130 citations · 525 across the 45 of their papers we have counts for
45 papers
RaTrack: Moving Object Detection and Tracking with 4D Radar Point Cloud
Zhijun Pan, Fangqiang Ding, Hantao Zhong +1
Mobile autonomy relies on the precise perception of dynamic environments. Robustly tracking moving objects in 3D world thus plays a pivotal role for applications like trajectory pr…
Deep Learning for Visual Localization and Mapping: A Survey
Changhao Chen, Bing Wang, Chris Xiaoxuan Lu +2
Deep learning based localization and mapping approaches have recently emerged as a new research direction and receive significant attentions from both industry and academia. Instea…
JAX-LOB: A GPU-Accelerated limit order book simulator to unlock large scale reinforcement learning for trading
Sascha Frey, Kang Li, Peer Nagy +5
Financial exchanges across the world use limit order books (LOBs) to process orders and match trades. For research purposes it is important to have large scale efficient simulators…
Robust Human Detection under Visual Degradation via Thermal and mmWave Radar Fusion
Kaiwen Cai, Qiyue Xia, Peize Li +2
The majority of human detection methods rely on the sensor using visible lights (e.g., RGB cameras) but such sensors are limited in scenarios with degraded vision conditions. In th…
Risk Controlled Image Retrieval
Kaiwen Cai, Chris Xiaoxuan Lu, Xingyu Zhao +1
Most image retrieval research prioritizes improving predictive performance, often overlooking situations where the reliability of predictions is equally important. The gap between…
milliFlow: Scene Flow Estimation on mmWave Radar Point Cloud for Human Motion Sensing
Fangqiang Ding, Zhen Luo, Peijun Zhao +1
Human motion sensing plays a crucial role in smart systems for decision-making, user interaction, and personalized services. Extensive research that has been conducted is predomina…
ReLU to the Rescue: Improve Your On-Policy Actor-Critic with Positive Advantages
Andrew Jesson, Chris Lu, Gunshi Gupta +4
This paper proposes a step toward approximate Bayesian inference in on-policy actor-critic deep reinforcement learning. It is implemented through three changes to the Asynchronous…
VL-Fields: Towards Language-Grounded Neural Implicit Spatial Representations
Nikolaos Tsagkas, Oisin Mac Aodha, Chris Xiaoxuan Lu
We present Visual-Language Fields (VL-Fields), a neural implicit spatial representation that enables open-vocabulary semantic queries. Our model encodes and fuses the geometry of a…
MM-Fi: Multi-Modal Non-Intrusive 4D Human Dataset for Versatile Wireless Sensing
Jianfei Yang, He Huang, Yunjiao Zhou +6
4D human perception plays an essential role in a myriad of applications, such as home automation and metaverse avatar simulation. However, existing solutions which mainly rely on c…
Discovering Attention-Based Genetic Algorithms via Meta-Black-Box Optimization
Robert Tjarko Lange, Tom Schaul, Yutian Chen +4
Genetic algorithms constitute a family of black-box optimization algorithms, which take inspiration from the principles of biological evolution. While they provide a general-purpos…
Hidden Gems: 4D Radar Scene Flow Learning Using Cross-Modal Supervision
Fangqiang Ding, Andras Palffy, Dariu M. Gavrila +1
This work proposes a novel approach to 4D radar-based scene flow estimation via cross-modal learning. Our approach is motivated by the co-located sensing redundancy in modern auton…
Arbitrary Order Meta-Learning with Simple Population-Based Evolution
Chris Lu, Sebastian Towers, Jakob Foerster
Meta-learning, the notion of learning to learn, enables learning systems to quickly and flexibly solve new tasks. This usually involves defining a set of outer-loop meta-parameters…
Structured State Space Models for In-Context Reinforcement Learning
Chris Lu, Yannick Schroecker, Albert Gu +4
Structured state space sequence (S4) models have recently achieved state-of-the-art performance on long-range sequence modeling tasks. These models also have fast inference speeds…
Discovering Evolution Strategies via Meta-Black-Box Optimization
Robert Tjarko Lange, Tom Schaul, Yutian Chen +5
Optimizing functions without access to gradients is the remit of black-box methods such as evolution strategies. While highly general, their learning dynamics are often times heuri…
Adversarial Cheap Talk
Chris Lu, Timon Willi, Alistair Letcher +1
Adversarial attacks in reinforcement learning (RL) often assume highly-privileged access to the victim's parameters, environment, or data. Instead, this paper proposes a novel adve…
Uncertainty Estimation for 3D Dense Prediction via Cross-Point Embeddings
Kaiwen Cai, Chris Xiaoxuan Lu, Xiaowei Huang
Dense prediction tasks are common for 3D point clouds, but the uncertainties inherent in massive points and their embeddings have long been ignored. In this work, we present CUE, a…
GaitFi: Robust Device-Free Human Identification via WiFi and Vision Multimodal Learning
Lang Deng, Jianfei Yang, Shenghai Yuan +3
As an important biomarker for human identification, human gait can be collected at a distance by passive sensors without subject cooperation, which plays an essential role in crime…
Cross Vision-RF Gait Re-identification with Low-cost RGB-D Cameras and mmWave Radars
Dongjiang Cao, Ruofeng Liu, Hao Li +3
Human identification is a key requirement for many applications in everyday life, such as personalized services, automatic surveillance, continuous authentication, and contact trac…
SenseFi: A Library and Benchmark on Deep-Learning-Empowered WiFi Human Sensing
Jianfei Yang, Xinyan Chen, Dazhuo Wang +4
WiFi sensing has been evolving rapidly in recent years. Empowered by propagation models and deep learning methods, many challenging applications are realized such as WiFi-based hum…
OdomBeyondVision: An Indoor Multi-modal Multi-platform Odometry Dataset Beyond the Visible Spectrum
Peize Li, Kaiwen Cai, Muhamad Risqi U. Saputra +4
This paper presents a multimodal indoor odometry dataset, OdomBeyondVision, featuring multiple sensors across the different spectrum and collected with different mobile platforms.…
STUN: Self-Teaching Uncertainty Estimation for Place Recognition
Kaiwen Cai, Chris Xiaoxuan Lu, Xiaowei Huang
Place recognition is key to Simultaneous Localization and Mapping (SLAM) and spatial perception. However, a place recognition in the wild often suffers from erroneous predictions d…
Self-Supervised Scene Flow Estimation with 4-D Automotive Radar
Fangqiang Ding, Zhijun Pan, Yimin Deng +2
Scene flow allows autonomous vehicles to reason about the arbitrary motion of multiple independent objects which is the key to long-term mobile autonomy. While estimating the scene…
Multiagent Model-based Credit Assignment for Continuous Control
Dongge Han, Chris Xiaoxuan Lu, Tomasz Michalak +1
Deep reinforcement learning (RL) has recently shown great promise in robotic continuous control tasks. Nevertheless, prior research in this vein center around the centralized learn…
Deep Odometry Systems on Edge with EKF-LoRa Backend for Real-Time Positioning in Adverse Environment
Zhuangzhuang Dai, Muhamad Risqi U. Saputra, Chris Xiaoxuan Lu +2
Ubiquitous positioning for pedestrian in adverse environment has served a long standing challenge. Despite dramatic progress made by Deep Learning, multi-sensor deep odometry syste…