122 citations · 443 across the 63 of their papers we have counts for
18 papers · 1 filter
Pre-Trained Image Processing Transformer
Hanting Chen, Yunhe Wang, Tianyu Guo +7
As the computing power of modern hardware is increasing strongly, pre-trained deep learning models (e.g., BERT, GPT-3) learned on large-scale datasets have shown their effectivenes…
Generating Large Convex Polytopes Directly on Point Clouds
Xingguang Zhong, Yuwei Wu, Dong Wang +3
In this paper, we present a method to efficiently generate large, free, and guaranteed convex space among arbitrarily cluttered obstacles. Our method operates directly on point clo…
Mapless-Planner: A Robust and Fast Planning Framework for Aggressive Autonomous Flight without Map Fusion
Jialin Ji, Zhepei Wang, Yingjian Wang +2
Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless plan…
Fast-Tracker: A Robust Aerial System for Tracking Agile Target in Cluttered Environments
Zhichao Han, Ruibin Zhang, Neng Pan +2
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging…
HybrIK: A Hybrid Analytical-Neural Inverse Kinematics Solution for 3D Human Pose and Shape Estimation
Jiefeng Li, Chao Xu, Zhicun Chen +3
Model-based 3D pose and shape estimation methods reconstruct a full 3D mesh for the human body by estimating several parameters. However, learning the abstract parameters is a high…
EVA-Planner: Environmental Adaptive Quadrotor Planning
Lun Quan, Zhiwei Zhang, Xingguang Zhong +2
The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating sa…
EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments
Xin Zhou, Jiangchao Zhu, Hongyu Zhou +2
This paper presents a decentralized and asynchronous systematic solution for multi-robot autonomous navigation in unknown obstacle-rich scenes using merely onboard resources. The p…
VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation
Ziming Ding, Tiankai Yang, Kunyi Zhang +2
Recently, quadrotors are gaining significant attention in aerial transportation and delivery. In these scenarios, an accurate estimation of the external force is as essential as th…
Learning-based 3D Occupancy Prediction for Autonomous Navigation in Occluded Environments
Lizi Wang, Hongkai Ye, Qianhao Wang +3
In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice…
Generating Large-Scale Trajectories Efficiently using Double Descriptions of Polynomials
Zhepei Wang, Hongkai Ye, Chao Xu +1
For quadrotor trajectory planning, describing a polynomial trajectory through coefficients and end-derivatives both enjoy their own convenience in energy minimization. We name them…
SCOP: Scientific Control for Reliable Neural Network Pruning
Yehui Tang, Yunhe Wang, Yixing Xu +4
This paper proposes a reliable neural network pruning algorithm by setting up a scientific control. Existing pruning methods have developed various hypotheses to approximate the im…
Searching for Low-Bit Weights in Quantized Neural Networks
Zhaohui Yang, Yunhe Wang, Kai Han +4
Quantized neural networks with low-bit weights and activations are attractive for developing AI accelerators. However, the quantization functions used in most conventional quantiza…
CMPCC: Corridor-based Model Predictive Contouring Control for Aggressive Drone Flight
Jialin Ji, Xin Zhou, Chao Xu +1
In this paper, we propose an efficient, receding horizon, local adaptive low-level planner as the middle layer between our original planner and controller. Our method is named as c…
HourNAS: Extremely Fast Neural Architecture Search Through an Hourglass Lens
Zhaohui Yang, Yunhe Wang, Xinghao Chen +6
Neural Architecture Search (NAS) refers to automatically design the architecture. We propose an hourglass-inspired approach (HourNAS) for this problem that is motivated by the fact…
The Paradox of Information Access: Growing Isolation in the Age of Sharing
Tarek Abdelzaher, Heng Ji, Jinyang Li +5
Modern online media, such as Twitter, Instagram, and YouTube, enable anyone to become an information producer and to offer online content for potentially global consumption. By inc…
The Paradox of Information Access: On Modeling Social-Media-Induced Polarization
Chao Xu, Jinyang Li, Tarek Abdelzaher +3
The paper develops a stochastic model of drift in human beliefs that shows that today's sheer volume of accessible information, combined with consumers' confirmation bias and natur…
Beyond Dropout: Feature Map Distortion to Regularize Deep Neural Networks
Yehui Tang, Yunhe Wang, Yixing Xu +4
Deep neural networks often consist of a great number of trainable parameters for extracting powerful features from given datasets. On one hand, massive trainable parameters signifi…
Detailed Proofs of Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight
Zhepei Wang, Xin Zhou, Chao Xu +1
This technical report provides detailed theoretical analysis of the algorithm used in \textit{Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight}.…