applied to other accelerator facilities.

physics.ins-det↗

arXiv2024

An approximation algorithm for zero forcing

We give an algorithm that finds a zero forcing set which approximates the optimal size by a factor of $\text{pw}(G)+1$, where $\text{pw}(G)$ is the pathwidth of $G$. Starting from a path decomposition, the algorithm runs in $O(nm)$ time, where $n$ and $m$ are the order and size of the graph, respectively. As a corollary, we obtain a new upper bound on the zero forcing number in terms of the fort number and the pathwidth. The algorithm is based on a correspondence between zero forcing sets and forcing arc sets. This correspondence leads to a new bound on the zero forcing number in terms of vertex cuts, and to new, short proofs for known bounds on the zero forcing number.

math.CO↗

arXiv2024

The forb-flex method for odd coloring and proper conflict-free coloring of planar graphs

We introduce a new tool useful for greedy coloring, which we call the forb-flex method, and apply it to odd coloring and proper conflict-free coloring of planar graphs. The odd chromatic number, denoted $χ_{\mathsf{o}}(G)$, is the smallest number of colors needed to properly color $G$ such that every non-isolated vertex of $G$ has a color appearing an odd number of times in its neighborhood. The proper conflict-free chromatic number, denoted $χ_{\mathsf{PCF}}(G)$, is the smallest number of colors needed to properly color $G$ such that every non-isolated vertex of $G$ has a color appearing uniquely in its neighborhood. Our new tool works by carefully counting the structures in the neighborhood of a vertex and determining if a neighbor of a vertex can be recolored at the end of a greedy coloring process to avoid conflicts. Combining this with the discharging method allows us to prove $χ_{\mathsf{PCF}}(G) \leq 4$ for planar graphs of girth at least 11, and $χ_{\mathsf{o}}(G) \leq 4$ for planar graphs of girth at least 10. These results improve upon the recent works of Cho, Choi, Kwon, and Park.

math.CO↗

arXiv2024

Spectral extremal results on trees

Let ${\rm spex}(n,F)$ be the maximum spectral radius over all $F$-free graphs of order $n$, and ${\rm SPEX}(n,F)$ be the family of $F$-free graphs of order $n$ with spectral radius equal to ${\rm spex}(n,F)$. Given integers $n,k,p$ with $n>k>0$ and $0\leq p\leq \lfloor(n-k)/2\rfloor$, let $S_{n,k}^{p}$ be the graph obtained from $K_k\nabla(n-k)K_1$ by embedding $p$ independent edges within its independent set, where `$\nabla$' means the join product. For $n\geq\ell\geq 4$, let $G_{n,\ell}=S_{n,(\ell-2)/2}^{0}$ if $\ell$ is even, and $G_{n,\ell}=S_{n,(\ell-3)/2}^{1}$ if $\ell$ is odd. Cioabă, Desai and Tait [SIAM J. Discrete Math. 37 (3) (2023) 2228--2239] showed that for $\ell\geq 6$ and sufficiently large $n$, if $ρ(G)\geq ρ(G_{n,\ell})$, then $G$ contains all trees of order $\ell$ unless $G=G_{n,\ell}$. They further posed a problem to study ${\rm spex}(n,F)$ for various specific trees $F$. Fix a tree $F$ of order $\ell\geq 6$, let $A$ and $B$ be two partite sets of $F$ with $|A|\leq |B|$, and set $q=|A|-1$. We first show that any graph in ${\rm SPEX}(n,F)$ contains a spanning subgraph $K_{q,n-q}$ for $q\geq 1$ and sufficiently large $n$. Consequently, $ρ(K_{q,n-q})\leq {\rm spex}(n,F)\leq ρ(G_{n,\ell})$, we further respectively characterize all trees $F$ with these two equalities holding. Secondly, we characterize the spectral extremal graphs for some specific trees and provide asymptotic spectral extremal values of the remaining trees. In particular, we characterize the spectral extremal graphs for all spiders, surprisingly, the extremal graphs are not always the spanning subgraph of $G_{n,\ell}$.

math.CO↗

arXiv2024

Clique counts for network similarity

Counts of small subgraphs, or graphlet counts, are widely applicable to measure graph similarity. Computing graphlet counts can be computationally expensive and may pose obstacles in network analysis. We study the role of cliques in graphlet counts as a method for graph similarity in social networks. Higher-order clustering coefficients and the Pivoter algorithm for exact clique counts are employed

cs.SI↗

arXiv2023

MetaScript: Few-Shot Handwritten Chinese Content Generation via Generative Adversarial Networks

In this work, we propose MetaScript, a novel Chinese content generation system designed to address the diminishing presence of personal handwriting styles in the digital representation of Chinese characters. Our approach harnesses the power of few-shot learning to generate Chinese characters that not only retain the individual's unique handwriting style but also maintain the efficiency of digital typing. Trained on a diverse dataset of handwritten styles, MetaScript is adept at producing high-quality stylistic imitations from minimal style references and standard fonts. Our work demonstrates a practical solution to the challenges of digital typography in preserving the personal touch in written communication, particularly in the context of Chinese script. Notably, our system has demonstrated superior performance in various evaluations, including recognition accuracy, inception score, and Frechet inception distance. At the same time, the training conditions of our model are easy to meet and facilitate generalization to real applications.

cs.CV↗