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Researcher profile

Bo Cheng

Bo Cheng contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
eess.SYSystems and ControlRoboticsComputation and LanguageMachine LearningArtificial IntelligenceComputer VisionCryptography and Securitymath.OCphysics.med-ph

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Published work

11 published item(s)

preprint2026arXiv

RevealLayer: Disentangling Hidden and Visible Layers via Occlusion-Aware Image Decomposition

Recent diffusion-based approaches have made substantial progress in image layer decomposition. However, accurately decomposing complex natural images remains challenging due to difficulties in occlusion completion, robust layer disentanglement, and precise foreground boundaries. Moreover, the scarcity of high-quality multi-layer natural image datasets limits advancement. To address these challenges, we propose RevealLayer, a diffusion-based framework that decomposes an RGB image into multiple RGBA layers, enabling precise layer separation and reliable recovery of occluded content in natural images. RevealLayer incorporates three key components: (1) a Region-Aware Attention module to disentangle hidden and visible layers; (2) an Occlusion-Guided Adapter to leverage contextual information to enhance overlapping regions; and (3) a composite loss to enforce sharp alpha boundaries and suppress residual artifacts. To support training and evaluation, we introduce RevealLayer-100K, a high-quality multi-layer natural image constructed through a collaboration between automated algorithms and human annotation, and further establish RevealLayerBench for benchmarking layer decomposition in general natural scenes. Extensive experiments demonstrate that RevealLayer consistently outperforms existing approaches in layer decomposition.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Adaptive dynamic programming for nonaffine nonlinear optimal control problem with state constraints

This paper presents a constrained adaptive dynamic programming (CADP) algorithm to solve general nonlinear nonaffine optimal control problems with known dynamics. Unlike previous ADP algorithms, it can directly deal with problems with state constraints. Firstly, a constrained generalized policy iteration (CGPI) framework is developed to handle state constraints by transforming the traditional policy improvement process into a constrained policy optimization problem. Next, we propose an actor-critic variant of CGPI, called CADP, in which both policy and value functions are approximated by multi-layer neural networks to directly map the system states to control inputs and value function, respectively. CADP linearizes the constrained optimization problem locally into a quadratically constrained linear programming problem, and then obtains the optimal update of the policy network by solving its dual problem. A trust region constraint is added to prevent excessive policy update, thus ensuring linearization accuracy. We determine the feasibility of the policy optimization problem by calculating the minimum trust region boundary and update the policy using two recovery rules when infeasible. The vehicle control problem in the path-tracking task is used to demonstrate the effectiveness of this proposed method.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Analyzing Modality Robustness in Multimodal Sentiment Analysis

Building robust multimodal models are crucial for achieving reliable deployment in the wild. Despite its importance, less attention has been paid to identifying and improving the robustness of Multimodal Sentiment Analysis (MSA) models. In this work, we hope to address that by (i) Proposing simple diagnostic checks for modality robustness in a trained multimodal model. Using these checks, we find MSA models to be highly sensitive to a single modality, which creates issues in their robustness; (ii) We analyze well-known robust training strategies to alleviate the issues. Critically, we observe that robustness can be achieved without compromising on the original performance. We hope our extensive study-performed across five models and two benchmark datasets-and proposed procedures would make robustness an integral component in MSA research. Our diagnostic checks and robust training solutions are simple to implement and available at https://github. com/declare-lab/MSA-Robustness.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Exploring Entity Interactions for Few-Shot Relation Learning (Student Abstract)

Few-shot relation learning refers to infer facts for relations with a limited number of observed triples. Existing metric-learning methods for this problem mostly neglect entity interactions within and between triples. In this paper, we explore this kind of fine-grained semantic meanings and propose our model TransAM. Specifically, we serialize reference entities and query entities into sequence and apply transformer structure with local-global attention to capture both intra- and inter-triple entity interactions. Experiments on two public benchmark datasets NELL-One and Wiki-One with 1-shot setting prove the effectiveness of TransAM.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Fixed-Dimensional and Permutation Invariant State Representation of Autonomous Driving

In this paper, we propose a new state representation method, called encoding sum and concatenation (ESC), for the state representation of decision-making in autonomous driving. Unlike existing state representation methods, ESC is applicable to a variable number of surrounding vehicles and eliminates the need for manually pre-designed sorting rules, leading to higher representation ability and generality. The proposed ESC method introduces a representation neural network (NN) to encode each surrounding vehicle into an encoding vector, and then adds these vectors to obtain the representation vector of the set of surrounding vehicles. By concatenating the set representation with other variables, such as indicators of the ego vehicle and road, we realize the fixed-dimensional and permutation invariant state representation. This paper has further proved that the proposed ESC method can realize the injective representation if the output dimension of the representation NN is greater than the number of variables of all surrounding vehicles. This means that by taking the ESC representation as policy inputs, we can find the nearly optimal representation NN and policy NN by simultaneously optimizing them using gradient-based updating. Experiments demonstrate that compared with the fixed-permutation representation method, the proposed method improves the representation ability of the surrounding vehicles, and the corresponding approximation error is reduced by 62.2%.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Optimal Inverted Landing in a Small Aerial Robot with Varied Approach Velocities and Landing Gear Designs

Inverted landing is a challenging feat to perform in aerial robots, especially without external positioning. However, it is routinely performed by biological fliers such as bees, flies, and bats. Our previous observations of landing behaviors in flies suggest an open-loop causal relationship between their putative visual cues and the kinematics of the aerial maneuvers executed. For example, the degree of rotational maneuver (the amount of body inversion prior to touchdown) and the amount of leg-assisted body swing both depend on the flies' initial body states while approaching the ceiling. In this work, inspired by the inverted landing behavior of flies, we used a physics-based simulation with experimental validation to systematically investigate how optimized inverted landing maneuvers depend on the initial approach velocities with varied magnitude and direction. This was done by analyzing the putative visual cues (that can be derived from onboard measurements) during optimal maneuvering trajectories. We identified a three-dimensional policy region, from which a mapping to a global inverted landing policy can be developed without the use of external positioning data. Through simulation, we also investigated the effects of an array of landing gear designs on the optimized landing performance and identified their advantages and disadvantages. The above results have been partially validated using limited experimental testing and will continue to inform and guide our future experiments, for example by applying the calculated global policy.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Recurrent Model Predictive Control: Learning an Explicit Recurrent Controller for Nonlinear Systems

This paper proposes an offline control algorithm, called Recurrent Model Predictive Control (RMPC), to solve large-scale nonlinear finite-horizon optimal control problems. It can be regarded as an explicit solver of traditional Model Predictive Control (MPC) algorithms, which can adaptively select appropriate model prediction horizon according to current computing resources, so as to improve the policy performance. Our algorithm employs a recurrent function to approximate the optimal policy, which maps the system states and reference values directly to the control inputs. The output of the learned policy network after N recurrent cycles corresponds to the nearly optimal solution of N-step MPC. A policy optimization objective is designed by decomposing the MPC cost function according to the Bellman's principle of optimality. The optimal recurrent policy can be obtained by directly minimizing the designed objective function, which is applicable for general nonlinear and non input-affine systems. Both simulation-based and real-robot path-tracking tasks are utilized to demonstrate the effectiveness of the proposed method.

0 citations0 reviewsNo code linkedOpen access
preprint2021arXiv

Development of a GPU-accelerated Monte Carlo dose calculation module for nuclear medicine, ARCHER-NM: Demonstration for a PET/CT imaging procedure

This paper describes the development and validation of a Monte Carlo (MC) dose computing module dedicated to organ dose calculations of patients undergoing nuclear medicine (NM) internal radiation exposures involving 18F-FDG PET/CT examination. This new module extends the more-than-10-years-long ARCHER project that developed a GPU-accelerated MC dose engine by adding dedicated NM source-definition features. To validate the code, we compared dose distributions from the 0.511-MeV point photon source calculated for a water phantom as well as a patient PET/CT phantom against a well-tested MC code, GATE. The water-phantom results show excellent agreement, suggesting that the radiation physics module in the new NM code is adequate. To demonstrate the clinical utility and advantage of ARCHER-NM, one set of PET/CT data for an adult male NM patient is calculated using the new code. Radiosensitive organs in the CT dataset are segmented using a CNN-based tool called DeepViewer. The PET image intensity maps are converted to radioactivity distributions to allow for MC radiation transport dose calculations at the voxel level. The dose rate maps and corresponding statistical uncertainties were calculated for the duration of PET image acquisition. The dose rate results of the 18F-FDG PET imaging patient show that ARCHER-NM's results agree very well with those of the GATE within 0.58% to 4.11%. Most impressively, ARCHER-NM obtains such results in less than 0.5 minutes while it takes GATE as much as 376 minutes. This is the first study presenting GPU-accelerated patient-specific MC internal radiation dose rate calculations for clinically realistic 18F-FDG PET/CT imaging cases involving auto-segmentation of whole-body PET/CT images. This study suggests that modern computing tools -- ARCHER-NM and DeepViewer -- are accurate and fast enough for routine internal dosimetry in NM clinics.

0 citations0 reviewsNo code linkedOpen access
preprint2021arXiv

Recurrent Model Predictive Control

This paper proposes an off-line algorithm, called Recurrent Model Predictive Control (RMPC), to solve general nonlinear finite-horizon optimal control problems. Unlike traditional Model Predictive Control (MPC) algorithms, it can make full use of the current computing resources and adaptively select the longest model prediction horizon. Our algorithm employs a recurrent function to approximate the optimal policy, which maps the system states and reference values directly to the control inputs. The number of prediction steps is equal to the number of recurrent cycles of the learned policy function. With an arbitrary initial policy function, the proposed RMPC algorithm can converge to the optimal policy by directly minimizing the designed loss function. We further prove the convergence and optimality of the RMPC algorithm thorough Bellman optimality principle, and demonstrate its generality and efficiency using two numerical examples.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Mixed Reinforcement Learning with Additive Stochastic Uncertainty

Reinforcement learning (RL) methods often rely on massive exploration data to search optimal policies, and suffer from poor sampling efficiency. This paper presents a mixed reinforcement learning (mixed RL) algorithm by simultaneously using dual representations of environmental dynamics to search the optimal policy with the purpose of improving both learning accuracy and training speed. The dual representations indicate the environmental model and the state-action data: the former can accelerate the learning process of RL, while its inherent model uncertainty generally leads to worse policy accuracy than the latter, which comes from direct measurements of states and actions. In the framework design of the mixed RL, the compensation of the additive stochastic model uncertainty is embedded inside the policy iteration RL framework by using explored state-action data via iterative Bayesian estimator (IBE). The optimal policy is then computed in an iterative way by alternating between policy evaluation (PEV) and policy improvement (PIM). The convergence of the mixed RL is proved using the Bellman's principle of optimality, and the recursive stability of the generated policy is proved via the Lyapunov's direct method. The effectiveness of the mixed RL is demonstrated by a typical optimal control problem of stochastic non-affine nonlinear systems (i.e., double lane change task with an automated vehicle).

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

MobiGyges: A mobile hidden volume for preventing data loss, improving storage utilization, and avoiding device reboot

Sensitive data protection is essential for mobile users. Plausibly Deniable Encryption (PDE) systems provide an effective manner to protect sensitive data by hiding them on the device. However, existing PDE systems can lose data due to overriding the hidden volume, waste physical storage because of the reserved area used for avoiding data loss, and require device reboot when using the hidden volume. This paper presents MobiGyges, a hidden volume-based mobile PDE system, to fill the gap. MobiGyges addresses the problem of data loss by restricting each storage block used only by one volume, and it improves storage utilization by eliminating the reserved area. MobiGyges can also avoid device reboot by mounting the hidden volume dynamically on-demand with the Dynamic Mounting service. Moreover, we identify two novel PDE oriented attacks, the capacity comparison attack and the fill-to-full attack. MobiGyges can defend them by jointly leveraging the Shrunk U-disk method and multi-level deniability. We implement the MobiGyges proof-of-concept system on a real mobile phone Google Nexus 6P with LineageOS 13. Experimental results show that MobiGyges prevents data loss, avoids device reboot, improves storage utilization by over 30% with acceptable performance overhead compared with current works.

0 citations0 reviewsNo code linkedOpen access