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Researcher profile

Wenxi Liu

Wenxi Liu contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Computer VisionRoboticsArtificial IntelligenceMachine Learning

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Published work

11 published item(s)

preprint2026arXiv

Dynamic-TD3: A Novel Algorithm for UAV Path Planning with Dynamic Obstacle Trajectory Prediction

Deep reinforcement learning (DRL) finds extensive application in autonomous drone navigation within complex, high-risk environments. However, its practical deployment faces a safety-exploration dilemma: soft penalty mechanisms encourage risky trial-and-error, while most constraint-based methods suffer degraded performance under sensor noise and intent uncertainty. We propose Dynamic-TD3, a physically enhanced framework that enforces strict safety constraints while maintaining maneuverability by modeling navigation as a Constrained Markov Decision Process (CMDP). This framework integrates an Adaptive Trajectory Relational Evolution Mechanism (ATREM) to capture long-range intentions and employs a Physically Aware Gated Kalman Filter (PAG-KF) to mitigate non-stationary observation noise. The resulting state representation drives a dual-criterion policy that balances mission efficiency against hard safety constraints via Lagrangian relaxation. In experiments with aggressive dynamic threats, this approach demonstrates superior collision avoidance performance, reduced energy consumption, and smoother flight trajectories.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

End-to-End Trajectory Distribution Prediction Based on Occupancy Grid Maps

In this paper, we aim to forecast a future trajectory distribution of a moving agent in the real world, given the social scene images and historical trajectories. Yet, it is a challenging task because the ground-truth distribution is unknown and unobservable, while only one of its samples can be applied for supervising model learning, which is prone to bias. Most recent works focus on predicting diverse trajectories in order to cover all modes of the real distribution, but they may despise the precision and thus give too much credit to unrealistic predictions. To address the issue, we learn the distribution with symmetric cross-entropy using occupancy grid maps as an explicit and scene-compliant approximation to the ground-truth distribution, which can effectively penalize unlikely predictions. In specific, we present an inverse reinforcement learning based multi-modal trajectory distribution forecasting framework that learns to plan by an approximate value iteration network in an end-to-end manner. Besides, based on the predicted distribution, we generate a small set of representative trajectories through a differentiable Transformer-based network, whose attention mechanism helps to model the relations of trajectories. In experiments, our method achieves state-of-the-art performance on the Stanford Drone Dataset and Intersection Drone Dataset.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Glance to Count: Learning to Rank with Anchors for Weakly-supervised Crowd Counting

Crowd image is arguably one of the most laborious data to annotate. In this paper, we devote to reduce the massive demand of densely labeled crowd data, and propose a novel weakly-supervised setting, in which we leverage the binary ranking of two images with high-contrast crowd counts as training guidance. To enable training under this new setting, we convert the crowd count regression problem to a ranking potential prediction problem. In particular, we tailor a Siamese Ranking Network that predicts the potential scores of two images indicating the ordering of the counts. Hence, the ultimate goal is to assign appropriate potentials for all the crowd images to ensure their orderings obey the ranking labels. On the other hand, potentials reveal the relative crowd sizes but cannot yield an exact crowd count. We resolve this problem by introducing "anchors" during the inference stage. Concretely, anchors are a few images with count labels used for referencing the corresponding counts from potential scores by a simple linear mapping function. We conduct extensive experiments to study various combinations of supervision, and we show that the proposed method outperforms existing weakly-supervised methods without additional labeling effort by a large margin.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Monocular Camera-based Complex Obstacle Avoidance via Efficient Deep Reinforcement Learning

Deep reinforcement learning has achieved great success in laser-based collision avoidance works because the laser can sense accurate depth information without too much redundant data, which can maintain the robustness of the algorithm when it is migrated from the simulation environment to the real world. However, high-cost laser devices are not only difficult to deploy for a large scale of robots but also demonstrate unsatisfactory robustness towards the complex obstacles, including irregular obstacles, e.g., tables, chairs, and shelves, as well as complex ground and special materials. In this paper, we propose a novel monocular camera-based complex obstacle avoidance framework. Particularly, we innovatively transform the captured RGB images to pseudo-laser measurements for efficient deep reinforcement learning. Compared to the traditional laser measurement captured at a certain height that only contains one-dimensional distance information away from the neighboring obstacles, our proposed pseudo-laser measurement fuses the depth and semantic information of the captured RGB image, which makes our method effective for complex obstacles. We also design a feature extraction guidance module to weight the input pseudo-laser measurement, and the agent has more reasonable attention for the current state, which is conducive to improving the accuracy and efficiency of the obstacle avoidance policy.

0 citations0 reviewsNo code linkedOpen access
preprint2021arXiv

Crowd-Driven Mapping, Localization and Planning

Navigation in dense crowds is a well-known open problem in robotics with many challenges in mapping, localization, and planning. Traditional solutions consider dense pedestrians as passive/active moving obstacles that are the cause of all troubles: they negatively affect the sensing of static scene landmarks and must be actively avoided for safety. In this paper, we provide a new perspective: the crowd flow locally observed can be treated as a sensory measurement about the surrounding scenario, encoding not only the scene's traversability but also its social navigation preference. We demonstrate that even using the crowd-flow measurement alone without any sensing about static obstacles, our method still accomplishes good results for mapping, localization, and social-aware planning in dense crowds. Videos of the experiments are available at https://sites.google.com/view/crowdmapping.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

An Intelligent CNN-VAE Text Representation Technology Based on Text Semantics for Comprehensive Big Data

In the era of big data, a large number of text data generated by the Internet has given birth to a variety of text representation methods. In natural language processing (NLP), text representation transforms text into vectors that can be processed by computer without losing the original semantic information. However, these methods are difficult to effectively extract the semantic features among words and distinguish polysemy in language. Therefore, a text feature representation model based on convolutional neural network (CNN) and variational autoencoder (VAE) is proposed to extract the text features and apply the obtained text feature representation on the text classification tasks. CNN is used to extract the features of text vector to get the semantics among words and VAE is introduced to make the text feature space more consistent with Gaussian distribution. In addition, the output of the improved word2vec model is employed as the input of the proposed model to distinguish different meanings of the same word in different contexts. The experimental results show that the proposed model outperforms in k-nearest neighbor (KNN), random forest (RF) and support vector machine (SVM) classification algorithms.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

An Intelligent Extraversion Analysis Scheme from Crowd Trajectories for Surveillance

In recent years, crowd analysis is important for applications such as smart cities, intelligent transportation system, customer behavior prediction, and visual surveillance. Understanding the characteristics of the individual motion in a crowd can be beneficial for social event detection and abnormal detection, but it has rarely been studied. In this paper, we focus on the extraversion measure of individual motions in crowds based on trajectory data. Extraversion is one of typical personalities that is often observed in human crowd behaviors and it can reflect not only the characteristics of the individual motion, but also the that of the holistic crowd motions. To our best knowledge, this is the first attempt to analyze individual extraversion of crowd motions based on trajectories. To accomplish this, we first present a effective composite motion descriptor, which integrates the basic individual motion information and social metrics, to describe the extraversion of each individual in a crowd. The social metrics consider both the neighboring distribution and their interaction pattern. Since our major goal is to learn a universal scoring function that can measure the degrees of extraversion across varied crowd scenes, we incorporate and adapt the active learning technique to the relative attribute approach. Specifically, we assume the social groups in any crowds contain individuals with the similar degree of extraversion. Based on such assumption, we significantly reduce the computation cost by clustering and ranking the trajectories actively. Finally, we demonstrate the performance of our proposed method by measuring the degree of extraversion for real individual trajectories in crowds and analyzing crowd scenes from a real-world dataset.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Learning Resilient Behaviors for Navigation Under Uncertainty

Deep reinforcement learning has great potential to acquire complex, adaptive behaviors for autonomous agents automatically. However, the underlying neural network polices have not been widely deployed in real-world applications, especially in these safety-critical tasks (e.g., autonomous driving). One of the reasons is that the learned policy cannot perform flexible and resilient behaviors as traditional methods to adapt to diverse environments. In this paper, we consider the problem that a mobile robot learns adaptive and resilient behaviors for navigating in unseen uncertain environments while avoiding collisions. We present a novel approach for uncertainty-aware navigation by introducing an uncertainty-aware predictor to model the environmental uncertainty, and we propose a novel uncertainty-aware navigation network to learn resilient behaviors in the prior unknown environments. To train the proposed uncertainty-aware network more stably and efficiently, we present the temperature decay training paradigm, which balances exploration and exploitation during the training process. Our experimental evaluation demonstrates that our approach can learn resilient behaviors in diverse environments and generate adaptive trajectories according to environmental uncertainties.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Mapping in a cycle: Sinkhorn regularized unsupervised learning for point cloud shapes

We propose an unsupervised learning framework with the pretext task of finding dense correspondences between point cloud shapes from the same category based on the cycle-consistency formulation. In order to learn discriminative pointwise features from point cloud data, we incorporate in the formulation a regularization term based on Sinkhorn normalization to enhance the learned pointwise mappings to be as bijective as possible. Besides, a random rigid transform of the source shape is introduced to form a triplet cycle to improve the model's robustness against perturbations. Comprehensive experiments demonstrate that the learned pointwise features through our framework benefits various point cloud analysis tasks, e.g. partial shape registration and keypoint transfer. We also show that the learned pointwise features can be leveraged by supervised methods to improve the part segmentation performance with either the full training dataset or just a small portion of it.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Over-crowdedness Alert! Forecasting the Future Crowd Distribution

In recent years, vision-based crowd analysis has been studied extensively due to its practical applications in real world. In this paper, we formulate a novel crowd analysis problem, in which we aim to predict the crowd distribution in the near future given sequential frames of a crowd video without any identity annotations. Studying this research problem will benefit applications concerned with forecasting crowd dynamics. To solve this problem, we propose a global-residual two-stream recurrent network, which leverages the consecutive crowd video frames as inputs and their corresponding density maps as auxiliary information to predict the future crowd distribution. Moreover, to strengthen the capability of our network, we synthesize scene-specific crowd density maps using simulated data for pretraining. Finally, we demonstrate that our framework is able to predict the crowd distribution for different crowd scenarios and we delve into applications including predicting future crowd count, forecasting high-density region, etc.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Recurrent Distillation based Crowd Counting

In recent years, with the progress of deep learning technologies, crowd counting has been rapidly developed. In this work, we propose a simple yet effective crowd counting framework that is able to achieve the state-of-the-art performance on various crowded scenes. In particular, we first introduce a perspective-aware density map generation method that is able to produce ground-truth density maps from point annotations to train crowd counting model to accomplish superior performance than prior density map generation techniques. Besides, leveraging our density map generation method, we propose an iterative distillation algorithm to progressively enhance our model with identical network structures, without significantly sacrificing the dimension of the output density maps. In experiments, we demonstrate that, with our simple convolutional neural network architecture strengthened by our proposed training algorithm, our model is able to outperform or be comparable with the state-of-the-art methods. Furthermore, we also evaluate our density map generation approach and distillation algorithm in ablation studies.

0 citations0 reviewsNo code linkedOpen access