Researcher profile

Junhao Cai

Junhao Cai contributes to research discovery and scholarly infrastructure.

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Published work

4 published item(s)

preprint2026arXiv

Retain-Neutral Surrogates for Min-Max Unlearning

Machine unlearning seeks to remove the influence of designated training data while preserving performance on the remaining data. Approximate unlearning can be viewed as a local editing problem; in min-max unlearning, the key local object is the surrogate point at which the retain objective is evaluated. When forget and retain gradients are strongly aligned, an unconstrained forget-maximizing perturbation can move to a surrogate point that increases retain loss. We propose Retain-Orthogonal Surrogate Unlearning (ROSU), which constrains the inner surrogate construction by maximizing first-order forget gain subject to zero first-order retain change under a fixed perturbation budget. This yields a closed-form retain-orthogonal perturbation, a lightweight transported outer update, and amplification along the retain-neutral direction. Our analysis establishes (i) a curvature-controlled second-order bound on retain damage, (ii) a positive-alignment regime in which ROSU strictly reduces surrogate retain loss relative to standard min-max perturbations, and (iii) near-equivalence when the two gradients are nearly orthogonal. Across vision and language benchmarks (CIFAR-10/100, Tiny-ImageNet, TOFU, WMDP), the empirical pattern follows this geometry: ROSU gives its clearest gains in high-coupling regimes while remaining competitive elsewhere.

preprint2022arXiv

Open-world Semantic Segmentation for LIDAR Point Clouds

Current methods for LIDAR semantic segmentation are not robust enough for real-world applications, e.g., autonomous driving, since it is closed-set and static. The closed-set assumption makes the network only able to output labels of trained classes, even for objects never seen before, while a static network cannot update its knowledge base according to what it has seen. Therefore, in this work, we propose the open-world semantic segmentation task for LIDAR point clouds, which aims to 1) identify both old and novel classes using open-set semantic segmentation, and 2) gradually incorporate novel objects into the existing knowledge base using incremental learning without forgetting old classes. For this purpose, we propose a REdundAncy cLassifier (REAL) framework to provide a general architecture for both the open-set semantic segmentation and incremental learning problems. The experimental results show that REAL can simultaneously achieves state-of-the-art performance in the open-set semantic segmentation task on the SemanticKITTI and nuScenes datasets, and alleviate the catastrophic forgetting problem with a large margin during incremental learning.

preprint2022arXiv

Volumetric-based Contact Point Detection for 7-DoF Grasping

In this paper, we propose a novel grasp pipeline based on contact point detection on the truncated signed distance function (TSDF) volume to achieve closed-loop 7-degree-of-freedom (7-DoF) grasping on cluttered environments. The key aspects of our method are that 1) the proposed pipeline exploits the TSDF volume in terms of multi-view fusion, contact-point sampling and evaluation, and collision checking, which provides reliable and collision-free 7-DoF gripper poses with real-time performance; 2) the contact-based pose representation effectively eliminates the ambiguity introduced by the normal-based methods, which provides a more precise and flexible solution. Extensive simulated and real-robot experiments demonstrate that the proposed pipeline can select more antipodal and stable grasp poses and outperforms normal-based baselines in terms of the grasp success rate in both simulated and physical scenarios.

preprint2020arXiv

Proton and Li-Ion Permeation through Graphene with Eight-Atom-Ring Defects

Defect-free graphene is impermeable to gases and liquids but highly permeable to thermal protons. Atomic-scale defects such as vacancies, grain boundaries and Stone-Wales defects are predicted to enhance graphene's proton permeability and may even allow small ions through, whereas larger species such as gas molecules should remain blocked. These expectations have so far remained untested in experiment. Here we show that atomically thin carbon films with a high density of atomic-scale defects continue blocking all molecular transport, but their proton permeability becomes ~1,000 times higher than that of defect-free graphene. Lithium ions can also permeate through such disordered graphene. The enhanced proton and ion permeability is attributed to a high density of 8-carbon-atom rings. The latter pose approximately twice lower energy barriers for incoming protons compared to the 6-atom rings of graphene and a relatively low barrier of ~0.6 eV for Li ions. Our findings suggest that disordered graphene could be of interest as membranes and protective barriers in various Li-ion and hydrogen technologies.