Researcher profile

Rui Cao

Rui Cao contributes to research discovery and scholarly infrastructure.

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Published work

10 published item(s)

preprint2026arXiv

SciPaths: Forecasting Pathways to Scientific Discovery

Scientific progress depends on sequences of enabling contributions, yet existing AI4Science benchmarks largely focus on citation prediction, literature retrieval, or idea generation rather than the dependencies that make progress possible. In this paper, we introduce discovery pathway forecasting: given a target scientific contribution and the prior literature available at a specified time, the task is to (1) identify the enabling contributions required to realize it and (2) ground each in prior work when such prior work exists. We present SciPaths, a benchmark of 262 expert-annotated gold pathways and 2,444 silver pathways constructed from machine learning and natural language processing papers, where each pathway records enabling contributions, roles, rationales, and prior-work groundings or unmapped decisions. Evaluating frontier and open-weight language models, we find that the best model reaches only 0.189 F1 under strict semantic matching, with core methodological dependencies hardest to recover. Prior-work grounding improves substantially when gold enabling contributions are provided, showing that decomposition quality is a major bottleneck for end-to-end pathway recovery. SciPaths therefore shifts evaluation toward a missing capability in scientific forecasting: reasoning backward from a target contribution to the enabling scientific building blocks and prior-work dependencies that make it feasible.

preprint2022arXiv

Exploring the Impact of Negative Samples of Contrastive Learning: A Case Study of Sentence Embedding

Contrastive learning is emerging as a powerful technique for extracting knowledge from unlabeled data. This technique requires a balanced mixture of two ingredients: positive (similar) and negative (dissimilar) samples. This is typically achieved by maintaining a queue of negative samples during training. Prior works in the area typically uses a fixed-length negative sample queue, but how the negative sample size affects the model performance remains unclear. The opaque impact of the number of negative samples on performance when employing contrastive learning aroused our in-depth exploration. This paper presents a momentum contrastive learning model with negative sample queue for sentence embedding, namely MoCoSE. We add the prediction layer to the online branch to make the model asymmetric and together with EMA update mechanism of the target branch to prevent the model from collapsing. We define a maximum traceable distance metric, through which we learn to what extent the text contrastive learning benefits from the historical information of negative samples. Our experiments find that the best results are obtained when the maximum traceable distance is at a certain range, demonstrating that there is an optimal range of historical information for a negative sample queue. We evaluate the proposed unsupervised MoCoSE on the semantic text similarity (STS) task and obtain an average Spearman's correlation of $77.27\%$. Source code is available at https://github.com/xbdxwyh/mocose.

preprint2022arXiv

Quantum phases of spin-orbital-angular-momentum coupled bosonic gases in optical lattices

Spin-orbit coupling plays an important role in understanding exotic quantum phases. In this work, we present a scheme to combine spin-orbital-angular-momentum (SOAM) coupling and strong correlations in ultracold atomic gases. Essential ingredients of this setting is the interplay of SOAM coupling and Raman-induced spin-flip hopping, engineered by lasers that couples different hyperfine spin states. In the presence of SOAM coupling only, we find rich quantum phases in the Mott-insulating regime, which support different types of spin defects such as spin vortex and composite vortex with antiferromagnetic core surrounded by the outer spin vortex. Based on an effective exchange model, we find that these competing spin textures are a result of the interplay of Dzyaloshinskii-Moriya and Heisenberg exchange interactions. In the presence of both SOAM coupling and Raman-induced spin-flip hopping, more many-body phases appear, including canted-antiferromagnetic and stripe phases. Our prediction suggests that SOAM coupling could induce rich exotic many-body phases in the strongly interacting regime.

preprint2022arXiv

Sim-to-Real 6D Object Pose Estimation via Iterative Self-training for Robotic Bin Picking

In this paper, we propose an iterative self-training framework for sim-to-real 6D object pose estimation to facilitate cost-effective robotic grasping. Given a bin-picking scenario, we establish a photo-realistic simulator to synthesize abundant virtual data, and use this to train an initial pose estimation network. This network then takes the role of a teacher model, which generates pose predictions for unlabeled real data. With these predictions, we further design a comprehensive adaptive selection scheme to distinguish reliable results, and leverage them as pseudo labels to update a student model for pose estimation on real data. To continuously improve the quality of pseudo labels, we iterate the above steps by taking the trained student model as a new teacher and re-label real data using the refined teacher model. We evaluate our method on a public benchmark and our newly-released dataset, achieving an ADD(-S) improvement of 11.49% and 22.62% respectively. Our method is also able to improve robotic bin-picking success by 19.54%, demonstrating the potential of iterative sim-to-real solutions for robotic applications.

preprint2022arXiv

Towards Robust Part-aware Instance Segmentation for Industrial Bin Picking

Industrial bin picking is a challenging task that requires accurate and robust segmentation of individual object instances. Particularly, industrial objects can have irregular shapes, that is, thin and concave, whereas in bin-picking scenarios, objects are often closely packed with strong occlusion. To address these challenges, we formulate a novel part-aware instance segmentation pipeline. The key idea is to decompose industrial objects into correlated approximate convex parts and enhance the object-level segmentation with part-level segmentation. We design a part-aware network to predict part masks and part-to-part offsets, followed by a part aggregation module to assemble the recognized parts into instances. To guide the network learning, we also propose an automatic label decoupling scheme to generate ground-truth part-level labels from instance-level labels. Finally, we contribute the first instance segmentation dataset, which contains a variety of industrial objects that are thin and have non-trivial shapes. Extensive experimental results on various industrial objects demonstrate that our method can achieve the best segmentation results compared with the state-of-the-art approaches.

preprint2021arXiv

Design of a Flying Humanoid Robot Based on Thrust Vector Control

Achieving short-distance flight helps improve the efficiency of humanoid robots moving in complex environments (e.g., crossing large obstacles or reaching high places) for rapid emergency missions. This study proposes a design of a flying humanoid robot named Jet-HR2. The robot has 10 joints driven by brushless motors and harmonic drives for locomotion. To overcome the challenge of the stable-attitude takeoff in small thrust-to-weight conditions, the robot was designed based on the concept of thrust vectoring. The propulsion system consists of four ducted fans, that is, two fixed on the waist of the robot and the other two mounted on the feet, for thrust vector control. The thrust vector is controlled by adjusting the attitude of the foot during the flight. A simplified model and control strategies are proposed to solve the problem of attitude instability caused by mass errors and joint position errors during takeoff. The experimental results show that the robot's spin and dive behaviors during takeoff were effectively suppressed by controlling the thrust vector of the ducted fan on the foot. The robot successfully achieved takeoff at a thrust-to-weight ratio of 1.17 (17 kg / 20 kg) and maintained a stable attitude, reaching a takeoff height of over 1000 mm.

preprint2020arXiv

MiniNet: An extremely lightweight convolutional neural network for real-time unsupervised monocular depth estimation

Predicting depth from a single image is an attractive research topic since it provides one more dimension of information to enable machines to better perceive the world. Recently, deep learning has emerged as an effective approach to monocular depth estimation. As obtaining labeled data is costly, there is a recent trend to move from supervised learning to unsupervised learning to obtain monocular depth. However, most unsupervised learning methods capable of achieving high depth prediction accuracy will require a deep network architecture which will be too heavy and complex to run on embedded devices with limited storage and memory spaces. To address this issue, we propose a new powerful network with a recurrent module to achieve the capability of a deep network while at the same time maintaining an extremely lightweight size for real-time high performance unsupervised monocular depth prediction from video sequences. Besides, a novel efficient upsample block is proposed to fuse the features from the associated encoder layer and recover the spatial size of features with the small number of model parameters. We validate the effectiveness of our approach via extensive experiments on the KITTI dataset. Our new model can run at a speed of about 110 frames per second (fps) on a single GPU, 37 fps on a single CPU, and 2 fps on a Raspberry Pi 3. Moreover, it achieves higher depth accuracy with nearly 33 times fewer model parameters than state-of-the-art models. To the best of our knowledge, this work is the first extremely lightweight neural network trained on monocular video sequences for real-time unsupervised monocular depth estimation, which opens up the possibility of implementing deep learning-based real-time unsupervised monocular depth prediction on low-cost embedded devices.

preprint2020arXiv

On Analyzing Annotation Consistency in Online Abusive Behavior Datasets

Online abusive behavior is an important issue that breaks the cohesiveness of online social communities and even raises public safety concerns in our societies. Motivated by this rising issue, researchers have proposed, collected, and annotated online abusive content datasets. These datasets play a critical role in facilitating the research on online hate speech and abusive behaviors. However, the annotation of such datasets is a difficult task; it is often contentious on what should be the true label of a given text as the semantic difference of the labels may be blurred (e.g., abusive and hate) and often subjective. In this study, we proposed an analytical framework to study the annotation consistency in online hate and abusive content datasets. We applied our proposed framework to evaluate the consistency of the annotation in three popular datasets that are widely used in online hate speech and abusive behavior studies. We found that there is still a substantial amount of annotation inconsistency in the existing datasets, particularly when the labels are semantically similar.

preprint2020arXiv

On Analyzing Antisocial Behaviors Amid COVID-19 Pandemic

The COVID-19 pandemic has developed to be more than a bio-crisis as global news has reported a sharp rise in xenophobia and discrimination in both online and offline communities. Such toxic behaviors take a heavy toll on society, especially during these daunting times. Despite the gravity of the issue, very few studies have studied online antisocial behaviors amid the COVID-19 pandemic. In this paper, we fill the research gap by collecting and annotating a large dataset of over 40 million COVID-19 related tweets. Specially, we propose an annotation framework to annotate the antisocial behavior tweets automatically. We also conduct an empirical analysis of our annotated dataset and found that new abusive lexicons are introduced amid the COVID-19 pandemic. Our study also identified the vulnerable targets of antisocial behaviors and the factors that influence the spreading of online antisocial content.

preprint2020arXiv

Vispi: Automatic Visual Perception and Interpretation of Chest X-rays

Medical imaging contains the essential information for rendering diagnostic and treatment decisions. Inspecting (visual perception) and interpreting image to generate a report are tedious clinical routines for a radiologist where automation is expected to greatly reduce the workload. Despite rapid development of natural image captioning, computer-aided medical image visual perception and interpretation remain a challenging task, largely due to the lack of high-quality annotated image-report pairs and tailor-made generative models for sufficient extraction and exploitation of localized semantic features, particularly those associated with abnormalities. To tackle these challenges, we present Vispi, an automatic medical image interpretation system, which first annotates an image via classifying and localizing common thoracic diseases with visual support and then followed by report generation from an attentive LSTM model. Analyzing an open IU X-ray dataset, we demonstrate a superior performance of Vispi in disease classification, localization and report generation using automatic performance evaluation metrics ROUGE and CIDEr.