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Published work

57 published item(s)

preprint2026arXiv

Beyond Distribution Estimation: Simplex Anchored Structural Inference Towards Universal Semi-Supervised Learning

Semi-supervised learning faces significant challenges in realistic scenarios where labeled data is scarce and unlabeled data follows unknown, arbitrary distributions. We formalize this critical yet under-explored paradigm as Universal Semi-supervised Learning (UniSSL). Existing methods typically leverage unlabeled data via pseudo-labeling. However, they often rely on the idealized assumption of a uniform unlabeled data distribution or require sufficient labeled data to estimate it. In the UniSSL setting, such dependencies lead to numerous erroneous pseudo-labels, thereby triggering representation confusion. Fortunately, we observe that inter-sample relations captured by representations are more reliable than pseudo-labels. Leveraging this insight, we shift our focus to representation-level structural inference to bypass distribution estimation. Accordingly, we propose Simplex Anchored Graph-state Equipartition (SAGE), which captures high-order inter-sample dependencies to establish structural consensus for guiding representation learning. Meanwhile, to mitigate representation confusion, we employ vectors that satisfy a simplex equiangular tight frame to serve as a coordinate frame for guiding inter-class representation separation. Finally, we introduce a weighting strategy based on distribution-agnostic metrics to prioritize reliable pseudo-labels and an auxiliary branch to isolate potentially erroneous pseudo-labels. Evaluations on five standard benchmarks show that SAGE consistently outperforms state-of-the-art methods, with an average accuracy gain of $\textbf{8.52%}$.

preprint2024arXiv

Mixture cure semiparametric additive hazard models under partly interval censoring -- a penalized likelihood approach

Survival analysis can sometimes involve individuals who will not experience the event of interest, forming what is known as the cured group. Identifying such individuals is not always possible beforehand, as they provide only right-censored data. Ignoring the presence of the cured group can introduce bias in the final model. This paper presents a method for estimating a semiparametric additive hazards model that accounts for the cured fraction. Unlike regression coefficients in a hazard ratio model, those in an additive hazard model measure hazard differences. The proposed method uses a primal-dual interior point algorithm to obtain constrained maximum penalized likelihood estimates of the model parameters, including the regression coefficients and the baseline hazard, subject to certain non-negativity constraints.

preprint2024arXiv

The origin of High-velocity stars considering the impact of the Large Magellanic Cloud

Utilizing astrometric parameters sourced from \textit{Gaia} Data Release 3 and radial velocities obtained from various spectroscopic surveys, we identify 519 high-velocity stars (HiVels) with a total velocity in the Galactocentric restframe greater than 70\% of their local escape velocity under the {\tt\string Gala} {\tt\string MilkyWayPotential}. Our analysis reveals that the majority of these HiVels are metal-poor late-type giants, and we show 9 HiVels that are unbound candidates to the Galaxy with escape probabilities of 50\%. To investigate the origins of these HiVels, we classify them into four categories and consider the impact of the Large Magellanic Cloud (LMC) potential on their backward-integration trajectories. Specifically, we find that one of the HiVels can track back to the Galactic Center, and three HiVels may originate from the Sagittarius dwarf spheroidal galaxy (Sgr dSph). Furthermore, some HiVels appear to be ejected from the Galactic disk, while others formed within the Milky Way or have an extragalactic origin. Given that the LMC has a significant impact on the orbits of Sgr dSph, we examine the reported HiVels that originate from the Sgr dSph, with a few of them passing within the half-light radius of the Sgr dSph.

preprint2023arXiv

Decentralized iLQR for Cooperative Trajectory Planning of Connected Autonomous Vehicles via Dual Consensus ADMM

Developments in cooperative trajectory planning of connected autonomous vehicles (CAVs) have gathered considerable momentum and research attention. Generally, such problems present strong non-linearity and non-convexity, rendering great difficulties in finding the optimal solution. Existing methods typically suffer from low computational efficiency, and this hinders the appropriate applications in large-scale scenarios involving an increasing number of vehicles. To tackle this problem, we propose a novel decentralized iterative linear quadratic regulator (iLQR) algorithm by leveraging the dual consensus alternating direction method of multipliers (ADMM). First, the original non-convex optimization problem is reformulated into a series of convex optimization problems through iterative neighbourhood approximation. Then, the dual of each convex optimization problem is shown to have a consensus structure, which facilitates the use of consensus ADMM to solve for the dual solution in a fully decentralized and parallel architecture. Finally, the primal solution corresponding to the trajectory of each vehicle is recovered by solving a linear quadratic regulator (LQR) problem iteratively, and a novel trajectory update strategy is proposed to ensure the dynamic feasibility of vehicles. With the proposed development, the computation burden is significantly alleviated such that real-time performance is attainable. Two traffic scenarios are presented to validate the proposed algorithm, and thorough comparisons between our proposed method and baseline methods (including centralized iLQR, IPOPT, and SQP) are conducted to demonstrate the scalability of the proposed approach.

preprint2022arXiv

60 candidate high-velocity stars originating from the Sagittarius dwarf spheroidal galaxy in Gaia EDR3

Using proper motions from Gaia Early Data Release 3 (Gaia EDR 3) and radial velocities from several surveys, we identify 60 candidate high-velocity stars with total velocity greater than 75\% escape velocity that probably origin from Sagittarius dwarf spheroidal galaxy (Sgr) by orbital analysis. Sgr's gravity has little effect on the results and the Large Magellanic Cloud's gravity has non-negligible effect on only a few stars. The closest approach of these stars to the Sgr occurs when the Sgr passed its pericenter ($\sim$ 38.2 Myr ago), which suggest they were tidally stripped from the Sgr. The positions of these stars in the HR diagram and the chemical properties of 19 of them with available [Fe/H] are similar with the Sgr stream member stars. This is consistent with the assumption of their accretion origin. Two of the 60 are hypervelocity stars, which may also be produced by Hills mechanism.

preprint2022arXiv

A Context-Aware Approach for Textual Adversarial Attack through Probability Difference Guided Beam Search

Textual adversarial attacks expose the vulnerabilities of text classifiers and can be used to improve their robustness. Existing context-aware methods solely consider the gold label probability and use the greedy search when searching an attack path, often limiting the attack efficiency. To tackle these issues, we propose PDBS, a context-aware textual adversarial attack model using Probability Difference guided Beam Search. The probability difference is an overall consideration of all class label probabilities, and PDBS uses it to guide the selection of attack paths. In addition, PDBS uses the beam search to find a successful attack path, thus avoiding suffering from limited search space. Extensive experiments and human evaluation demonstrate that PDBS outperforms previous best models in a series of evaluation metrics, especially bringing up to a +19.5% attack success rate. Ablation studies and qualitative analyses further confirm the efficiency of PDBS.

preprint2022arXiv

A Two-Phase Paradigm for Joint Entity-Relation Extraction

An exhaustive study has been conducted to investigate span-based models for the joint entity and relation extraction task. However, these models sample a large number of negative entities and negative relations during the model training, which are essential but result in grossly imbalanced data distributions and in turn cause suboptimal model performance. In order to address the above issues, we propose a two-phase paradigm for the span-based joint entity and relation extraction, which involves classifying the entities and relations in the first phase, and predicting the types of these entities and relations in the second phase. The two-phase paradigm enables our model to significantly reduce the data distribution gap, including the gap between negative entities and other entities, as well as the gap between negative relations and other relations. In addition, we make the first attempt at combining entity type and entity distance as global features, which has proven effective, especially for the relation extraction. Experimental results on several datasets demonstrate that the spanbased joint extraction model augmented with the two-phase paradigm and the global features consistently outperforms previous state-of-the-art span-based models for the joint extraction task, establishing a new standard benchmark. Qualitative and quantitative analyses further validate the effectiveness the proposed paradigm and the global features.

preprint2022arXiv

Alternating Direction Method of Multipliers for Constrained Iterative LQR in Autonomous Driving

In the context of autonomous driving, the iterative linear quadratic regulator (iLQR) is known to be an efficient approach to deal with the nonlinear vehicle model in motion planning problems. Particularly, the constrained iLQR algorithm has shown noteworthy advantageous outcomes of computation efficiency in achieving motion planning tasks under general constraints of different types. However, the constrained iLQR methodology requires a feasible trajectory at the first iteration as a prerequisite when the logarithmic barrier function is used. Also, the methodology leaves open the possibility for incorporation of fast, efficient, and effective optimization methods to further speed up the optimization process such that the requirements of real-time implementation can be successfully fulfilled. In this paper, a well-defined motion planning problem is formulated under nonlinear vehicle dynamics and various constraints, and an alternating direction method of multipliers (ADMM) is utilized to determine the optimal control actions leveraging the iLQR. The approach is able to circumvent the feasibility requirement of the trajectory at the first iteration. An illustrative example of motion planning for autonomous vehicles is then investigated. A noteworthy achievement of high computation efficiency is attained with the proposed development; comparing with the constrained iLQR algorithm based on the logarithmic barrier function, our proposed method reduces the average computation time by 31.93%, 38.52%, and 44.57% in the three driving scenarios; compared with the optimization solver IPOPT, our proposed method reduces the average computation time by 46.02%, 53.26%, and 88.43% in the three driving scenarios. As a result, real-time computation and implementation can be realized through our proposed framework, and thus it provides additional safety to the on-road driving tasks.

preprint2022arXiv

Boosting Span-based Joint Entity and Relation Extraction via Squence Tagging Mechanism

Span-based joint extraction simultaneously conducts named entity recognition (NER) and relation extraction (RE) in text span form. Recent studies have shown that token labels can convey crucial task-specific information and enrich token semantics. However, as far as we know, due to completely abstain from sequence tagging mechanism, all prior span-based work fails to use token label in-formation. To solve this problem, we pro-pose Sequence Tagging enhanced Span-based Network (STSN), a span-based joint extrac-tion network that is enhanced by token BIO label information derived from sequence tag-ging based NER. By stacking multiple atten-tion layers in depth, we design a deep neu-ral architecture to build STSN, and each atten-tion layer consists of three basic attention units. The deep neural architecture first learns seman-tic representations for token labels and span-based joint extraction, and then constructs in-formation interactions between them, which also realizes bidirectional information interac-tions between span-based NER and RE. Fur-thermore, we extend the BIO tagging scheme to make STSN can extract overlapping en-tity. Experiments on three benchmark datasets show that our model consistently outperforms previous optimal models by a large margin, creating new state-of-the-art results.

preprint2022arXiv

Eddy Covariance: A Scientometric Review (1981-2018)

The history of eddy covariance (EC) measuring system could be dated back to 100 years ago, but it was not until the recent decades that EC gains popularity and being widely used in global change ecological studies, with explosion of related work published in papers from various journals. Investigating 8297 literature related with EC from 1981 to 2018, we make a comprehensive and critical review of scientific development of EC from a scientometric perspective. First, the paper outlines general bibliometric statistics, including publication number, country contribution, productive institutions, active authors, journal distribution, highly cited articles and fund support, to provide an informative picture of EC studies. Second, research trends are revealed by network visualization and modeling based on keyword analysis, from where we could discover the knowledge structure of EC and detect the research focus and hotspots transitions at different periods. Third, collaboration in EC research community has been explored. FLUXNET is the largest global network uniting EC researchers, here we have quantified and evaluated its performance by using bibliometric indicators of cooperation and citation. Specific discussions have been given to the historical development of EC, including technical maturation and application promotion. Considering the current barrier for collaboration, the review closes by analyzing the reasons hindering data sharing and makes a prospect of new models for data-intensive collaboration in the future.

preprint2022arXiv

Efficient and effective training of language and graph neural network models

Can we combine heterogenous graph structure with text to learn high-quality semantic and behavioural representations? Graph neural networks (GNN)s encode numerical node attributes and graph structure to achieve impressive performance in a variety of supervised learning tasks. Current GNN approaches are challenged by textual features, which typically need to be encoded to a numerical vector before provided to the GNN that may incur some information loss. In this paper, we put forth an efficient and effective framework termed language model GNN (LM-GNN) to jointly train large-scale language models and graph neural networks. The effectiveness in our framework is achieved by applying stage-wise fine-tuning of the BERT model first with heterogenous graph information and then with a GNN model. Several system and design optimizations are proposed to enable scalable and efficient training. LM-GNN accommodates node and edge classification as well as link prediction tasks. We evaluate the LM-GNN framework in different datasets performance and showcase the effectiveness of the proposed approach. LM-GNN provides competitive results in an Amazon query-purchase-product application.

preprint2022arXiv

Existence, uniqueness and exponential ergodicity under Lyapunov conditions for McKean-Vlasov SDEs with Markovian switching

The paper is dedicated to studying the problem of existence and uniqueness of solutions as well as existence of and exponential convergence to invariant measures for McKean-Vlasov stochastic differential equations with Markovian switching. Since the coefficients are only locally Lipschitz, we need to truncate them both in space and distribution variables simultaneously to get the global existence of solutions under the Lyapunov condition. Furthermore, if the Lyapunov condition is strengthened, we establish the exponential convergence of solutions' distributions to the unique invariant measure in Wasserstein quasi-distance and total variation distance, respectively. Finally, we give two applications to illustrate our theoretical results.

preprint2022arXiv

Few-shot Named Entity Recognition with Entity-level Prototypical Network Enhanced by Dispersedly Distributed Prototypes

Few-shot named entity recognition (NER) enables us to build a NER system for a new domain using very few labeled examples. However, existing prototypical networks for this task suffer from roughly estimated label dependency and closely distributed prototypes, thus often causing misclassifications. To address the above issues, we propose EP-Net, an Entity-level Prototypical Network enhanced by dispersedly distributed prototypes. EP-Net builds entity-level prototypes and considers text spans to be candidate entities, so it no longer requires the label dependency. In addition, EP-Net trains the prototypes from scratch to distribute them dispersedly and aligns spans to prototypes in the embedding space using a space projection. Experimental results on two evaluation tasks and the Few-NERD settings demonstrate that EP-Net consistently outperforms the previous strong models in terms of overall performance. Extensive analyses further validate the effectiveness of EP-Net.

preprint2022arXiv

Identification of new M31 star cluster candidates from PAndAS images using convolutional neural networks

Context.Identification of new star cluster candidates in M31 is fundamental for the study of the M31 stellar cluster system. The machine-learning method convolutional neural network (CNN) is an efficient algorithm for searching for new M31 star cluster candidates from tens of millions of images from wide-field photometric surveys. Aims.We search for new M31 cluster candidates from the high-quality $g$- and $i$-band images of 21,245,632 sources obtained from the Pan-Andromeda Archaeological Survey (PAndAS) through a CNN. Methods.We collected confirmed M31 clusters and noncluster objects from the literature as our training sample. Accurate double-channel CNNs were constructed and trained using the training samples. We applied the CNN classification models to the PAndAS $g$- and $i$-band images of over 21 million sources to search new M31 cluster candidates. The CNN predictions were finally checked by five experienced human inspectors to obtain high-confidence M31 star cluster candidates. Results.After the inspection, we identified a catalogue of 117 new M31 cluster candidates. Most of the new candidates are young clusters that are located in the M31 disk. Their morphology, colours, and magnitudes are similar to those of the confirmed young disk clusters. We also identified eight globular cluster candidates that are located in the M31 halo and exhibit features similar to those of confirmed halo globular clusters. The projected distances to the M31 centre for three of them are larger than 100\,kpc.

preprint2022arXiv

Incremental Few-Shot Learning via Implanting and Compressing

This work focuses on tackling the challenging but realistic visual task of Incremental Few-Shot Learning (IFSL), which requires a model to continually learn novel classes from only a few examples while not forgetting the base classes on which it was pre-trained. Our study reveals that the challenges of IFSL lie in both inter-class separation and novel-class representation. Dur to intra-class variation, a novel class may implicitly leverage the knowledge from multiple base classes to construct its feature representation. Hence, simply reusing the pre-trained embedding space could lead to a scattered feature distribution and result in category confusion. To address such issues, we propose a two-step learning strategy referred to as \textbf{Im}planting and \textbf{Co}mpressing (\textbf{IMCO}), which optimizes both feature space partition and novel class reconstruction in a systematic manner. Specifically, in the \textbf{Implanting} step, we propose to mimic the data distribution of novel classes with the assistance of data-abundant base set, so that a model could learn semantically-rich features that are beneficial for discriminating between the base and other unseen classes. In the \textbf{Compressing} step, we adapt the feature extractor to precisely represent each novel class for enhancing intra-class compactness, together with a regularized parameter updating rule for preventing aggressive model updating. Finally, we demonstrate that IMCO outperforms competing baselines with a significant margin, both in image classification task and more challenging object detection task.

preprint2022arXiv

Incremental Few-Shot Object Detection for Robotics

Incremental few-shot learning is highly expected for practical robotics applications. On one hand, robot is desired to learn new tasks quickly and flexibly using only few annotated training samples; on the other hand, such new additional tasks should be learned in a continuous and incremental manner without forgetting the previous learned knowledge dramatically. In this work, we propose a novel Class-Incremental Few-Shot Object Detection (CI-FSOD) framework that enables deep object detection network to perform effective continual learning from just few-shot samples without re-accessing the previous training data. We achieve this by equipping the widely-used Faster-RCNN detector with three elegant components. Firstly, to best preserve performance on the pre-trained base classes, we propose a novel Dual-Embedding-Space (DES) architecture which decouples the representation learning of base and novel categories into different spaces. Secondly, to mitigate the catastrophic forgetting on the accumulated novel classes, we propose a Sequential Model Fusion (SMF) method, which is able to achieve long-term memory without additional storage cost. Thirdly, to promote inter-task class separation in feature space, we propose a novel regularization technique that extends the classification boundary further away from the previous classes to avoid misclassification. Overall, our framework is simple yet effective and outperforms the previous SOTA with a significant margin of 2.4 points in AP performance.

preprint2022arXiv

Knowledge-aware Neural Collective Matrix Factorization for Cross-domain Recommendation

Cross-domain recommendation (CDR) can help customers find more satisfying items in different domains. Existing CDR models mainly use common users or mapping functions as bridges between domains but have very limited exploration in fully utilizing extra knowledge across domains. In this paper, we propose to incorporate the knowledge graph (KG) for CDR, which enables items in different domains to share knowledge. To this end, we first construct a new dataset AmazonKG4CDR from the Freebase KG and a subset (two domain pairs: movies-music, movie-book) of Amazon Review Data. This new dataset facilitates linking knowledge to bridge within- and cross-domain items for CDR. Then we propose a new framework, KG-aware Neural Collective Matrix Factorization (KG-NeuCMF), leveraging KG to enrich item representations. It first learns item embeddings by graph convolutional autoencoder to capture both domain-specific and domain-general knowledge from adjacent and higher-order neighbours in the KG. Then, we maximize the mutual information between item embeddings learned from the KG and user-item matrix to establish cross-domain relationships for better CDR. Finally, we conduct extensive experiments on the newly constructed dataset and demonstrate that our model significantly outperforms the best-performing baselines.

preprint2022arXiv

Learning to Socially Navigate in Pedestrian-rich Environments with Interaction Capacity

Existing navigation policies for autonomous robots tend to focus on collision avoidance while ignoring human-robot interactions in social life. For instance, robots can pass along the corridor safer and easier if pedestrians notice them. Sounds have been considered as an efficient way to attract the attention of pedestrians, which can alleviate the freezing robot problem. In this work, we present a new deep reinforcement learning (DRL) based social navigation approach for autonomous robots to move in pedestrian-rich environments with interaction capacity. Most existing DRL based methods intend to train a general policy that outputs both navigation actions, i.e., expected robot's linear and angular velocities, and interaction actions, i.e., the beep action, in the context of reinforcement learning. Different from these methods, we intend to train the policy via both supervised learning and reinforcement learning. In specific, we first train an interaction policy in the context of supervised learning, which provides a better understanding of the social situation, then we use this interaction policy to train the navigation policy via multiple reinforcement learning algorithms. We evaluate our approach in various simulation environments and compare it to other methods. The experimental results show that our approach outperforms others in terms of the success rate. We also deploy the trained policy on a real-world robot, which shows a nice performance in crowded environments.

preprint2022arXiv

MyoPS: A Benchmark of Myocardial Pathology Segmentation Combining Three-Sequence Cardiac Magnetic Resonance Images

Assessment of myocardial viability is essential in diagnosis and treatment management of patients suffering from myocardial infarction, and classification of pathology on myocardium is the key to this assessment. This work defines a new task of medical image analysis, i.e., to perform myocardial pathology segmentation (MyoPS) combining three-sequence cardiac magnetic resonance (CMR) images, which was first proposed in the MyoPS challenge, in conjunction with MICCAI 2020. The challenge provided 45 paired and pre-aligned CMR images, allowing algorithms to combine the complementary information from the three CMR sequences for pathology segmentation. In this article, we provide details of the challenge, survey the works from fifteen participants and interpret their methods according to five aspects, i.e., preprocessing, data augmentation, learning strategy, model architecture and post-processing. In addition, we analyze the results with respect to different factors, in order to examine the key obstacles and explore potential of solutions, as well as to provide a benchmark for future research. We conclude that while promising results have been reported, the research is still in the early stage, and more in-depth exploration is needed before a successful application to the clinics. Note that MyoPS data and evaluation tool continue to be publicly available upon registration via its homepage (www.sdspeople.fudan.edu.cn/zhuangxiahai/0/myops20/).

preprint2022arXiv

Neural-iLQR: A Learning-Aided Shooting Method for Trajectory Optimization

Iterative linear quadratic regulator (iLQR) has gained wide popularity in addressing trajectory optimization problems with nonlinear system models. However, as a model-based shooting method, it relies heavily on an accurate system model to update the optimal control actions and the trajectory determined with forward integration, thus becoming vulnerable to inevitable model inaccuracies. Recently, substantial research efforts in learning-based methods for optimal control problems have been progressing significantly in addressing unknown system models, particularly when the system has complex interactions with the environment. Yet a deep neural network is normally required to fit substantial scale of sampling data. In this work, we present Neural-iLQR, a learning-aided shooting method over the unconstrained control space, in which a neural network with a simple structure is used to represent the local system model. In this framework, the trajectory optimization task is achieved with simultaneous refinement of the optimal policy and the neural network iteratively, without relying on the prior knowledge of the system model. Through comprehensive evaluations on two illustrative control tasks, the proposed method is shown to outperform the conventional iLQR significantly in the presence of inaccuracies in system models.

preprint2022arXiv

On Symmetric Gauss-Seidel ADMM Algorithm for $\mathcal{H}_\infty$ Guaranteed Cost Control with Convex Parameterization

This paper involves the innovative development of a symmetric Gauss-Seidel ADMM algorithm to solve the H-infinity guaranteed cost control problem. In the presence of parametric uncertainties, the H-infinity guaranteed cost control problem generally leads to the large-scale optimization. This is due to the exponential growth of the number of the extreme systems involved with respect to the number of parametric uncertainties. In this work, through a variant of the Youla-Kucera parameterization, the stabilizing controllers are parameterized in a convex set; yielding the outcome that the H-infinity guaranteed cost control problem is converted to a convex optimization problem. Based on an appropriate re-formulation using the Schur complement, it then renders possible the use of the ADMM algorithm with symmetric Gauss-Seidel backward and forward sweeps. Significantly, this approach alleviates the often-times prohibitively heavy computational burden typical in many H-infinity optimization problems while exhibiting good convergence guarantees, which is particularly essential for the related large-scale optimization procedures involved. With this approach, the desired robust stability is ensured, and the disturbance attenuation is maintained at the minimum level in the presence of parametric uncertainties. Rather importantly too, with the attained effectiveness, the methodology thus evidently possesses extensive applicability in various important controller synthesis problems, such as decentralized control, sparse control, and output feedback control problems.

preprint2022arXiv

Photometric redshifts and Galaxy Clusters for DES DR2, DESI DR9, and HSC-SSP PDR3 Data

Photometric redshift (photo-z) is a fundamental parameter for multi-wavelength photometric surveys, while galaxy clusters are important cosmological probers and ideal objects for exploring the dense environmental impact on galaxy evolution. We extend our previous work on estimating photo-z and detecting galaxy clusters to the latest data releases of the Dark Energy Spectroscopic Instrument (DESI) imaging surveys, Dark Energy Survey (DES), and Hyper Suprime-Cam Subaru Strategic Program (HSC-SSP) imaging surveys and make corresponding catalogs publicly available for more extensive scientific applications. The photo-z catalogs include accurate measurements of photo-z and stellar mass for about 320, 293, and 134 million galaxies with $r<23$, $i<24$, and $i<25$ in DESI DR9, DES DR2, and HSC-SSP PDR3 data, respectively. The photo-z accuracy is about 0.017, 0.024, and 0.029 and the general redshift coverage is $z<1$, $z<1.2$, and $z<1.6$, respectively for those three surveys. The uncertainties of the logarithmic stellar mass that is inferred from stellar population synthesis fitting is about 0.2 dex. With the above photo-z catalogs, galaxy clusters are detected using a fast cluster-finding algorithm. A total of 532,810, 86,963, and 36,566 galaxy clusters with the number of members larger than 10 are discovered for DESI, DES, and HSC-SSP, respectively. Their photo-z accuracy is at the level of 0.01. The total mass of our clusters are also estimated by using the calibration relations between the optical richness and the mass measurement from X-ray and radio observations. The photo-z and cluster catalogs are available at ScienceDB (https://www.doi.org/10.11922/sciencedb.o00069.00003) and PaperData Repository (https://doi.org/10.12149/101089).

preprint2022arXiv

Robust Fixed-Order Controller Design for Uncertain Systems with Generalized Common Lyapunov Strictly Positive Realness Characterization

This paper investigates the design of a robust fixed-order controller for single-input-single-output (SISO) polytopic systems with interval uncertainties, with the aim that the closed-loop stability is appropriately ensured and the performance specifications on sensitivity shaping are conformed in a specific finite frequency range. Utilizing the notion of generalized common Lyapunov strictly positive realness (CL-SPRness), the equivalence between strictly positive realness (SPRness) and strictly bounded realness (SBRness) is established; and then the specifications on robust stability and performance are transformed into the SPRness of newly constructed systems and further characterized in the framework of linear matrix inequality (LMI) conditions. The proposed methodology avoids the tedious yet mandatory evaluations of the specifications on all vertices of the uncertain polytopic system in an explicit form. Instead, solving five LMIs exclusively suffices for ensuring the robust stability and performance regardless of the number of vertices, and thus the typically heavy computational burden is considerably alleviated. It is also noteworthy that the proposed methodology additionally provides the necessary and sufficient conditions for this robust controller design with the consideration of a prescribed finite frequency range, and therefore significantly less conservatism is attained in the system performance.

preprint2022arXiv

Searching Extra-tidal Features around the Globular Cluster Whiting 1

Whiting 1 is a faint and young globular cluster in the halo of the Milky Way, and was suggested to have originated in the Sagittarius spherical dwarf galaxy (Sgr dSph). In this paper, we use the deep DESI Legacy Imaging Surveys to explore tentative spatial connection between Whiting 1 and the Sgr dSph. We redetermine the fundamental parameters of Whiting 1 and use the best-fitting isochrone (age $τ$=6.5 Gyr, metalicity Z=0.005 and $\rm d_{\odot}$=26.9 kpc) to construct a theoretical matched filter for the extra-tidal features searching. Without any smooth technique to the matched filter density map, we detect a round-shape feature with possible leading and trailing tails on either side of the cluster. This raw image is not totally new compared to old discoveries, but confirms that no more large-scale features can be detected under a depth of r<=22.5 mag. In our results, the whole feature stretches 0.1-0.2 degree along the orbit of Whiting 1, which gives a much larger area than the cluster core. The tails on both sides of the cluster align along the orbital direction of the Sgr dSph as well as the cluster itself, which implies that these debris are probably stripped remnants of Whiting 1 by the Milky Way.

preprint2022arXiv

Second-Order Non-Convex Optimization for Constrained Fixed-Structure Static Output Feedback Controller Synthesis

For linear time-invariant (LTI) systems, the design of an optimal controller is a commonly encountered problem in many applications. Among all the optimization approaches available, the linear quadratic regulator (LQR) methodology certainly garners much attention and interest. As is well-known, standard numerical tools in linear algebra are readily available which enable the determination of the optimal static LQR feedback gain matrix when all the system state variables are measurable. However, in various certain scenarios where some of the system state variables are not measurable, and consequent prescribed structural constraints on the controller structure arise, the optimization problem can become intractable due to the non-convexity characteristics that can then be present. In such cases, there have been some first-order methods proposed to cater to these problems, but all of these first-order optimization methods, if at all successful, are limited to only linear convergence. To speed up the convergence, a second-order approach in the matrix space is essential, with appropriate methodology to solve the linear equality constrained static output feedback (SOF) problem with a suitably defined linear quadratic cost function. Thus along this line, in this work, an efficient method is proposed in the matrix space to calculate the Hessian matrix by solving several Lyapunov equations. Then a new optimization technique is applied to deal with the indefiniteness of the Hessian matrix. Subsequently, through Newton&#39;s method with linear equality constraints, a second-order optimization algorithm is developed to effectively solve the constrained SOF LQR problem. Finally, two numerical examples are described which demonstrate the applicability and effectiveness of the proposed method.

preprint2022arXiv

SN 2012ij: A low-luminosity type Ia supernova and evidence for continuous distribution from 91bg-like explosion to normal ones

In this paper, we present photometric and spectroscopic observations of a subluminous type Ia supernova (SN Ia) 2012ij, which has an absolute $B$-band peak magnitude $M_{B,\rm{max}}$ = $-$17.95 $\pm$ 0.15 mag. The $B$-band light curve exhibits a fast post-peak decline with $Δm_{15}(B)$ = 1.86 $\pm$ 0.05 mag. All the $R$ and $I$/$i$-band light curves show a weak secondary peak/shoulder feature at about 3 weeks after the peak, like some transitional subclass of SNe Ia, which could result from an incomplete merger of near-infrared (NIR) double peaks. The spectra are characterized by Ti~{\sc ii} and strong Si~{\sc ii} $λ$5972 absorption features that are usually seen in low-luminosity objects like SN 1999by. The NIR spectrum before maximum light reveals weak carbon absorption features, implying the existence of unburned materials. We compare the observed properties of SN 2012ij with those predicted by the sub-Chandrasekhar-mass and the Chandrasekhar-mass delayed-detonation models, and find that both optical and NIR spectral properties can be explained to some extent by these two models. By comparing the secondary maximum features in $I$ and $i$ bands, we suggest that SN 2012ij is a transitional object linking normal SNe Ia to typical 91bg-like ones. From the published sample of SNe Ia from the $Carnegie~Supernova~Project~II$ (CSP-II), we estimate that the fraction of SN 2012ij-like SNe Ia is not lower than $\sim$ 2%.

preprint2022arXiv

SummScore: A Comprehensive Evaluation Metric for Summary Quality Based on Cross-Encoder

Text summarization models are often trained to produce summaries that meet human quality requirements. However, the existing evaluation metrics for summary text are only rough proxies for summary quality, suffering from low correlation with human scoring and inhibition of summary diversity. To solve these problems, we propose SummScore, a comprehensive metric for summary quality evaluation based on CrossEncoder. Firstly, by adopting the original-summary measurement mode and comparing the semantics of the original text, SummScore gets rid of the inhibition of summary diversity. With the help of the text-matching pre-training Cross-Encoder, SummScore can effectively capture the subtle differences between the semantics of summaries. Secondly, to improve the comprehensiveness and interpretability, SummScore consists of four fine-grained submodels, which measure Coherence, Consistency, Fluency, and Relevance separately. We use semi-supervised multi-rounds of training to improve the performance of our model on extremely limited annotated data. Extensive experiments show that SummScore significantly outperforms existing evaluation metrics in the above four dimensions in correlation with human scoring. We also provide the quality evaluation results of SummScore on 16 mainstream summarization models for later research.

preprint2022arXiv

Topic-Grained Text Representation-based Model for Document Retrieval

Document retrieval enables users to find their required documents accurately and quickly. To satisfy the requirement of retrieval efficiency, prevalent deep neural methods adopt a representation-based matching paradigm, which saves online matching time by pre-storing document representations offline. However, the above paradigm consumes vast local storage space, especially when storing the document as word-grained representations. To tackle this, we present TGTR, a Topic-Grained Text Representation-based Model for document retrieval. Following the representation-based matching paradigm, TGTR stores the document representations offline to ensure retrieval efficiency, whereas it significantly reduces the storage requirements by using novel topicgrained representations rather than traditional word-grained. Experimental results demonstrate that compared to word-grained baselines, TGTR is consistently competitive with them on TREC CAR and MS MARCO in terms of retrieval accuracy, but it requires less than 1/10 of the storage space required by them. Moreover, TGTR overwhelmingly surpasses global-grained baselines in terms of retrieval accuracy.

preprint2022arXiv

Win-Win Cooperation: Bundling Sequence and Span Models for Named Entity Recognition

For Named Entity Recognition (NER), sequence labeling-based and span-based paradigms are quite different. Previous research has demonstrated that the two paradigms have clear complementary advantages, but few models have attempted to leverage these advantages in a single NER model as far as we know. In our previous work, we proposed a paradigm known as Bundling Learning (BL) to address the above problem. The BL paradigm bundles the two NER paradigms, enabling NER models to jointly tune their parameters by weighted summing each paradigm&#39;s training loss. However, three critical issues remain unresolved: When does BL work? Why does BL work? Can BL enhance the existing state-of-the-art (SOTA) NER models? To address the first two issues, we implement three NER models, involving a sequence labeling-based model--SeqNER, a span-based NER model--SpanNER, and BL-NER that bundles SeqNER and SpanNER together. We draw two conclusions regarding the two issues based on the experimental results on eleven NER datasets from five domains. We then apply BL to five existing SOTA NER models to investigate the third issue, consisting of three sequence labeling-based models and two span-based models. Experimental results indicate that BL consistently enhances their performance, suggesting that it is possible to construct a new SOTA NER system by incorporating BL into the current SOTA system. Moreover, we find that BL reduces both entity boundary and type prediction errors. In addition, we compare two commonly used labeling tagging methods as well as three types of span semantic representations.

preprint2021arXiv

Convex Parameterization and Optimization for Robust Tracking of a Magnetically Levitated Planar Positioning System

Magnetic levitation positioning technology has attracted considerable research efforts and dedicated attention due to its extremely attractive features. The technology offers high-precision, contactless, dust/lubricant-free, multi-axis, and large-stroke positioning. In this work, we focus on the accurate and smooth tracking problem of a multi-axis magnetically levitated (maglev) planar positioning system for a specific S-curve reference trajectory. The floating characteristics and the multi-axis coupling make accurate identification of the system dynamics difficult, which lead to a challenge to design a high performance control system. Here, the tracking task is achieved by a 2-Degree of Freedom (DoF) controller consisting of a feedforward controller and a robust stabilizing feedback controller with a prescribed sparsity pattern. The approach proposed in this paper utilizes the basis of an H-infinity controller formulation and a suitably established convex inner approximation. Particularly, a subset of robust stabilizable controllers with prescribed structural constraints is characterized in the parameter space, and so thus the re-formulated convex optimization problem can be easily solved by several powerful numerical algorithms and solvers. With this approach, the robust stability of the overall system is ensured with a satisfactory system performance despite the presence of parametric uncertainties. Furthermore, experimental results clearly demonstrate the effectiveness of the proposed approach.

preprint2021arXiv

Cutting-edge 3D Medical Image Segmentation Methods in 2020: Are Happy Families All Alike?

Segmentation is one of the most important and popular tasks in medical image analysis, which plays a critical role in disease diagnosis, surgical planning, and prognosis evaluation. During the past five years, on the one hand, thousands of medical image segmentation methods have been proposed for various organs and lesions in different medical images, which become more and more challenging to fairly compare different methods. On the other hand, international segmentation challenges can provide a transparent platform to fairly evaluate and compare different methods. In this paper, we present a comprehensive review of the top methods in ten 3D medical image segmentation challenges during 2020, covering a variety of tasks and datasets. We also identify the &#34;happy-families&#34; practices in the cutting-edge segmentation methods, which are useful for developing powerful segmentation approaches. Finally, we discuss open research problems that should be addressed in the future. We also maintain a list of cutting-edge segmentation methods at \url{https://github.com/JunMa11/SOTA-MedSeg}.

preprint2021arXiv

Global Iterative Sliding Mode Control of an Industrial Biaxial Gantry System for Contouring Motion Tasks

This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexure-linked biaxial gantry system. For such high-precision contouring tasks, it is the typical situation that the involved multi-axis cooperation is one of the most challenging problems. As also would be inevitably encountered, various factors render the multi-axis cooperation rather difficult; such as the strong coupling (which naturally brings nonlinearity) between different axes due to its mechanical structure, the backlash and deadzone caused by the friction, and the difficulties in system identification, etc. To overcome the above-mentioned issues, this work investigates an intelligent model-free contouring control method for such a multi-axis motion stage. Essentially in the methodology developed here, it is firstly ensured that all the coupling, friction, nonlinearity, and disturbance (regarded as uncertain dynamics in each axis) are suitably posed as `uncertainties&#39;. Then, a varying-gain sliding mode control method is proposed to adaptively compensate for the matched unknown dynamics in the time domain, while an iterative learning law is applied to suppress the undesirable effects (arising from the repetitive matched and unmatched uncertainties in the iteration domain). With this approach, the chattering that typically results from the overestimated control gains in the sliding mode control is thus suppressed during the iterations. To analyze the contouring performance and show the improved outcomes, rigorous proof is furnished on both the stability in the time domain and the convergence in the iteration domain; and the real-time experiments also illustrate that the requirements of precision motion control towards high-speed and complex-curvature references can be satisfied using the proposed method, without prior knowledge of the boundary to the unknown dynamics.

preprint2021arXiv

Optimal Decentralized Control for Uncertain Systems by Symmetric Gauss-Seidel Semi-Proximal ALM

The H2 guaranteed cost decentralized control problem is investigated in this work. More specifically, on the basis of an appropriate H2 re-formulation that we put in place, the optimal control problem in the presence of parameter uncertainties is then suitably characterized by convex restriction and solved in parameter space. It is shown that a set of stabilizing decentralized controller gains for the uncertain system is parameterized in a convex set through appropriate convex restriction, and then an approximated conic optimization problem is constructed. This facilitates the use of the symmetric Gauss-Seidel (sGS) semi-proximal augmented Lagrangian method (ALM), which attains high computational effectiveness. A comprehensive analysis is given on the application of the approach in solving the optimal decentralized control problem; and subsequently, the preserved decentralized structure, robust stability, and robust performance are all suitably guaranteed with the proposed methodology. Furthermore, an illustrative example is presented to demonstrate the effectiveness of the proposed optimization approach.

preprint2021arXiv

Semi-Definite Relaxation Based ADMM for Cooperative Planning and Control of Connected Autonomous Vehicles

This paper investigates the cooperative planning and control problem for multiple connected autonomous vehicles (CAVs) in different scenarios. In the existing literature, most of the methods suffer from significant problems in computational efficiency. Besides, as the optimization problem is nonlinear and nonconvex, it typically poses great difficultly in determining the optimal solution. To address this issue, this work proposes a novel and completely parallel computation framework by leveraging the alternating direction method of multipliers (ADMM). The nonlinear and nonconvex optimization problem in the autonomous driving problem can be divided into two manageable subproblems; and the resulting subproblems can be solved by using effective optimization methods in a parallel framework. Here, the differential dynamic programming (DDP) algorithm is capable of addressing the nonlinearity of the system dynamics rather effectively; and the nonconvex coupling constraints with small dimensions can be approximated by invoking the notion of semi-definite relaxation (SDR), which can also be solved in a very short time. Due to the parallel computation and efficient relaxation of nonconvex constraints, our proposed approach effectively realizes real-time implementation and thus also extra assurance of driving safety is provided. In addition, two transportation scenarios for multiple CAVs are used to illustrate the effectiveness and efficiency of the proposed method.

preprint2020arXiv

A genetic algorithm approach to fitting interferometric data of post-AGB objects: I. the case of the Ant nebula

We present GADRAD, a Python module that adopts heuristic search techniques in the form of genetic algorithms, to efficiently model post-asymptotic giant branch (post- AGB) disc environments. GADRAD systematically constructs the multi-dimensional pa- parameter probability density functions that arise from the fitting of radiative transfer and geometric models to optical interferometric data products. The result provides unbiased descriptions of the object&#39;s potential morphology, component luminosities and temperatures, dust composition, disc density profiles and mass. Correlation in the estimated parameters as well as potential degeneracies are revealed. Estimated probability distributions of the post-AGB environment parameters provide insight into the shaping processes that may occur in the transition from the post-AGB to the planetary nebula phase. We test parameter recovery on simulated artificial data products of a typical post-AGB environment. We then use GADRAD to model the mid-infrared spectrum and visibilities of the Ant nebula (Mz3), taken with the Very Large Telescope Interferometer&#39;s instrument MIDI. Our result is consistent with a large dusty disc with similar parameter values to those previously found by Chesneau et al., except for a larger dust mass of $3.5^{+7.5}_{-2.2}\times10^{-5}$ M$_{\odot}$. The parameter confidence intervals determined by GADRAD, can however be relied upon to impose additional constraints on all disc and system parameters. Based on our analysis and other considerations, we tentatively suggest that Mz3 is a pre-PN ejected during a magnetic (polar) common envelope interaction, where the binary may or may not have survived at the core of the nebula.

preprint2020arXiv

A Mysterious Ring in Dark Space?

We report the discovery of a low-surface-brightness (27.42 mag arcsec^(-2) in g band) nebula, which has a ring-like shape in the Beijing-Arizona Sky Survey (BASS). Positive detections have been found in multiband data from far ultraviolet to far infrared, except the z band from BASS and W1, W2 from the Wide-field Infrared Survey Explorer. The reddening of the nebula E(B - V) ~ 0.02 mag is estimated from Infrared Astronomical Satellite (IRAS) 100 micron intensity and HI column density. With the help of the 3D reddening map from Pan-STARRS 1, the Two Micron All Sky Survey, and Gaia, the distance to the nebula of about 500 pc from Earth is derived. Such a low-surface-brightness nebula whose energy can be interpreted by the diffuse Galactic light could account for the optical counterpart of the infrared cirrus, which was detected by IRAS more than 30 yr ago. The ring-like structure might be the ultimate phase of an evolved planetary nebula, while the central white dwarf star has been ejected from the nebula for an unclear reason. On the other hand, the ring structure being a superposition of two close filaments might be another reasonable explanation. Considering the lack of spectroscopic data and uncertainty in the distance measurement, these interpretations need to be checked by future observations.

preprint2020arXiv

A Neural Topical Expansion Framework for Unstructured Persona-oriented Dialogue Generation

Unstructured Persona-oriented Dialogue Systems (UPDS) has been demonstrated effective in generating persona consistent responses by utilizing predefined natural language user persona descriptions (e.g., &#34;I am a vegan&#34;). However, the predefined user persona descriptions are usually short and limited to only a few descriptive words, which makes it hard to correlate them with the dialogues. As a result, existing methods either fail to use the persona description or use them improperly when generating persona consistent responses. To address this, we propose a neural topical expansion framework, namely Persona Exploration and Exploitation (PEE), which is able to extend the predefined user persona description with semantically correlated content before utilizing them to generate dialogue responses. PEE consists of two main modules: persona exploration and persona exploitation. The former learns to extend the predefined user persona description by mining and correlating with existing dialogue corpus using a variational auto-encoder (VAE) based topic model. The latter learns to generate persona consistent responses by utilizing the predefined and extended user persona description. In order to make persona exploitation learn to utilize user persona description more properly, we also introduce two persona-oriented loss functions: Persona-oriented Matching (P-Match) loss and Persona-oriented Bag-of-Words (P-BoWs) loss which respectively supervise persona selection in encoder and decoder. Experimental results show that our approach outperforms state-of-the-art baselines, in terms of both automatic and human evaluations.

preprint2020arXiv

AutoKnow: Self-Driving Knowledge Collection for Products of Thousands of Types

Can one build a knowledge graph (KG) for all products in the world? Knowledge graphs have firmly established themselves as valuable sources of information for search and question answering, and it is natural to wonder if a KG can contain information about products offered at online retail sites. There have been several successful examples of generic KGs, but organizing information about products poses many additional challenges, including sparsity and noise of structured data for products, complexity of the domain with millions of product types and thousands of attributes, heterogeneity across large number of categories, as well as large and constantly growing number of products. We describe AutoKnow, our automatic (self-driving) system that addresses these challenges. The system includes a suite of novel techniques for taxonomy construction, product property identification, knowledge extraction, anomaly detection, and synonym discovery. AutoKnow is (a) automatic, requiring little human intervention, (b) multi-scalable, scalable in multiple dimensions (many domains, many products, and many attributes), and (c) integrative, exploiting rich customer behavior logs. AutoKnow has been operational in collecting product knowledge for over 11K product types.

preprint2020arXiv

Cascaded Framework for Automatic Evaluation of Myocardial Infarction from Delayed-Enhancement Cardiac MRI

Automatic evaluation of myocardium and pathology plays an important role in the quantitative analysis of patients suffering from myocardial infarction. In this paper, we present a cascaded convolutional neural network framework for myocardial infarction segmentation and classification in delayed-enhancement cardiac MRI. Specifically, we first use a 2D U-Net to segment the whole heart, including the left ventricle and the myocardium. Then, we crop the whole heart as a region of interest (ROI). Finally, a new 2D U-Net is used to segment the infraction and no-reflow areas in the whole heart ROI. The segmentation method can be applied to the classification task where the segmentation results with the infraction or no-reflow areas are classified as pathological cases. Our method took second place in the MICCAI 2020 EMIDEC segmentation task with Dice scores of 86.28%, 62.24%, and 77.76% for myocardium, infraction, and no-reflow areas, respectively, and first place in the classification task with an accuracy of 92%.

preprint2020arXiv

Data-Driven Multi-Objective Controller Optimization for a Magnetically-Levitated Nanopositioning System

The performance achieved with traditional model-based control system design approaches typically relies heavily upon accurate modeling of the motion dynamics. However, modeling the true dynamics of present-day increasingly complex systems can be an extremely challenging task; and the usually necessary practical approximations often render the automation system to operate in a non-optimal condition. This problem can be greatly aggravated in the case of a multi-axis magnetically-levitated nanopositioning system where the fully floating behavior and multi-axis coupling make extremely accurate identification of the motion dynamics largely impossible. On the other hand, in many related industrial automation applications, e.g., the scanning process with the maglev system, repetitive motions are involved which could generate a large amount of motion data under non-optimal conditions. These motion data essentially contain rich information; therefore, the possibility exists to develop an intelligent automation system to learn from these motion data and to drive the system to operate towards optimality in a data-driven manner. Along this line then, this paper proposes a data-driven controller optimization approach that learns from the past non-optimal motion data to iteratively improve the motion control performance. Specifically, a novel data-driven multi-objective optimization approach is proposed that is able to automatically estimate the gradient and Hessian purely based on the measured motion data; the multi-objective cost function is suitably designed to take into account both smooth and accurate trajectory tracking. Experiments are then conducted on the maglev nanopositioning system to demonstrate the effectiveness of the proposed method, and the results show rather clearly the practical appeal of our methodology for related complex robotic systems with no accurate model available.

preprint2020arXiv

Estimating ages and metallicities of M31 star clusters from LAMOST DR6

Context. Determining the metallicities and ages of M31 clusters is fundamental to the study of the formation and evolution of M31 itself. The Large Sky Area Multi-Object Fiber Spectroscopic Telescope (LAMOST) has carried out a systematic spectroscopic campaign of clusters and candidates in M31. Aims. We constructed a catalogue of 346 M31 clusters observed by LAMOST. By combining the information of the LAMOST spectra and the multi-band photometry, we developed a new algorithm to estimate the metallicities and ages of these clusters. Methods. We distinguish young clusters from old using random forest classifiers based on a empirical training data set selected from the literature. Ages of young clusters are derived from the spectral energy distribution (SED) fits of their multi-band photometric measurements. Their metallicities are estimated by fitting their observed spectral principal components extracted from the LAMOST spectra with those from the young metal-rich single stellar population (SSP) models. For old clusters, we built non-parameter random forest models between the spectral principal components and/or multi-band colours and the parameters of the clusters based on a training data set constructed from the SSP models. The ages and metallicities of the old clusters are then estimated by fitting their observed spectral principal components extracted from the LAMOST spectra and multi-band colours from the photometric measurements with the resultant random forest models. Results. We derived parameters of 53 young and 293 old clusters in our catalogue. Our resultant parameters are in good agreement with those from the literature. The ages of about 30 catalogued clusters and metallicities of about 40 sources are derived for the first time.

preprint2020arXiv

Exploring Large Context for Cerebral Aneurysm Segmentation

Automated segmentation of aneurysms from 3D CT is important for the diagnosis, monitoring, and treatment planning of the cerebral aneurysm disease. This short paper briefly presents the main technique details of the aneurysm segmentation method in the MICCAI 2020 CADA challenge. The main contribution is that we configure the 3D U-Net with a large patch size, which can obtain the large context. Our method ranked second on the MICCAI 2020 CADA testing dataset with an average Jaccard of 0.7593. Our code and trained models are publicly available at \url{https://github.com/JunMa11/CADA2020}.

preprint2020arXiv

Grasping Detection Network with Uncertainty Estimation for Confidence-Driven Semi-Supervised Domain Adaptation

Data-efficient domain adaptation with only a few labelled data is desired for many robotic applications, e.g., in grasping detection, the inference skill learned from a grasping dataset is not universal enough to directly apply on various other daily/industrial applications. This paper presents an approach enabling the easy domain adaptation through a novel grasping detection network with confidence-driven semi-supervised learning, where these two components deeply interact with each other. The proposed grasping detection network specially provides a prediction uncertainty estimation mechanism by leveraging on Feature Pyramid Network (FPN), and the mean-teacher semi-supervised learning utilizes such uncertainty information to emphasizing the consistency loss only for those unlabelled data with high confidence, which we referred it as the confidence-driven mean teacher. This approach largely prevents the student model to learn the incorrect/harmful information from the consistency loss, which speeds up the learning progress and improves the model accuracy. Our results show that the proposed network can achieve high success rate on the Cornell grasping dataset, and for domain adaptation with very limited data, the confidence-driven mean teacher outperforms the original mean teacher and direct training by more than 10% in evaluation loss especially for avoiding the overfitting and model diverging.

preprint2020arXiv

On Robust Stability and Performance with a Fixed-Order Controller Design for Uncertain Systems

Typically, it is desirable to design a control system that is not only robustly stable in the presence of parametric uncertainties but also guarantees an adequate level of system performance. However, most of the existing methods need to take all extreme models over an uncertain domain into consideration, which then results in costly computation. Also, since these approaches attempt (rather unrealistically) to guarantee the system performance over a full frequency range, a conservative design is always admitted. Here, taking a specific viewpoint of robust stability and performance under a stated restricted frequency range (which is applicable in rather many real-world situations), this paper provides an essential basis for the design of a fixed-order controller for a system with bounded parametric uncertainties. A Hurwitz polynomial is used in the design and the robust stability is characterized by the notion of positive realness, such that the required robust stability condition is then suitably successfully constructed. Also, the robust performance criteria in terms of sensitivity shaping under different frequency ranges are constructed based on an approach of bounded realness analysis. Necessary and sufficient conditions are provided for both the robust stability and robust performance criteria. Furthermore, these conditions are expressed in the framework of linear matrix inequality (LMI) constraints, and thus can be efficiently solved. Comparative simulations are provided to illustrate the effectiveness and efficiency of the proposed approach.

preprint2020arXiv

On the unimodality of the Taylor expansion coefficients of Jacobian elliptic functions

The Jacobian elliptic functions are standard forms of elliptic functions, and they were independently introduced by C.G.J. Jacobi and N.H. Abel. In this paper, we study the unimodality of Taylor expansion coefficients of the Jacobian elliptic functions sn(u,k) and cn(u,k). By using the theory of gamma-positivity, we obtain that the Taylor expansion coefficients of sn(u,k) are symmetric and unimodal, and that of cn(u,k) are unimodal and alternatingly increasing.

preprint2020arXiv

Plateaux on generalized Stirling permutations and partial $γ$-positivity

We prove that the enumerative polynomials of generalized Stirling permutations by the statistics of plateaux, descents and ascents are partial $γ$-positive. Specialization of our result to the Jacobi-Stirling permutations confirms a recent partial $γ$-positivity conjecture due to Ma, Yeh and the second named author. Our partial $γ$-positivity expansion, as well as a combinatorial interpretation for the corresponding $γ$-coefficients, are obtained via the machine of context-free grammars and a group action on generalized Stirling permutations. Besides, we also provide an alternative approach to the partial $γ$-positivity from the stability of certain multivariate polynomials.

preprint2020arXiv

Segmentation Loss Odyssey

Loss functions are one of the crucial ingredients in deep learning-based medical image segmentation methods. Many loss functions have been proposed in existing literature, but are studied separately or only investigated with few other losses. In this paper, we present a systematic taxonomy to sort existing loss functions into four meaningful categories. This helps to reveal links and fundamental similarities between them. Moreover, we explore the relationship between the traditional region-based and the more recent boundary-based loss functions. The PyTorch implementations of these loss functions are publicly available at \url{https://github.com/JunMa11/SegLoss}.

preprint2020arXiv

The 1/k-Eulerian polynomials of type B

In this paper, we give a type B analogue of the 1/k-Eulerian polynomials. Properties of this kind of polynomials, including combinatorial interpretations, recurrence relations and gamma-positivity are studied. In particular, we show that the 1/k-Eulerian polynomials of type B are gamma-positive when $k>0$. Moreover, we obtain the corresponding results for derangements of type B. We show that a type B 1/k-derangement polynomials $d_n^B(x;k)$ are bi-gamma-positive when $k\geq 1/2$. In particular, we get a symmetric decomposition of $d_n^B(x;1/2)$ in terms of the classical derangement polynomials.

preprint2020arXiv

The gamma-positivity of Eulerian polynomials and succession statistics

This paper is concerned with multivariate refinements of the gamma-positivity of Eulerian polynomials by using the succession and fixed point statistics. Properties of the enumerative polynomials for permutations, signed permutations and derangements, including generating functions and gamma-positivity are studied, which generalize and unify earlier results of Athanasiadis, Brenti, Chow, Petersen, Roselle, Stembridge, Shin and Zeng. In particular, we derive a formula expressing the joint distribution of excedance number and negative number statistics over the type B derangements in terms of the derangement polynomials.

preprint2020arXiv

The Nature of the Double Nuclei in the Barred S0 Galaxy IC676

The lenticular galaxy IC 676 is a barred galaxy with double nuclei and active star formation in the central region. In this work we present the long-slit spectroscopy and archival multi-wavelength images to investigate the nature and origin of the double nuclei in IC 676. Through photometric 1D brightness profiles and 2D image decomposition, we show that this galaxy consists of a stellar bar with the length of $\sim$ 2.5 kpc and two Sérsic disks both of which with Sérsic index $\it n \sim$ 1.3. There is probably little or no bulge component assembled in IC 676. The luminosities of the double nuclei are primarily dominated by young stellar populations within the ages of 1-10 Myr. The northern nucleus has stronger star formation activity than the southern one. The surface densities of the star formation rate in the double nuclei are similar to those in starburst galaxies or the circumnuclear star forming regions in spiral galaxies. Each of the double nuclei in IC 676 likely consists of young massive star clusters, which can be resolved as bright knots in the HST high resolution image. Our results suggest that IC 676 likely has a complex formation and evolutionary history. The secular processes driven by the stellar bar and external accretion may dominate the formation and evolution of its double nuclei. This indicates that the secular evolution involving the internal and external drivers may have an important contribution for the evolution of lenticular galaxies.

preprint2020arXiv

The state of the art in kidney and kidney tumor segmentation in contrast-enhanced CT imaging: Results of the KiTS19 Challenge

There is a large body of literature linking anatomic and geometric characteristics of kidney tumors to perioperative and oncologic outcomes. Semantic segmentation of these tumors and their host kidneys is a promising tool for quantitatively characterizing these lesions, but its adoption is limited due to the manual effort required to produce high-quality 3D segmentations of these structures. Recently, methods based on deep learning have shown excellent results in automatic 3D segmentation, but they require large datasets for training, and there remains little consensus on which methods perform best. The 2019 Kidney and Kidney Tumor Segmentation challenge (KiTS19) was a competition held in conjunction with the 2019 International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI) which sought to address these issues and stimulate progress on this automatic segmentation problem. A training set of 210 cross sectional CT images with kidney tumors was publicly released with corresponding semantic segmentation masks. 106 teams from five continents used this data to develop automated systems to predict the true segmentation masks on a test set of 90 CT images for which the corresponding ground truth segmentations were kept private. These predictions were scored and ranked according to their average So rensen-Dice coefficient between the kidney and tumor across all 90 cases. The winning team achieved a Dice of 0.974 for kidney and 0.851 for tumor, approaching the inter-annotator performance on kidney (0.983) but falling short on tumor (0.923). This challenge has now entered an &#34;open leaderboard&#34; phase where it serves as a challenging benchmark in 3D semantic segmentation.

preprint2020arXiv

The Third Data Release of the Beijing-Arizona Sky Survey

The Beijing-Arizona Sky Survey (BASS) is a wide and deep imaging survey to cover a 5400 deg$^2$ area in the Northern Galactic Cap with the 2.3m Bok telescope using two filters ($g$ and $r$ bands). The Mosaic $z$-band Legacy Survey (MzLS) covers the same area in $z$ band with the 4m Mayall telescope. These two surveys will be used for spectroscopic targeting of the Dark Energy Spectroscopic Instrument (DESI). The BASS survey observations were completed in 2019 March. This paper describes the third data release (DR3) of BASS, which contains the photometric data from all BASS and MzLS observations between 2015 January and 2019 March. The median astrometric precision relative to {\it Gaia} positions is about 17 mas and the median photometric offset relative to the PanSTARRS1 photometry is within 5 mmag. The median $5σ$ AB magnitude depths for point sources are 24.2, 23.6, and 23.0 mag for $g$, $r$, and $z$ bands, respectively. The photometric depth within the survey area is highly homogeneous, with the difference between the 20\% and 80\% depth less than 0.3 mag. The DR3 data, including raw data, calibrated single-epoch images, single-epoch photometric catalogs, stacked images, and co-added photometric catalogs, are publicly accessible at \url{http://batc.bao.ac.cn/BASS/doku.php?id=datarelease:home}.

preprint2020arXiv

Trajectory Generation by Chance Constrained Nonlinear MPC with Probabilistic Prediction

Continued great efforts have been dedicated towards high-quality trajectory generation based on optimization methods, however, most of them do not suitably and effectively consider the situation with moving obstacles; and more particularly, the future position of these moving obstacles in the presence of uncertainty within some possible prescribed prediction horizon. To cater to this rather major shortcoming, this work shows how a variational Bayesian Gaussian mixture model (vBGMM) framework can be employed to predict the future trajectory of moving obstacles; and then with this methodology, a trajectory generation framework is proposed which will efficiently and effectively address trajectory generation in the presence of moving obstacles, and also incorporating presence of uncertainty within a prediction horizon. In this work, the full predictive conditional probability density function (PDF) with mean and covariance is obtained, and thus a future trajectory with uncertainty is formulated as a collision region represented by a confidence ellipsoid. To avoid the collision region, chance constraints are imposed to restrict the collision probability, and subsequently a nonlinear MPC problem is constructed with these chance constraints. It is shown that the proposed approach is able to predict the future position of the moving obstacles effectively; and thus based on the environmental information of the probabilistic prediction, it is also shown that the timing of collision avoidance can be earlier than the method without prediction. The tracking error and distance to obstacles of the trajectory with prediction are smaller compared with the method without prediction.

preprint2020arXiv

TXtract: Taxonomy-Aware Knowledge Extraction for Thousands of Product Categories

Extracting structured knowledge from product profiles is crucial for various applications in e-Commerce. State-of-the-art approaches for knowledge extraction were each designed for a single category of product, and thus do not apply to real-life e-Commerce scenarios, which often contain thousands of diverse categories. This paper proposes TXtract, a taxonomy-aware knowledge extraction model that applies to thousands of product categories organized in a hierarchical taxonomy. Through category conditional self-attention and multi-task learning, our approach is both scalable, as it trains a single model for thousands of categories, and effective, as it extracts category-specific attribute values. Experiments on products from a taxonomy with 4,000 categories show that TXtract outperforms state-of-the-art approaches by up to 10% in F1 and 15% in coverage across all categories.