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arXiv 2024年

作者： Li, Siyu Lin, Jiacheng Shi, Hao Zhang, Jiaming Wang, Song Yao, You Li, Zhiyong Yang, Kailun The School of Robotics The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China The College of Computer Science and Electronic Engineering Hunan University Changsha410082 China The State Key Laboratory of Extreme Photonics and Instrumentation The National Engineering Research Center of Optical Instrumentation Zhejiang University Hangzhou310027 China The Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe76131 Germany The College of Computer Science Zhejiang University Hangzhou310027 China The USC Viterbi School of Engineering The University of Southern California Los AngelesCA90089 United States

Temporal information plays a pivotal role in Bird’s-Eye-View (BEV) driving scene understanding, which can alleviate the visual information sparsity. However, the indiscriminate temporal fusion method will cause the barrier of feature redundancy when constructing vectorized High-Definition (HD) maps. In this paper, we revisit the temporal fusion of vectorized HD maps, focusing on temporal instance consistency and temporal map consistency learning. To improve the representation of instances in single-frame maps, we introduce a novel method, DTCLMapper. This approach uses a dual-stream temporal consistency learning module that combines instance embedding with geometry maps. In the instance embedding component, our approach integrates temporal Instance Consistency Learning (ICL), ensuring consistency from vector points and instance features aggregated from points. A vectorized points pre-selection module is employed to enhance the regression efficiency of vector points from each instance. Then aggregated instance features obtained from the vectorized points preselection module are grounded in contrastive learning to realize temporal consistency, where positive and negative samples are selected based on position and semantic information. The geometry mapping component introduces Map Consistency Learning (MCL) designed with self-supervised learning. The MCL enhances the generalization capability of our consistent learning approach by concentrating on the global location and distribution constraints of the instances. Extensive experiments on well-recognized benchmarks indicate that the proposed DTCLMapper achieves state-of-the-art performance in vectorized mapping tasks, reaching 61.9% and 65.1% mAP scores on the nuScenes and Argoverse datasets, respectively. The source code is available at https://***/lynn-yu/DTCLMapper. Copyright © 2024, The Authors. All rights reserved.

关键词： Contrastive Learning

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GenMapping: Unleashing the Potential of Inverse Perspective Mapping for Robust Online HD Map Construction

arXiv

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arXiv 2024年

作者： Li, Siyu Yang, Kailun Shi, Hao Wang, Song Yao, You Li, Zhiyong The School of Robotics The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China The State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University Hangzhou310027 China The College of Computer Science Zhejiang University Hangzhou310027 China Shanghai Supremind Technology Company Ltd. Shanghai201210 China The USC Viterbi School of Engineering The University of Southern California Los AngelesCA90089 United States

Online High-Definition (HD) maps have emerged as the preferred option for autonomous driving, overshadowing the counterpart offline HD maps due to flexible update capability and lower maintenance costs. However, contemporary online HD map models embed parameters of visual sensors into training, resulting in a significant decrease in generalization performance when applied to visual sensors with different parameters. Inspired by the inherent potential of Inverse Perspective Mapping (IPM), where camera parameters are decoupled from the training process, we have designed a universal map generation framework, GenMapping. The framework is established with a triadic synergy architecture, including principal and dual auxiliary branches. When faced with a coarse road image with local distortion translated via IPM, the principal branch learns robust global features under the state space models. The two auxiliary branches are a dense perspective branch and a sparse prior branch. The former exploits the correlation information between static and moving objects, whereas the latter introduces the prior knowledge of OpenStreetMap (OSM). The triple-enhanced merging module is crafted to synergistically integrate the unique spatial features from all three branches. To further improve generalization capabilities, a Cross-View Map Learning (CVML) scheme is leveraged to realize joint learning within the common space. Additionally, a Bidirectional Data Augmentation (BiDA) module is introduced to mitigate reliance on datasets concurrently. A thorough array of experimental results shows that the proposed model surpasses current state-of-the-art methods in both semantic mapping and vectorized mapping, while also maintaining a rapid inference speed. Moreover, in cross-dataset experiments, the generalization of semantic mapping is improved by 17.3% in mIoU, while vectorized mapping is improved by 12.1% in mAP. The source code will be publicly available at https://***/lynn-yu/GenMappin

关键词： Photomapping

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Tensor Based Sparse Estimation for RIS-Aided Massive MIMO

Tensor Based Sparse Estimation for RIS-Aided Massive MIMO

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International Conference on Communication Technology (ICCT)

作者： Weilai Li Li Wei Chongwen Huang Jun Yang Chau Yuen Zhaoyang Zhang School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta US State Key Laboratory of Integrated Service Networks Xidian University Xi'an China School of Electrical and Electronics Engineering Nanyang Technological University Singapore College of Information Science and Electronic Engineering Zhejiang University Hangzhou China State Key Laboratory of Mobile Network and Mobile Multimedia Technology ZTE Corporation Shenzhen China

Reconfigurable intelligent surface (RIS) is intended as a potential technique for future 6-th Generation wireless communication system. However, acquiring accurate channel state information is challenging since the channel matrices are high-dimensional due to large number of reflective elements (REs) in RIS. In this paper, we investigate the problem of sparse channel estimation (CE) in massive multiple-input multiple-output (MIMO) system equipped with large RIS (IRIS), where there are only few REs that are active during CE phase. We propose a two-stage tensor based CE algorithm that exploits the merits of IRIS. Specifically, IRIS act as reflector in the first stage of CE. Then, we identify the condition for the IRIS to activate few specified REs in the second stage. Simulation results demonstrate that the proposed algorithm outperforms existing CE schemes.

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Balanced Multi-view Clustering

arXiv

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arXiv 2025年

作者： Li, Zhenglai Wang, Jun Tang, Chang Zhu, Xinzhong Zhang, Wei Liu, Xinwang Faculty of data science City University of Macau 999078 China School of computer National University of Defense Technology Changsha410073 China School of computer China University of Geosciences Wuhan430074 China College of Mathematics Physics and Information Engineering Zhejiang Normal University Jinhua China Research Institute of Ningbo Cixing Co. Ltd Ningbo China Qilu University of Technology Shandong Academy of Sciences China Shandong Provincial Key Laboratory of Computing Power Internet and Service Computing Shandong Fundamental Research Center for Computer Science Jinan250000 China

Multi-view clustering (MvC) aims to integrate information from different views to enhance the capability of the model in capturing the underlying data structures. The widely used joint training paradigm in MvC is potentially not fully leverage the multi-view information, since the imbalanced and under-optimized view-specific features caused by the uniform learning objective for all views. For instance, particular views with more discriminative information could dominate the learning process in the joint training paradigm, leading to other views being under-optimized. To alleviate this issue, we first analyze the imbalanced phenomenon in the joint-training paradigm of multi-view clustering from the perspective of gradient descent for each view-specific feature extractor. Then, we propose a novel balanced multi-view clustering (BMvC) method, which introduces a view-specific contrastive regularization (VCR) to modulate the optimization of each view. Concretely, VCR preserves the sample similarities captured from the joint features and view-specific ones into the clustering distributions corresponding to view-specific features to enhance the learning process of view-specific feature extractors. Additionally, a theoretical analysis is provided to illustrate that VCR adaptively modulates the magnitudes of gradients for updating the parameters of view-specific feature extractors to achieve a balanced multi-view learning procedure. In such a manner, BMvC achieves a better trade-off between the exploitation of view-specific patterns and the exploration of view-invariance patterns to fully learn the multi-view information for the clustering task. Finally, a set of experiments are conducted to verify the superiority of the proposed method compared with state-of-the-art approaches on eight benchmark MvC datasets. The demo code of this work is publicly available at https://***/guanyuezhen/BMvC. Copyright © 2025, The Authors. All rights reserved.

关键词： Contrastive Learning

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Short-Term Load Forecasting with TDCI: Temporal Decomposition and Channel Independence

Short-Term Load Forecasting with TDCI: Temporal Decompositio...

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2023 7th International Conference on Electrical, Mechanical and computer Engineering (ICEMCE)

作者： Wenxue Li Chi Cheng Peihua Xu Renfeng Liu Yun Zhang Huabing Zhou College of Computer Science and Engineering Wuhan Institute of Technology Wuhan Hubei Prov. China Hubei Provincial Key Laboratory of Intelligent Robot Wuhan Institute of Technology Wuhan Hubei Prov. China Hubei Meteorological Service Center Wuhan China Faculty of Artificial Intelligence Education School of Educational Information Technology Central China Normal University Wuhan China School of Mathematics and Computer Science Wuhan Polytechnic University Wuhan China

Given the substantial load fluctuations, pronounced stochasticity, and non-linearity influenced by factors like weather and temperature in power load forecasting, we present a short-term load forecasting model based on TDCI. This model introduces several enhancements to boost forecasting accuracy. Firstly, TDCI employs temporal decomposition, separating time-series data into seasonal and trend components, enabling the capture of inherent seasonal patterns and long-term trends that significantly impact load forecasting accuracy. Additionally, the incorporation of locality-sensitive hashing attention efficiently processes relevant temporal patterns, enhancing model performance while reducing computational complexity. Lastly, a channel independence approach is applied to each variable, allowing tailored processing based on individual feature characteristics. This adaptive feature handling ensures effective capture of distinct properties, thereby enhancing forecasting accuracy. Experimental evaluations on a real-world power load dataset demonstrate the superior forecasting precision of our proposed model compared to existing models.

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Hashing Beam Training for Integrated Ground-Air-Space Wireless Networks

arXiv

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arXiv 2024年

作者： Xu, Yuan Huang, Chongwen Wei, Li Yang, Zhaohui Al Hammadi, Ahmed Yang, Jun Zhang, Zhaoyang Yuen, Chau Debbah, Mérouane College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China The State Key Laboratory of Integrated Service Networks Xidian University Xi’an710071 China Hangzhou310027 China The College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China The School of Electrical and Electronics Engineering Nanyang Technological University Singapore639798 Singapore The Technology Innovation Institute 9639 Masdar City Abu Dhabi United Arab Emirates The State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518055 China Wireless Product R&D Institute ZTE Corporation Shenzhen518057 China Department of Electrical Engineering and Computer Science the KU 6G Center Khalifa University Abu Dhabi127788 United Arab Emirates

In integrated ground-air-space (IGAS) wireless networks, numerous services require sensing knowledge including location, angle, distance information, etc., which usually can be acquired during the beam training stage. On the other hand, IGAS networks employ large-scale antenna arrays to mitigate obstacle occlusion and path loss. However, large-scale arrays generate pencil-shaped beams, which necessitate a higher number of training beams to cover the desired space. These factors motivate our investigation into the IGAS beam training problem to achieve effective sensing services. To address the high complexity and low identification accuracy of existing beam training techniques, we propose an efficient hashing multi-arm beam (HMB) training scheme. Specifically, we first construct an IGAS single-beam training codebook for the uniform planar arrays. Then, the hash functions are chosen independently to construct the multi-arm beam training codebooks for each AP. All APs traverse the predefined multi-arm beam training codeword simultaneously and the multi-AP superimposed signals at the user are recorded. Finally, the soft decision and voting methods are applied to obtain the correctly aligned beams only based on the signal powers. In addition, we logically prove that the traversal complexity is at the logarithmic level. Simulation results show that our proposed IGAS HMB training method can achieve 96.4% identification accuracy of the exhaustive beam training method and greatly reduce the training overhead. Copyright © 2024, The Authors. All rights reserved.

关键词： Antenna grounds

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Cross-modal image retrieval with deep mutual information maximization

arXiv

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arXiv 2021年

作者： Gu, Chunbin Bu, Jiajun Zhou, Xixi Yao, Chengwei Ma, Dongfang Yu, Zhi Yan, Xifeng Zhejiang Provincial Key Laboratory of Service Robot College of Computer Science Zhejiang University Hangzhou310007 China Institute of Marine Sensing and Networking Zhejiang University Hangzhou310058 China Alibaba-Zhejiang University Joint Institute of Frontier Technologies Hangzhou310007 China MOE Key Laboratory of Machine Perception Beijing100871 China Key Laboratory of Ocean Observation-Imaging Testbed of Zhejiang Province Zhejiang University Zhoushan316021 China Department of Computer Science University of California Santa BarbaraCA93106 United States

In this paper, we study the cross-modal image retrieval, where the inputs contain a source image plus some text that describes certain modifications to this image and the desired image. Prior work usually uses a three-stage strategy to tackle this task: 1) extract the features of the inputs;2) fuse the feature of the source image and its modified text to obtain fusion feature;3) learn a similarity metric between the desired image and the source image + modified text by using deep metric learning. Since classical image/text encoders can learn the useful representation and common pair-based loss functions of distance metric learning are enough for cross-modal retrieval, people usually improve retrieval accuracy by designing new fusion networks. However, these methods do not successfully handle the modality gap caused by the inconsistent distribution and representation of the features of different modalities, which greatly influences the feature fusion and the similarity learning. To alleviate this problem, we adopt the contrastive self-supervised learning method Deep InforMax (DIM) [1] to our approach to bridge this gap by enhancing the dependence between the text, the image, and their fusion. Specifically, our method narrows the modality gap between the text modality and the image modality by maximizing mutual information between their not exactly semantically identical representation. Moreover, we seek an effective common subspace for the semantically same fusion feature and desired image’s feature by utilizing Deep InforMax between the low-level layer of the image encoder and the high-level layer of the fusion network. Extensive experiments on three large-scale benchmark datasets show that we have bridged the modality gap between different modalities and achieve state-of-the-art retrieval performance. Copyright © 2021, The Authors. All rights reserved.

关键词： Deep learning

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Study of Helicopter Optimal Autorotation Landing Procedure in Tail Rotor Drive Failure

Study of Helicopter Optimal Autorotation Landing Procedure i...

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IEEE International Conference on robotics and Biomimetics

作者： Xufei Yan Renliang Chen Shiqiang Zhu Anhuan Xie Jason Gu Research Center for Intelligent Robotics Zhejiang Lab Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China National Key Laboratory of Science and Technology on Rotorcraft Aeromechanics College of Aeronautics Nanjing University of Aeronautics and Astronautics Nanjing Jiangsu China Intelligent Robot Research Center Zhejiang Lab Hangzhou Zhejiang China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

ISBN: (纸本)9781665481106

This paper investigates the optimal landing trajectory and control procedure when a helicopter undergoes autorotation due to tail rotor drive failure (TRDF), in which an optimal control methodology is proposed. First, a helicopter flight dynamics model with TRDF was developed. Then, the autorotation in TRDF was converted to be a nonlinear optimal control problem, solved by direct node collocation method and sequential quadratic programming algorithm. Finally, a model helicopter (Z11) with single main rotor and tail rotor was used to demonstrate the proposed approach. An optimal autorotation landing procedure in TRDF was determined accordingly. Results indicate that the airframe will immediately respond to the excess torque generated by the main rotor via yawing, sideslip and rolling when TRDF occurs. The pilot is recommended to shut down the engine and perform a series of critical operations to stabilize the violent yaw and roll movements. In addition, flight test data were used to validate the numerical simulations of autorotation landing. The proposed optimal control approach provides a useful tool to investigate helicopter TRDF autorotation landing procedure.

关键词： Torque Biological system modeling Helicopters Rotors Optimal control Tail Numerical simulation

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Optimal Landing of Tilt-rotor Aircraft after Engine Failure Considering Pilot Inherent Limitations

Optimal Landing of Tilt-rotor Aircraft after Engine Failure ...

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IEEE International Conference on robotics and Biomimetics

作者： Xufei Yan Renliang Chen Shiqiang Zhu Anhuan Xie Jason Gu Research Center for Intelligent Robotics Zhejiang Lab Hangzhou 311100 China. Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China National Key Laboratory of Science and Technology on Rotorcraft Aeromechanics College of Aeronautics Nanjing University of Aeronautics and Astronautics Nanjing Jiangsu China Intelligent Robot Research Center Zhejiang Lab Hangzhou Zhejiang China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

ISBN: (纸本)9781665481106

An augmented longitudinal rigid-body model is developed with a set of algebra equations describing the controls in the cockpit and the differential equations describing the pilot inherent limitations. The landing procedure after one engine failure is formulated into a nonlinear optimal control problem. XV-15 tilt-rotor aircraft is taken as the sample for the demonstration of landing in one engine failure during short takeoff. The results show that the total power required, thrust coefficient, longitudinal flapping angle and optimal controls are more relatively gentle than the solutions without considering the pilot inherent limitations. Compared with the basic longitudinal rigid-body model, the optimal solutions involve more control information.

关键词： Atmospheric modeling Optimal control Rotors Mathematical models History Aircraft propulsion Aircraft

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Low-Complexity Beam Training for Multi-RIS-Assisted Multi-User Communications

arXiv

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arXiv 2024年

作者： Xu, Yuan Huang, Chongwen Wei, Li Yang, Zhaohui Chen, Xiaoming Zhang, Zhaoyang Yuen, Chau Debbah, Mérouane College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China The State Key Laboratory of Integrated Service Networks Xidian University Xi’an710071 China Hangzhou310027 China The School of Electrical and Electronics Engineering Nanyang Technological University Singapore639798 Singapore The Department of Electrical Engineering and Computer Science the KU 6G Center Khalifa University Abu Dhabi127788 United Arab Emirates CentraleSupelec University Paris-Saclay Gif-sur-Yvette91192 France

In this paper, we investigate the beam training problem in the multi-user millimeter wave (mmWave) communication system, where multiple reconfigurable intelligent surfaces (RISs) are deployed to improve the coverage and the achievable rate. However, existing beam training techniques in mmWave systems suffer from high complexity (i.e., exponential order) and low identification accuracy. To address these problems, we propose a novel hashing multi-arm beam (HMB) training scheme that reduces the training complexity to the logarithmic order with the high accuracy. Specifically, we first design a generation mechanism for HMB codebooks. Then, we propose a demultiplexing algorithm based on the soft decision to distinguish signals from different RIS reflective links. Finally, we utilize a multi-round voting mechanism to align the beams. Simulation results show that the proposed HMB training scheme enables simultaneous training for multiple RISs and multiple users, and reduces the beam training overhead to the logarithmic level. Moreover, it also shows that our proposed scheme can significantly improve the identification accuracy by at least 20% compared to the existing beam training techniques. Copyright © 2024, The Authors. All rights reserved.

关键词： Millimeter waves

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