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Zihao Liu

Publications and source records attributed to Zihao Liu.

At least 73 records · Page 4Linked to original sources
arXiv2024

Leveraging Enhanced Queries of Point Sets for Vectorized Map Construction

In autonomous driving, the high-definition (HD) map plays a crucial role in localization and planning. Recently, several methods have facilitated end-to-end online map construction in DETR-like frameworks. However, little attention has been paid to the potential capabilities of exploring the query mechanism for map elements. This paper introduces MapQR, an end-to-end method with an emphasis on enhancing query capabilities for constructing online vectorized maps. To probe desirable information efficiently, MapQR utilizes a novel query design, called scatter-and-gather query, which is modelled by separate content and position parts explicitly. The base map instance queries are scattered to different reference points and added with positional embeddings to probe information from BEV features. Then these scatted queries are gathered back to enhance information within each map instance. Together with a simple and effective improvement of a BEV encoder, the proposed MapQR achieves the best mean average precision (mAP) and maintains good efficiency on both nuScenes and Argoverse 2. In addition, integrating our query design into other models can boost their performance significantly. The source code is available at https://github.com/HXMap/MapQR.

cs.CV↗
arXiv2024

GAD-Generative Learning for HD Map-Free Autonomous Driving

Deep-learning-based techniques have been widely adopted for autonomous driving software stacks for mass production in recent years, focusing primarily on perception modules, with some work extending this method to prediction modules. However, the downstream planning and control modules are still designed with hefty handcrafted rules, dominated by optimization-based methods such as quadratic programming or model predictive control. This results in a performance bottleneck for autonomous driving systems in that corner cases simply cannot be solved by enumerating hand-crafted rules. We present a deep-learning-based approach that brings prediction, decision, and planning modules together with the attempt to overcome the rule-based methods' deficiency in real-world applications of autonomous driving, especially for urban scenes. The DNN model we proposed is solely trained with 10 hours of human driver data, and it supports all mass-production ADAS features available on the market to date. This method is deployed onto a Jiyue test car with no modification to its factory-ready sensor set and compute platform. the feasibility, usability, and commercial potential are demonstrated in this article.

cs.RO↗
arXiv2024

A recursive smoothing method for input and state estimation of vibrating structures

Recursive Bayesian filters have been widely deployed in structural system identification where output-only filters are of higher practicality. Unfortunately, the estimation obtained by instantaneous system inversion via filters can be compromised by an ill-conditionedness of the system, which is a consequence of the architecture of the sensor network. To significantly reduce the ill-conditioning and increase the robustness to available networks, a new recursive smoothing algorithm is proposed for simultaneous input and state estimation of linear systems. Unlike the existing minimum-variance unbiased (MVU) smoothing methods that are restricted to either systems with no direct feedthrough or systems with a full-rank feedforward matrix, the proposed smoothing algorithm is universally applicable to linear systems with and without direct feedthrough as well as those with a rank-deficient feedforward matrix. The proposed smoothing method does not assume any prior knowledge of the statistical characteristics or evolutionary model pertaining to the input. A different indexing of the discrete-time input leads to a distinct linear algebra from the existing MVU smoothing methods. An eight-storey shear frame and the Taipei 101 tower in Taiwan are used as case studies, and a thorough comparison is established with the Augmented Kalman Filter, MVU filters and MVU smoothing methods. It is shown that the incorporation of singular value truncation for system inversion can result in a noticeable improvement in the estimation. Moreover, across various sensor networks and in the presence of a rank-deficient feedforward matrix, the proposed method could achieve at least 67% noise reduction compared to other filters and at least 30% improvement compared to other smoothing methods.

stat.AP↗
arXiv2023

Tactile Active Inference Reinforcement Learning for Efficient Robotic Manipulation Skill Acquisition

Robotic manipulation holds the potential to replace humans in the execution of tedious or dangerous tasks. However, control-based approaches are not suitable due to the difficulty of formally describing open-world manipulation in reality, and the inefficiency of existing learning methods. Thus, applying manipulation in a wide range of scenarios presents significant challenges. In this study, we propose a novel method for skill learning in robotic manipulation called Tactile Active Inference Reinforcement Learning (Tactile-AIRL), aimed at achieving efficient training. To enhance the performance of reinforcement learning (RL), we introduce active inference, which integrates model-based techniques and intrinsic curiosity into the RL process. This integration improves the algorithm's training efficiency and adaptability to sparse rewards. Additionally, we utilize a vision-based tactile sensor to provide detailed perception for manipulation tasks. Finally, we employ a model-based approach to imagine and plan appropriate actions through free energy minimization. Simulation results demonstrate that our method achieves significantly high training efficiency in non-prehensile objects pushing tasks. It enables agents to excel in both dense and sparse reward tasks with just a few interaction episodes, surpassing the SAC baseline. Furthermore, we conduct physical experiments on a gripper screwing task using our method, which showcases the algorithm's rapid learning capability and its potential for practical applications.

cs.RO↗
arXiv2023

Scaled Homology and Topological Entropy

In this paper, we build up a scaled homology theory, $lc$-homology, for metric spaces such that every metric space can be visually regarded as "locally contractible" with this newly-built homology. We check that $lc$-homology satisfies all Eilenberg-Steenrod axioms except exactness axiom whereas its corresponding $lc$-cohomology satisfies all axioms for cohomology. This homology can relax the smooth manifold restrictions on the compact metric space such that the entropy conjecture will hold for the first $lc$-homology group.

math.AT↗
arXiv2023

NPS: A Framework for Accurate Program Sampling Using Graph Neural Network

With the end of Moore's Law, there is a growing demand for rapid architectural innovations in modern processors, such as RISC-V custom extensions, to continue performance scaling. Program sampling is a crucial step in microprocessor design, as it selects representative simulation points for workload simulation. While SimPoint has been the de-facto approach for decades, its limited expressiveness with Basic Block Vector (BBV) requires time-consuming human tuning, often taking months, which impedes fast innovation and agile hardware development. This paper introduces Neural Program Sampling (NPS), a novel framework that learns execution embeddings using dynamic snapshots of a Graph Neural Network. NPS deploys AssemblyNet for embedding generation, leveraging an application's code structures and runtime states. AssemblyNet serves as NPS's graph model and neural architecture, capturing a program's behavior in aspects such as data computation, code path, and data flow. AssemblyNet is trained with a data prefetch task that predicts consecutive memory addresses. In the experiments, NPS outperforms SimPoint by up to 63%, reducing the average error by 38%. Additionally, NPS demonstrates strong robustness with increased accuracy, reducing the expensive accuracy tuning overhead. Furthermore, NPS shows higher accuracy and generality than the state-of-the-art GNN approach in code behavior learning, enabling the generation of high-quality execution embeddings.

cs.AR↗
arXiv2023

Vehicle Trajectory Prediction based Predictive Collision Risk Assessment for Autonomous Driving in Highway Scenarios

For driving safely and efficiently in highway scenarios, autonomous vehicles (AVs) must be able to predict future behaviors of surrounding object vehicles (OVs), and assess collision risk accurately for reasonable decision-making. Aiming at autonomous driving in highway scenarios, a predictive collision risk assessment method based on trajectory prediction of OVs is proposed in this paper. Firstly, the vehicle trajectory prediction is formulated as a sequence generation task with long short-term memory (LSTM) encoder-decoder framework. Convolutional social pooling (CSP) and graph attention network (GAN) are adopted for extracting local spatial vehicle interactions and distant spatial vehicle interactions, respectively. Then, two basic risk metrics, time-to-collision (TTC) and minimal distance margin (MDM), are calculated between the predicted trajectory of OV and the candidate trajectory of AV. Consequently, a time-continuous risk function is constructed with temporal and spatial risk metrics. Finally, the vehicle trajectory prediction model CSP-GAN-LSTM is evaluated on two public highway datasets. The quantitative results indicate that the proposed CSP-GAN-LSTM model outperforms the existing state-of-the-art (SOTA) methods in terms of position prediction accuracy. Besides, simulation results in typical highway scenarios further validate the feasibility and effectiveness of the proposed predictive collision risk assessment method.

cs.RO↗
arXiv2022

Temporal and Contextual Transformer for Multi-Camera Editing of TV Shows

The ability to choose an appropriate camera view among multiple cameras plays a vital role in TV shows delivery. But it is hard to figure out the statistical pattern and apply intelligent processing due to the lack of high-quality training data. To solve this issue, we first collect a novel benchmark on this setting with four diverse scenarios including concerts, sports games, gala shows, and contests, where each scenario contains 6 synchronized tracks recorded by different cameras. It contains 88-hour raw videos that contribute to the 14-hour edited videos. Based on this benchmark, we further propose a new approach temporal and contextual transformer that utilizes clues from historical shots and other views to make shot transition decisions and predict which view to be used. Extensive experiments show that our method outperforms existing methods on the proposed multi-camera editing benchmark.

cs.CV↗
arXiv2022

Contrastive and Selective Hidden Embeddings for Medical Image Segmentation

Medical image segmentation has been widely recognized as a pivot procedure for clinical diagnosis, analysis, and treatment planning. However, the laborious and expensive annotation process lags down the speed of further advances. Contrastive learning-based weight pre-training provides an alternative by leveraging unlabeled data to learn a good representation. In this paper, we investigate how contrastive learning benefits the general supervised medical segmentation tasks. To this end, patch-dragsaw contrastive regularization (PDCR) is proposed to perform patch-level tugging and repulsing with the extent controlled by a continuous affinity score. And a new structure dubbed uncertainty-aware feature selection block (UAFS) is designed to perform the feature selection process, which can handle the learning target shift caused by minority features with high uncertainty. By plugging the proposed 2 modules into the existing segmentation architecture, we achieve state-of-the-art results across 8 public datasets from 6 domains. Newly designed modules further decrease the amount of training data to a quarter while achieving comparable, if not better, performances. From this perspective, we take the opposite direction of the original self/un-supervised contrastive learning by further excavating information contained within the label.

cs.CV↗
arXiv2022

A Corrected Simplified Proof of Chen's Theorem

In 1973, J.-R. Chen showed that every large even integer is a sum of a prime and a product of at most two primes. In this paper, the author indicates and fixes the issues in a simplified proof of this result given by Pan et al.

math.NT↗
arXiv2022

Improving Test Automation Maturity: a Multivocal Literature Review

Mature test automation is key for achieving software quality at speed. In this paper, we present a multivocal literature review with the objective to survey and synthesize the guidelines given in the literature for improving test automation maturity. We selected and reviewed 81 primary studies, consisting of 26 academic literature and 55 grey literature sources. From primary studies, we extracted 26 test automation best practices (e.g., Define an effective test automation strategy, Set up good test environments, Develop high-quality test scripts) and collected many pieces of advice (e.g., in forms of implementation/improvement approaches, technical techniques, concepts, experience-based heuristics) on how to conduct these best practices. We made main observations: (1) There are only 6 best practices whose positive effect on maturity improvement have been evaluated by academic studies using formal empirical methods; (2) Several technical related best practices in this MLR were not presented in test maturity models; (3) Some best practices can be linked to success factors and maturity impediments proposed by other scholars; (4) Most pieces of advice on how to conduct proposed best practices were identified from experience studies and their effectiveness need to be further evaluated with cross-site empirical evidence using formal empirical methods; (5) In the literature, some advice on how to conduct certain best practices are conflicting, and some advice on how to conduct certain best practices still need further qualitative analysis.

cs.SE↗
arXiv2022

Test Automation Maturity Improves Product Quality -- Quantitative Study of Open Source Projects Using Continuous Integration

The popularity of continuous integration (CI) is increasing as a result of market pressure to release product features or updates frequently. The ability of CI to deliver quality at speed depends on reliable test automation. In this paper, we present an empirical study to observe the effect of test automation maturity (assessed by standard best practices in the literature) on product quality, test automation effort, and release cycle in the CI context of open source projects. We run our test automation maturity survey and got responses from 37 open source java projects. We also mined software repositories of the same projects. The main results of regression analysis reveal that, higher levels of test automation maturity are positively associated with higher product quality (p-value=0.000624) and shorter release cycle (p-value=0.01891); There is no statistically significant evidence of increased test automation effort due to higher levels of test automation maturity and product quality. Thus, we conclude that, a potential benefit of improving test automation maturity (using standard best practices) is product quality improvement and release cycle acceleration in the CI context of open source projects. We encourage future research to extend our findings by adding more datasets with different programming languages and CI tools, closed source projects, and large-scale industrial projects. Our recommendation to practitioners (in the similar CI context) is to utilize standard best practices to improve test automation maturity.

cs.SE↗
arXiv2022

A Simple Proof of Siegel's Theorem Using Mellin Transform

In this paper, we present a simple analytic proof of Siegel's theorem that concerns the lower bound of $L(1,χ)$ for primitive quadratic $χ$. Our new method compares an elementary lower bound with an analytic upper bound obtained by the inverse Mellin transform of $Γ(s)$.

math.NT↗
arXiv2021

On Goldfeld's Proof of Siegel's Theorem

In this paper, we give a detailed account of Goldfeld's proof of Siegel's theorem. Particularly, we present complete proofs of the nontrivial assumptions made in his paper.

math.NT↗
arXiv2021

A Direct Proof of the Prime Number Theorem using Riemann's Prime-counting Function

In this paper, we develop a novel analytic method to prove the prime number theorem in de la Vallée Poussin's form: $$ π(x)=\operatorname{li}(x)+\mathcal O(xe^{-c\sqrt{\log x}}) $$ Instead of performing asymptotic expansion on Chebyshev functions as in conventional analytic methods, this new approach uses contour-integration method to analyze Riemann's prime counting function $J(x)$, which only differs from $π(x)$ by $\mathcal O(\sqrt x/\log x)$.

math.NT↗
arXiv2020

Do Noises Bother Human and Neural Networks In the Same Way? A Medical Image Analysis Perspective

Deep learning had already demonstrated its power in medical images, including denoising, classification, segmentation, etc. All these applications are proposed to automatically analyze medical images beforehand, which brings more information to radiologists during clinical assessment for accuracy improvement. Recently, many medical denoising methods had shown their significant artifact reduction result and noise removal both quantitatively and qualitatively. However, those existing methods are developed around human-vision, i.e., they are designed to minimize the noise effect that can be perceived by human eyes. In this paper, we introduce an application-guided denoising framework, which focuses on denoising for the following neural networks. In our experiments, we apply the proposed framework to different datasets, models, and use cases. Experimental results show that our proposed framework can achieve a better result than human-vision denoising network.

eess.IV↗