Publications (104)
Boundary integrated neural networks (BINNs) for acoustic radiation and scattering
Wenzhen Qu, Yan Gu, Shengdong Zhao +1
This paper presents a novel approach called the boundary integrated neural networks (BINNs) for analyzing acoustic radiation and scattering. The method introduces fundamental solut…
Design and Evaluation of an Invariant Extended Kalman Filter for Trunk Motion Estimation with Sensor Misalignment
Zenan Zhu, Seyed Mostafa Rezayat Sorkhabadi, Yan Gu +1
Understanding human motion is of critical importance for health monitoring and control of assistive robots, yet many human kinematic variables cannot be directly or accurately meas…
Analysis of Work-Stealing and Parallel Cache Complexity
Yan Gu, Zachary Napier, Yihan Sun
Parallelism has become extremely popular over the past decade, and there have been a lot of new parallel algorithms and software. The randomized work-stealing (RWS) scheduler plays…
A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future
I-Chia Chang, Xinyan Huang, Tzu-Yuan Lin +5
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting…
Vectorizing Projection in Manifold-Constrained Motion Planning for Real-Time Whole-Body Control
Shrutheesh R Iyer, I-Chia Chang, Andrew Z. Liu +2
Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorith…
Efficient Construction of Probabilistic Tree Embeddings
Guy E. Blelloch, Yan Gu, Yihan Sun
In this paper we describe an algorithm that embeds a graph metric on an undirected weighted graph into a distribution of tree metrics such that for ev…
TAC-LOCO: Unified Whole-Body Control for Quadrupedal TACtile-Informed LOCO-Manipulation
Muqun Hu, Yuhao Zhou, Kabir Ray Malik +4
The paper introduces TAC-LOCO, a reinforcement learning framework that integrates tactile sensor data with proprioception to enable unified whole-body control of a quadrupedal robo…
Provably Fast and Space-Efficient Parallel Biconnectivity
Xiaojun Dong, Letong Wang, Yan Gu +1
Biconnectivity is one of the most fundamental graph problems. The canonical parallel biconnectivity algorithm is the Tarjan-Vishkin algorithm, which has optimal work (numb…
Parallel Longest Increasing Subsequence and van Emde Boas Trees
Yan Gu, Ziyang Men, Zheqi Shen +2
This paper studies parallel algorithms for the longest increasing subsequence (LIS) problem. Let be the input size and be the LIS length of the input. Sequentially, LIS is…
Sage: Parallel Semi-Asymmetric Graph Algorithms for NVRAMs
Laxman Dhulipala, Charlie McGuffey, Hongbo Kang +4
Non-volatile main memory (NVRAM) technologies provide an attractive set of features for large-scale graph analytics, including byte-addressability, low idle power, and improved mem…
Multiscale Cross-Modal Mapping of Molecular, Pathologic, and Radiologic Phenotypes in Lipid-Deficient Clear Cell Renal CellCarcinoma
Ying Cui, Dongzhe Zheng, Ke Yu +8
Clear cell renal cell carcinoma (ccRCC) exhibits extensive intratumoral heterogeneity on multiple biological scales, contributing to variable clinical outcomes and limiting the eff…
Quantum chaos of a kicked particle in a 1D infinite square potential well
Baowen Li, Jie Liu, Yan Gu +1
We study quantum chaos in a non-KAM system, i.e. a kicked particle in a one-dimensional infinite square potential well. Within the perturbative regime the classical phase space dis…
Proprioceptive Invariant State Estimation for Humanoid Robots on Non-Inertial Ground
Falak Mandali, Zijian He, Yan Gu
This paper presents an invariant extended Kalman filtering (InEKF) approach for real-time state estimation of humanoid robots operating on non-inertial ground using only onboard pr…
Invariant Extended Kalman Filtering for Human Motion Estimation with Imperfect Sensor Placement
Zenan Zhu, Seyed Mostafa Rezayat Sorkhabadi, Yan Gu +1
This paper introduces a new invariant extended Kalman filter design that produces real-time state estimates and rapid error convergence for the estimation of the human body movemen…
Efficient Stepping Algorithms and Implementations for Parallel Shortest Paths
Xiaojun Dong, Yan Gu, Yihan Sun +1
In this paper, we study the single-source shortest-path (SSSP) problem with positive edge weights, which is a notoriously hard problem in the parallel context. In practice, the $Î…
ParChain: A Framework for Parallel Hierarchical Agglomerative Clustering using Nearest-Neighbor Chain
Shangdi Yu, Yiqiu Wang, Yan Gu +2
This paper studies the hierarchical clustering problem, where the goal is to produce a dendrogram that represents clusters at varying scales of a data set. We propose the ParChain…
HybridMimic: Hybrid RL-Centroidal Control for Humanoid Motion Mimicking
Ludwig Chee-Ying Tay, I-Chia Chang, Yan Gu
Motion mimicking, i.e., encouraging the control policy to mimic human motion, facilitates the learning of complex tasks via reinforcement learning (RL) for humanoid robots. Althoug…
ParGeo: A Library for Parallel Computational Geometry
Yiqiu Wang, Rahul Yesantharao, Shangdi Yu +3
This paper presents ParGeo, a multicore library for computational geometry. ParGeo contains modules for fundamental tasks including d-tree based spatial search, spatial graph ge…
GWQ: Gradient-Aware Weight Quantization for Large Language Models
Yihua Shao, Yan Gu, Siyu Chen +12
Large language models (LLMs) show impressive performance in solving complex language tasks. However, its large number of parameters presents significant challenges for the deployme…
ParlayANN: Scalable and Deterministic Parallel Graph-Based Approximate Nearest Neighbor Search Algorithms
Magdalen Dobson Manohar, Zheqi Shen, Guy E. Blelloch +4
Approximate nearest-neighbor search (ANNS) algorithms are a key part of the modern deep learning stack due to enabling efficient similarity search over high-dimensional vector spac…
Parallel Strong Connectivity Based on Faster Reachability
Letong Wang, Xiaojun Dong, Yan Gu +1
Computing strongly connected components (SCC) is a fundamental problems in graph processing. As today's real-world graphs are getting larger and larger, parallel SCC is increasingl…
Optimal Parallel Algorithms for Dendrogram Computation and Single-Linkage Clustering
Laxman Dhulipala, Xiaojun Dong, Kishen N Gowda +1
Computing a Single-Linkage Dendrogram (SLD) is a key step in the classic single-linkage hierarchical clustering algorithm. Given an input edge-weighted tree , the SLD of is…
PIM-tree: A Skew-resistant Index for Processing-in-Memory
Hongbo Kang, Yiwei Zhao, Guy E. Blelloch +4
The performance of today's in-memory indexes is bottlenecked by the memory latency/bandwidth wall. Processing-in-memory (PIM) is an emerging approach that potentially mitigates thi…
An indefinite-proximal-based strictly contractive Peaceman-Rachford splitting method
Yan Gu, Bo Jiang, Deren Han
The Peaceman-Rachford splitting method is efficient for minimizing a convex optimization problem with a separable objective function and linear constraints. However, its convergenc…
An Adaptive Framework for Manipulator Skill Reproduction in Dynamic Environments
Ryan Donald, Brendan Hertel, Stephen Misenti +2
Robot skill learning and execution in uncertain and dynamic environments is a challenging task. This paper proposes an adaptive framework that combines Learning from Demonstration…
Parallel d-tree with Batch Updates
Ziyang Men, Zheqi Shen, Yan Gu +1
The d-tree is one of the most widely used data structures to manage multi-dimensional data. Due to the ever-growing data volume, it is imperative to consider parallelism in d…
Many Sequential Iterative Algorithms Can Be Parallel and (Nearly) Work-efficient
Zheqi Shen, Zijin Wan, Yan Gu +1
To design efficient parallel algorithms, some recent papers showed that many sequential iterative algorithms can be directly parallelized but there are still challenges in achievin…
Measuring outcome correlation for spin-s Bell cat-state and geometric phase induced spin parity effect
Yan Gu, Haifeng Zhang, Zhigang Song +2
In terms of quantum probability statistics the Bell inequality (BI) and its violation are extended to spin- entangled Schrödinger cat-state (called the Bell cat-state) with bot…
Parallel -Core Decomposition: Theory and Practice
Youzhe Liu, Xiaojun Dong, Yan Gu +1
This paper proposes efficient solutions for -core decomposition with high parallelism. The problem of -core decomposition is fundamental in graph analysis and has application…
Findings of the WMT 2023 Shared Task on Discourse-Level Literary Translation: A Fresh Orb in the Cosmos of LLMs
Longyue Wang, Zhaopeng Tu, Yan Gu +14
Translating literary works has perennially stood as an elusive dream in machine translation (MT), a journey steeped in intricate challenges. To foster progress in this domain, we h…
New Algorithms for Incremental Minimum Spanning Trees and Temporal Graph Applications
Xiangyun Ding, Yan Gu, Yihan Sun
Processing graphs with temporal information (the temporal graphs) has become increasingly important in the real world. In this paper, we study efficient solutions to temporal graph…
DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces
Amir Iqbal, Sushant Veer, Yan Gu
Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surface moving in the inertial frame) involves complex full-order dynamics that is high-dimensional, nonlinear, an…
Optimal (Randomized) Parallel Algorithms in the Binary-Forking Model
Guy E. Blelloch, Jeremy T. Fineman, Yan Gu +1
In this paper we develop optimal algorithms in the binary-forking model for a variety of fundamental problems, including sorting, semisorting, list ranking, tree contraction, range…
PaC-trees: Supporting Parallel and Compressed Purely-Functional Collections
Laxman Dhulipala, Guy E. Blelloch, Yan Gu +1
Many modern programming languages are shifting toward a functional style for collection interfaces such as sets, maps, and sequences. Functional interfaces offer many advantages, i…
MBE-ARI: A Multimodal Dataset Mapping Bi-directional Engagement in Animal-Robot Interaction
Ian Noronha, Advait Prasad Jawaji, Juan Camilo Soto +3
Animal-robot interaction (ARI) remains an unexplored challenge in robotics, as robots struggle to interpret the complex, multimodal communication cues of animals, such as body lang…
PASGAL: Parallel And Scalable Graph Algorithm Library
Xiaojun Dong, Yan Gu, Yihan Sun +1
In this paper, we introduce PASGAL (Parallel And Scalable Graph Algorithm Library), a parallel graph library that scales to a variety of graph types, many processors, and large gra…
Parallelism in Randomized Incremental Algorithms
Guy E. Blelloch, Yan Gu, Julian Shun +1
In this paper we show that many sequential randomized incremental algorithms are in fact parallel. We consider algorithms for several problems including Delaunay triangulation, lin…
Parallel Joinable B-Trees in the Fork-Join I/O Model
Michael Goodrich, Yan Gu, Ryuto Kitagawa +1
Balanced search trees are widely used in computer science to efficiently maintain dynamic ordered data. To support efficient set operations (e.g., union, intersection, difference)…
High-Performance and Flexible Parallel Algorithms for Semisort and Related Problems
Xiaojun Dong, Yunshu Wu, Zhongqi Wang +3
Semisort is a fundamental algorithmic primitive widely used in the design and analysis of efficient parallel algorithms. It takes input as an array of records and a function extrac…
A novel boundary integrated neural networks for in plane fracture mechanics analysis of elastic and piezoelectric materials
Peijun Zhang, Yan Gu, Okyay Altay +1
In this study, we propose a novel approach, termed boundary integrated neural networks (BINNs), for analyzing in-plane crack problems within the framework of linear elastic fractur…
Adaptive physics-informed neural networks for dynamic thermo-mechanical coupling problems in large-size-ratio functionally graded materials
Lin Qiu, Yanjie Wang, Tian He +2
In this paper, we present the adaptive physics-informed neural networks (PINNs) for resolving three dimensional (3D) dynamic thermo-mechanical coupling problems in large-size-ratio…
From Simulation to the Real-World: An In-Field 6D Pose Dataset and Baseline for Robotic Strawberry Harvesting
Woojung Son, Won Suk Lee, Zijing Huang +4
Robotic strawberry harvesting requires precise 6D pose estimation; however, collecting 6D pose ground truth in real agricultural fields is inherently challenging. Existing strawber…
Modeling of Interface Loads for EOD Suit Wearers
Yuan Gao, Stephanie Epstein, Murat Inalpolat +2
Explosive Ordnance Disposal (EOD) suits are widely used to protect human operators to execute emergency tasks such as bomb disposal and neutralization. Current suit designs still n…
Global-Position Tracking Control of 3-D Bipedal Walking via Virtual Constraint Design and Multiple Lyapunov Analysis
Yan Gu, Yuan Gao, Bin Yao +1
A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as "…
Parallel Write-Efficient Algorithms and Data Structures for Computational Geometry
Guy E. Blelloch, Yan Gu, Yihan Sun +1
In this paper, we design parallel write-efficient geometric algorithms that perform asymptotically fewer writes than standard algorithms for the same problem. This is motivated by…
Parallel Dynamic Spatial Indexes
Ziyang Men, Bo Huang, Yan Gu +1
Maintaining spatial data (points in two or three dimensions) is crucial and has a wide range of applications, such as graphics, GIS, and robotics. To handle spatial data, many data…
Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
Yuan Gao, Victor Paredes, Yukai Gong +3
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying hum…
Provably Stabilizing Global-Position Tracking Control for Hybrid Models of Multi-Domain Bipedal Walking via Multiple Lyapunov Analysis
Yuan Gao, Kentaro Barhydt, Christopher Niezrecki +1
Accurate control of a humanoid robot's global position (i.e., its three-dimensional position in the world) is critical to the reliable execution of high-risk tasks such as avoiding…
Generalized gauge transformation with -symmetric non-unitary operator and classical correspondence of non-Hermitian Hamiltonian for a periodically driven system
Yan Gu, Xiao-Lei Hao, J. -Q. Liang
We in this paper demonstrate that the -symmetric non-Hermitian Hamiltonian for a periodically driven system can be generated from a kernel Hamiltonian by a generalized gauge tr…
Improved Parallel Cache-Oblivious Algorithms for Dynamic Programming and Linear Algebra
Guy E. Blleloch, Yan Gu
Emerging non-volatile main memory (NVRAM) technologies provide byte-addressability, low idle power, and improved memory-density, and are likely to be a key component in the future…
Impact-Aware Online Motion Planning for Fully-Actuated Bipedal Robot Walking
Yuan Gao, Xingye Da, Yan Gu
The ability to track a general walking path with specific timing is crucial to the operational safety and reliability of bipedal robots for avoiding dynamic obstacles, such as pede…
Relaxation of A Thermally Bathed Harmonic Oscillator: A Study Based on the Group-theoretical Formalism
Yan Gu, Jiao Wang
Quantum dynamics of a damped harmonic oscillator has been extensively studied since the sixties of the last century. Here, with a distinct tool termed the ``group-theoretical chara…
Enriched physics-informed neural networks for in-plane crack problems: Theory and MATLAB codes
Yan Gu, Chuanzeng Zhang, Peijun Zhang +1
In this paper, a method based on the physics-informed neural networks (PINNs) is presented to model in-plane crack problems in the linear elastic fracture mechanics. Instead of for…
Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface
Yuan Gao, Yukai Gong, Victor Paredes +2
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvest…
Legged Robot State Estimation within Non-inertial Environments
Zijian He, Sangli Teng, Tzu-Yuan Lin +2
This paper investigates the robot state estimation problem within a non-inertial environment. The proposed state estimation approach relaxes the common assumption of static ground…
Modular Safety Guardrails Are Necessary for Foundation-Model-Enabled Robots in the Real World
Joonkyung Kim, Wenxi Chen, Davood Soleymanzadeh +9
The integration of foundation models (FMs) into robotics has accelerated real-world deployment, while introducing new safety challenges arising from open-ended semantic reasoning a…
Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces
Yuan Gao, Chengzhi Yuan, Yan Gu
State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid surface moving in the world frame (e.g., ships, aircraft, and trains), remains an under-…
Spectral integrated neural networks (SINNs) for solving forward and inverse dynamic problems
Lin Qiu, Fajie Wang, Wenzhen Qu +2
This paper proposes a novel neural network framework, denoted as spectral integrated neural networks (SINNs), for resolving three-dimensional forward and inverse dynamic problems.…
Cascading A*: a Parallel Approach to Approximate Heuristic Search
Yan Gu
In this paper, we proposed a new approximate heuristic search algorithm: Cascading A*, which is a two-phrase algorithm combining A* and IDA* by a new concept "envelope ball". The n…
Efficient Algorithms with Asymmetric Read and Write Costs
Guy E. Blelloch, Jeremy T. Fineman, Phillip B. Gibbons +2
In several emerging technologies for computer memory (main memory), the cost of reading is significantly cheaper than the cost of writing. Such asymmetry in memory costs poses a fu…
A Parallel Batch-Dynamic Data Structure for the Closest Pair Problem
Yiqiu Wang, Shangdi Yu, Yan Gu +1
We propose a theoretically-efficient and practical parallel batch-dynamic data structure for the closest pair problem. Our solution is based on a serial dynamic closest pair data s…
Generalized Bell-like inequality and maximum violation for multiparticle entangled Schrödinger-cat-states of spin-s
Yan Gu, Wei-Dong Li, Xiao-Lei Hao +2
This paper proposes a generalized Bell-like inequality (GBI) for multiparticle entangled Schrödinger-cat--states of arbitrary spin-. Based on quantum probability statistics the…
Parallel Point-to-Point Shortest Paths and Batch Queries
Xiaojun Dong, Andy Li, Yan Gu +1
We propose Orionet, efficient parallel implementations of Point-to-Point Shortest Paths (PPSP) queries using bidirectional search (BiDS) and other heuristics, with an additional fo…
DREAM-Chunk: Reactive Action Chunking with Latent World Model
Wenxi Chen, Kaidi Zhang, Chi Lin +6
Action chunking has become a common interface for vision-language-action (VLA) models, enabling low-frequency policy inference to drive high-frequency robot execution. However, onc…
Extended Capture Point and Optimization-based Control for Quadrupedal Robot Walking on Dynamic Rigid Surfaces
Amir Iqbal, Yan Gu
Stabilizing legged robot locomotion on a dynamic rigid surface (DRS) (i.e., rigid surface that moves in the inertial frame) is a complex planning and control problem. The complexit…
ANNLib: A Development Framework for Efficient Approximate Nearest Neighbor Search
Zheqi Shen, Jingbo Su, Zijin Wan +2
Approximate Nearest Neighbor Search (ANNS) plays a pivotal role in modern deep learning pipelines. Recently, many ANNS systems have been proposed to either provide broad functional…
Parallel Integer Sort: Theory and Practice
Xiaojun Dong, Laxman Dhulipala, Yan Gu +1
Integer sorting is a fundamental problem in computer science. This paper studies parallel integer sort both in theory and in practice. In theory, we show tighter bounds for a class…
Invariant Filtering for Bipedal Walking on Dynamic Rigid Surfaces with Orientation-based Measurement Model
Yuan Gao, Yan Gu
Real-world applications of bipedal robot walking require accurate, real-time state estimation. State estimation for locomotion over dynamic rigid surfaces (DRS), such as elevators,…
Symbolic powers of edge ideals of graphs
Yan Gu, Huy Tai Ha, Jonathan L. O'Rourke +1
Let be a graph and let be its edge ideal. When is unicyclic, we give a decomposition of symbolic powers of in terms of its ordinary powers. This allows us to…
Alternating Direction Method of Multipliers with Variable Metric Indefinite Proximal Terms for Convex Optimization
Yan Gu, Nobuo Yamashita
This paper studies a proximal alternating direction method of multipliers (ADMM) with variable metric indefinite proximal terms for linearly constrained convex optimization problem…
Adaptive Ankle Torque Control for Bipedal Humanoid Walking on Surfaces with Unknown Horizontal and Vertical Motion
Jacob Stewart, I-Chia Chang, Yan Gu +1
Achieving stable bipedal walking on surfaces with unknown motion remains a challenging control problem due to the hybrid, time-varying, partially unknown dynamics of the robot and…
HT-LIP Model based Robust Control of Quadrupedal Robot Locomotion under Unknown Vertical Ground Motion
Amir Iqbal, Sushant Veer, Christopher Niezrecki +1
This paper presents a hierarchical control framework that enables robust quadrupedal locomotion on a dynamic rigid surface (DRS) with general and unknown vertical motions. The key…
Symbolic Powers of Cover Ideals of Graphs and Koszul Property
Yan Gu, Huy TÃ i HÃ, Joseph W. Skelton
We show that attaching a whisker (or a pendant) at the vertices of a cycle cover of a graph results in a new graph with the following property: all symbolic powers of its cover ide…
Deep Reinforcement Learning for Job Scheduling and Resource Management in Cloud Computing: An Algorithm-Level Review
Yan Gu, Zhaoze Liu, Shuhong Dai +5
Cloud computing has revolutionized the provisioning of computing resources, offering scalable, flexible, and on-demand services to meet the diverse requirements of modern applicati…
Efficient Parallel Output-Sensitive Edit Distance
Xiangyun Ding, Xiaojun Dong, Yan Gu +2
Given two strings and , and a set of operations allowed to edit the strings, the edit distance between and is the minimum number of operations required t…
Findings of the WMT 2024 Shared Task on Discourse-Level Literary Translation
Longyue Wang, Siyou Liu, Chenyang Lyu +11
Following last year, we have continued to host the WMT translation shared task this year, the second edition of the Discourse-Level Literary Translation. We focus on three language…
Fast Parallel Algorithms for Euclidean Minimum Spanning Tree and Hierarchical Spatial Clustering
Yiqiu Wang, Shangdi Yu, Yan Gu +1
This paper presents new parallel algorithms for generating Euclidean minimum spanning trees and spatial clustering hierarchies (known as HDBSCAN). Our approach is based on gene…
Real-Time Walking Pattern Generation of Quadrupedal Dynamic-Surface Locomotion based on a Linear Time-Varying Pendulum Model
Amir Iqbal, Sushant Veer, Yan Gu
This study introduces an analytically tractable and computationally efficient model of the legged robot dynamics associated with locomotion on a dynamic rigid surface (DRS), and de…
Theoretically-Efficient and Practical Parallel DBSCAN
Yiqiu Wang, Yan Gu, Julian Shun
The DBSCAN method for spatial clustering has received significant attention due to its applicability in a variety of data analysis tasks. There are fast sequential algorithms for D…
An Alternating Direction Method of Multipliers with the BFGS Update for Structured Convex Quadratic Optimization
Yan Gu, Nobuo Yamashita
The alternating direction method of multipliers (ADMM) is an effective method for solving wide fields of convex problems. At each iteration, the classical ADMM solves two subproble…
Sparse-Dense Flight Copy-Based Interactive Mechanism for Airline Integrated Recovery
Jiajin Lin, Jianlin Jiang, Yan Gu +2
The paper proposes a sparse‑dense flight‑copy modeling approach and an interactive algorithm that alternately adjusts aircraft routes and passenger itineraries, enabling faster int…
Parallel Shortest-Paths Using Radius Stepping
Guy E. Blelloch, Yan Gu, Yihan Sun +1
The single-source shortest path problem (SSSP) with nonnegative edge weights is a notoriously difficult problem to solve efficiently in parallel---it is one of the graph problems s…
Algorithmic Building Blocks for Asymmetric Memories
Yan Gu, Yihan Sun, Guy E. Blelloch
The future of main memory appears to lie in the direction of new non-volatile memory technologies that provide strong capacity-to-performance ratios, but have write operations that…
PACE: Physics Augmentation for Coordinated End-to-end Reinforcement Learning toward Versatile Humanoid Table Tennis
Muqun Hu, Wenxi Chen, Wenjing Li +9
Humanoid table tennis (TT) demands rapid perception, proactive whole-body motion, and agile footwork under strict timing--capabilities that remain difficult for end-to-end control…
Parallel In-Place Algorithms: Theory and Practice
Yan Gu, Omar Obeya, Julian Shun
Many parallel algorithms use at least linear auxiliary space in the size of the input to enable computations to be done independently without conflicts. Unfortunately, this extra s…
Model-agnostic Meta-learning for Adaptive Gait Phase and Terrain Geometry Estimation with Wearable Soft Sensors
Zenan Zhu, Wenxi Chen, Pei-Chun Kao +5
This letter presents a model-agnostic meta-learning (MAML) based framework for simultaneous and accurate estimation of human gait phase and terrain geometry using a small set of fa…
Leveraging Perturbation Robustness to Enhance Out-of-Distribution Detection
Wenxi Chen, Raymond A. Yeh, Shaoshuai Mou +1
Out-of-distribution (OOD) detection is the task of identifying inputs that deviate from the training data distribution. This capability is essential for safely deploying deep compu…
TD-Orch: Efficient Task-Data Orchestration for Distributed Systems with Application to Graph Processing
Yiwei Zhao, Qiushi Lin, Hongbo Kang +5
We introduce a task-data orchestration abstraction that supports a range of distributed applications. Given a batch of lambda tasks each requesting a data item, where both tasks an…
Algorithms on Minimizing the Maximum Sensor Movement for Barrier Coverage of a Linear Domain
Danny Z. Chen, Yan Gu, Jian Li +1
In this paper, we study the problem of moving sensors on a line to form a barrier coverage of a specified segment of the line such that the maximum moving distance of the senso…
Fast and Space-Efficient Parallel Algorithms for Influence Maximization
Letong Wang, Xiangyun Ding, Yan Gu +1
Influence Maximization (IM) is a crucial problem in data science. The goal is to find a fixed-size set of highly-influential seed vertices on a network to maximize the influence sp…
Sorting with Asymmetric Read and Write Costs
Guy E. Blelloch, Jeremy T. Fineman, Phillip B. Gibbons +2
Emerging memory technologies have a significant gap between the cost, both in time and in energy, of writing to memory versus reading from memory. In this paper we present models a…
Extended Bell inequality and maximum violation
Yan Gu, Haifeng Zhang, Zhigang Song +2
The original formula of Bell inequality (BI) in terms of two-spin singlet has to be modified for the entangled-state with parallel spin polarization. Based on classical statistics…
Parallel and (Nearly) Work-Efficient Dynamic Programming
Xiangyun Ding, Yan Gu, Yihan Sun
The idea of dynamic programming (DP), proposed by Bellman in the 1950s, is one of the most important algorithmic techniques. However, in parallel, many fundamental and sequentially…
Maximum violation of Wigner inequality for two-spin entangled states with parallel and antiparallel polarizations
Yan Gu, Haifeng Zhang, Zhigang Song +2
The experimental test of Bell's inequality is mainly focused on Clauser-Horne-Shimony-Holt (CHSH) form, which provides a quantitative bound, while little attention has been pained…
The Parallel Persistent Memory Model
Guy E. Blelloch, Phillip B. Gibbons, Yan Gu +2
We consider a parallel computational model that consists of processors, each with a fast local ephemeral memory of limited size, and sharing a large persistent memory. The mode…
Parallel Cluster-BFS and Applications to Shortest Paths
Letong Wang, Guy Blelloch, Yan Gu +1
Breadth-first Search (BFS) is one of the most important graph processing subroutines, especially for computing the unweighted distance. Many applications may require running BFS fr…
Boundary integrated neural networks (BINNs) for 2D elastostatic and piezoelectric problems: Theory and MATLAB code
Peijun Zhang, Chuanzeng Zhang, Yan Gu +2
In this paper, we make the first attempt to apply the boundary integrated neural networks (BINNs) for the numerical solution of two-dimensional (2D) elastostatic and piezoelectric…
-symmetric non-Hermitian Hamiltonian and invariant operator in periodically driven system
Yan Gu, Xue-Min Bai, Xiao-Lei Hao +1
We study in this paper the time evolution of -symmetric non-Hermitian Hamiltonian consisting of periodically driven generators. A non-Hermitian invariant operator is…
Parallel Metric Skip Lists and Nearest Neighbor Search
Xiangyun Ding, Rohin Garg, Yan Gu +1
The metric skip-list is a data structure designed for efficient nearest and -nearest neighbor search in metric spaces. For many real-world datasets with reasonable distributions…
Parallel Contraction Hierarchies Can Be Efficient and Scalable
Zijin Wan, Xiaojun Dong, Letong Wang +3
Contraction Hierarchies (CH) (Geisberger et al., 2008) is one of the most widely used algorithms for shortest-path queries on road networks. Compared to Dijkstra's algorithm, CH en…