Researcher profile

Xinyu Wu

Xinyu Wu contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate

Trust snapshot

Quick read

Trust 21 - EmergingVerification L1Unclaimed author
8works
0followers
11topics
4close collaborators

Actions

Decide how to stay connected

Follow researcher0

Identity and collaboration

How to connect with this researcher

Claiming links this public author record to a researcher profile and unlocks direct collaboration workflows.

Log in to claim

Direct collaboration

Open a focused conversation when the fit is right

Claim this author entity first to unlock direct invitations.

Research graph

See the researcher in context

Open full explorer

Inspect adjacent work, topics, institutions and collaborators without jumping out to a separate graph page.

Building this graph slice

BZPEER is loading the nearby papers, people, topics and institutions for this page.

Published work

8 published item(s)

preprint2026arXiv

Multi-Perspective Transformers in ARC-AGI-2 Challenge

ARC-AGI-2 is a benchmark of human-intuitive visual puzzles that measures a machine's ability to generalize from limited examples, interpret symbolic meaning, and flexibly apply rules in varying contexts. In this paper, we discuss our approach to solving the ARC-AGI-2 puzzles with TinyLM, with additional fine-tuning at test time, including Test-Time-Training (TTT) and Products of Experts (POE). Our model achieves 96.1% accuracy on the training set and 21.7% accuracy on the evaluation set.

preprint2022arXiv

RNGDet: Road Network Graph Detection by Transformer in Aerial Images

Road network graphs provide critical information for autonomous-vehicle applications, such as drivable areas that can be used for motion planning algorithms. To find road network graphs, manually annotation is usually inefficient and labor-intensive. Automatically detecting road network graphs could alleviate this issue, but existing works still have some limitations. For example, segmentation-based approaches could not ensure satisfactory topology correctness, and graph-based approaches could not present precise enough detection results. To provide a solution to these problems, we propose a novel approach based on transformer and imitation learning in this paper. In view of that high-resolution aerial images could be easily accessed all over the world nowadays, we make use of aerial images in our approach. Taken as input an aerial image, our approach iteratively generates road network graphs vertex-by-vertex. Our approach can handle complicated intersection points with various numbers of incident road segments. We evaluate our approach on a publicly available dataset. The superiority of our approach is demonstrated through the comparative experiments. Our work is accompanied with a demonstration video which is available at \url{https://tonyxuqaq.github.io/projects/RNGDet/}.

preprint2020arXiv

Dynamical Systems based Obstacle Avoidance with Workspace Constraint for Manipulators

In this paper, based on Dynamical Systems (DS), we present an obstacle avoidance method that take into account workspace constraint for serial manipulators. Two modulation matrices that consider the effect of an obstacle and the workspace of a manipulator are determined when the obstacle does not intersect the workspace boundary and when the obstacle intersects the workspace boundary respectively. Using the modulation matrices, an original DS is deformed. The proposed approach can ensure that the trajectory of the manipulator computed according to the deformed DS neither penetrate the obstacle nor go out of the workspace. We validate the effectiveness of the approach in the simulations and experiments on the left arm of the UBTECH humanoid robot.

preprint2020arXiv

Explicit near-fully X-Ramanujan graphs

Let $p(Y_1, \dots, Y_d, Z_1, \dots, Z_e)$ be a self-adjoint noncommutative polynomial, with coefficients from $\mathbb{C}^{r \times r}$, in the indeterminates $Y_1, \dots, Y_d$ (considered to be self-adjoint), the indeterminates $Z_1, \dots, Z_e$, and their adjoints $Z_1^*, \dots, Z_e^*$. Suppose $Y_1, \dots, Y_d$ are replaced by independent random $n \times n$ matching matrices, and $Z_1, \dots, Z_e$ are replaced by independent random $n \times n$ permutation matrices. Assuming for simplicity that $p$'s coefficients are $0$-$1$ matrices, the result can be thought of as a kind of random $rn$-vertex graph $G$. As $n \to \infty$, there will be a natural limiting infinite graph $X$ that covers any finite outcome for $G$. A recent landmark result of Bordenave and Collins shows that for any $\varepsilon > 0$, with high probability the spectrum of a random $G$ will be $\varepsilon$-close in Hausdorff distance to the spectrum of $X$ (once the suitably defined "trivial" eigenvalues are excluded). We say that $G$ is "$\varepsilon$-near fully $X$-Ramanujan". Our work has two contributions: First we study and clarify the class of infinite graphs $X$ that can arise in this way. Second, we derandomize the Bordenave-Collins result: for any $X$, we provide explicit, arbitrarily large graphs $G$ that are covered by $X$ and that have (nontrivial) spectrum at Hausdorff distance at most $\varepsilon$ from that of $X$. This significantly generalizes the recent work of Mohanty et al., which provided explicit near-Ramanujan graphs for every degree $d$ (meaning $d$-regular graphs with all nontrivial eigenvalues bounded in magnitude by $2\sqrt{d-1} + \varepsilon$). As an application of our main technical theorem, we are also able to determine the "eigenvalue relaxation value" for a wide class of average-case degree-$2$ constraint satisfaction problems.

preprint2020arXiv

Perceive, Predict, and Plan: Safe Motion Planning Through Interpretable Semantic Representations

In this paper we propose a novel end-to-end learnable network that performs joint perception, prediction and motion planning for self-driving vehicles and produces interpretable intermediate representations. Unlike existing neural motion planners, our motion planning costs are consistent with our perception and prediction estimates. This is achieved by a novel differentiable semantic occupancy representation that is explicitly used as cost by the motion planning process. Our network is learned end-to-end from human demonstrations. The experiments in a large-scale manual-driving dataset and closed-loop simulation show that the proposed model significantly outperforms state-of-the-art planners in imitating the human behaviors while producing much safer trajectories.

preprint2020arXiv

Real-time Whole-body Obstacle Avoidance for 7-DOF Redundant Manipulators

Mainly because of the heavy computational costs, the real-time whole-body obstacle avoidance for the redundant manipulators has not been well implemented. This paper presents an approach that can ensure that the whole-body of a redundant manipulator can avoid moving obstacles in real-time during the execution of a task. The manipulator is divided into end-effector and non-end-effector portion. Based on dynamical systems (DS), the real-time end-effector obstacle avoidance is obtained. Besides, the end-effector can reach the given target. By using null-space velocity control, the real-time non-endeffector obstacle avoidance is achieved. Finally, a controller is designed to ensure the whole-body obstacle avoidance. We validate the effectiveness of the method in the simulations and experiments on the 7-DOF arm of the UBTECH humanoid robot.

preprint2018arXiv

Dendritic-Inspired Processing Enables Bio-Plausible STDP in Compound Binary Synapses

Brain-inspired learning mechanisms, e.g. spike timing dependent plasticity (STDP), enable agile and fast on-the-fly adaptation capability in a spiking neural network. When incorporating emerging nanoscale resistive non-volatile memory (NVM) devices, with ultra-low power consumption and high-density integration capability, a spiking neural network hardware would result in several orders of magnitude reduction in energy consumption at a very small form factor and potentially herald autonomous learning machines. However, actual memory devices have shown to be intrinsically binary with stochastic switching, and thus impede the realization of ideal STDP with continuous analog values. In this work, a dendritic-inspired processing architecture is proposed in addition to novel CMOS neuron circuits. The utilization of spike attenuations and delays transforms the traditionally undesired stochastic behavior of binary NVMs into a useful leverage that enables biologically-plausible STDP learning. As a result, this work paves a pathway to adopt practical binary emerging NVM devices in brain-inspired neuromorphic computing.