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The non-Hermitian skin effect (NHSE) is a distinctive topological phenomenon observed in nonHermitian systems. Recently, there has been considerable interest in exploring higher-order NHSE occurrences in two and three dimensions. In such systems, topological edge states collapse into a corner while bulk states remain delocalized. Through a Hermitian-non-Hermitian correspondence, this study predicts and experimentally observes the higher-order NHSE in an acoustic Kagome lattice possessing nonreciprocal hoppings. By rotating the frequency spectrum and employing complexfrequency excitation techniques, we observe the localization of acoustic energy towards a corner of the lattice in the topologically nontrivial phase, even when the source is located far from that corner. In contrast, the acoustic energy spreads out when excited at the frequencies hosting the bulk states. These observations are unequivocal evidence of the higher-order NHSE.

Vision transformers (ViTs) have demonstrated their superior accuracy for computer vision tasks compared to convolutional neural networks (CNNs). However, ViT models are often computation-intensive for efficient deployment on resource-limited edge devices. This work proposes Quasar-ViT, a hardware-oriented quantization-aware architecture search framework for ViTs, to design efficient ViT models for hardware implementation while preserving the accuracy. First, Quasar-ViT trains a supernet using our row-wise flexible mixed-precision quantization scheme, mixed-precision weight entanglement, and supernet layer scaling techniques. Then, it applies an efficient hardware-oriented search algorithm, integrated with hardware latency and resource modeling, to determine a series of optimal subnets from supernet under different inference latency targets. Finally, we propose a series of model-adaptive designs on the FPGA platform to support the architecture search and mitigate the gap between the theoretical computation reduction and the practical inference speedup. Our searched models achieve 101.5, 159.6, and 251.6 frames-per-second (FPS) inference speed on the AMD/Xilinx ZCU102 FPGA with 80.4%, 78.6%, and 74.9% top-1 accuracy, respectively, for the ImageNet dataset, consistently outperforming prior works., Comment: Accepted by ICS 2024

Parametric array loudspeakers (PALs) are known for producing highly directional audio beams, a feat more challenging to achieve with conventional electro-dynamic loudspeakers (EDLs). Due to their intrinsic physical mechanisms, PALs hold promising potential for spatial audio applications such as virtual reality (VR). However, the feasibility of using an array of PALs for sound zone control (SZC) has remained unexplored, mainly due to the complexity of the nonlinear demodulation process inherent in PALs. Leveraging recent advancements in PAL modeling, this work proposes an optimization algorithm to achieve the acoustic contrast control (ACC) between two target areas using a PAL array. The performance and robustness of the proposed ACC-based SZC using PAL arrays are investigated through simulations, and the results are compared with those obtained using EDL arrays. The results show that the PAL array outperforms the EDL array in SZC performance and robustness at higher frequencies and lower signal-to-noise ratio, while being comparable under other conditions. This work paves the way for high-contrast acoustic control using PAL arrays.

In this paper, we address a recent trend in robotic home appliances to include vision systems on personal devices, capable of personalizing the appliances on the fly. In particular, we formulate and address an important technical task of personal object search, which involves localization and identification of personal items of interest on images captured by robotic appliances, with each item referenced only by a few annotated images. The task is crucial for robotic home appliances and mobile systems, which need to process personal visual scenes or to operate with particular personal objects (e.g., for grasping or navigation). In practice, personal object search presents two main technical challenges. First, a robot vision system needs to be able to distinguish between many fine-grained classes, in the presence of occlusions and clutter. Second, the strict resource requirements for the on-device system restrict the usage of most state-of-the-art methods for few-shot learning and often prevent on-device adaptation. In this work, we propose Swiss DINO: a simple yet effective framework for one-shot personal object search based on the recent DINOv2 transformer model, which was shown to have strong zero-shot generalization properties. Swiss DINO handles challenging on-device personalized scene understanding requirements and does not require any adaptation training. We show significant improvement (up to 55%) in segmentation and recognition accuracy compared to the common lightweight solutions, and significant footprint reduction of backbone inference time (up to 100x) and GPU consumption (up to 10x) compared to the heavy transformer-based solutions., Comment: 8 pages, 2 figures, accepted to IROS2024

We present SPEAR, a continuous receiver-to-receiver acoustic neural warping field for spatial acoustic effects prediction in an acoustic 3D space with a single stationary audio source. Unlike traditional source-to-receiver modelling methods that require prior space acoustic properties knowledge to rigorously model audio propagation from source to receiver, we propose to predict by warping the spatial acoustic effects from one reference receiver position to another target receiver position, so that the warped audio essentially accommodates all spatial acoustic effects belonging to the target position. SPEAR can be trained in a data much more readily accessible manner, in which we simply ask two robots to independently record spatial audio at different positions. We further theoretically prove the universal existence of the warping field if and only if one audio source presents. Three physical principles are incorporated to guide SPEAR network design, leading to the learned warping field physically meaningful. We demonstrate SPEAR superiority on both synthetic, photo-realistic and real-world dataset, showing the huge potential of SPEAR to various down-stream robotic tasks., Comment: 9 pages, 5 figures in main paper

Despite advancements in self-supervised monocular depth estimation, challenges persist in dynamic scenarios due to the dependence on assumptions about a static world. In this paper, we present MGDepth, a Motion-Guided Cost Volume Depth Net, to achieve precise depth estimation for both dynamic objects and static backgrounds, all while maintaining computational efficiency. To tackle the challenges posed by dynamic content, we incorporate optical flow and coarse monocular depth to create a novel static reference frame. This frame is then utilized to build a motion-guided cost volume in collaboration with the target frame. Additionally, to enhance the accuracy and resilience of the network structure, we introduce an attention-based depth net architecture to effectively integrate information from feature maps with varying resolutions. Compared to methods with similar computational costs, MGDepth achieves a significant reduction of approximately seven percent in root-mean-square error for self-supervised monocular depth estimation on the KITTI-2015 dataset.

The introduction of neural radiance fields has greatly improved the effectiveness of view synthesis for monocular videos. However, existing algorithms face difficulties when dealing with uncontrolled or lengthy scenarios, and require extensive training time specific to each new scenario. To tackle these limitations, we propose DynPoint, an algorithm designed to facilitate the rapid synthesis of novel views for unconstrained monocular videos. Rather than encoding the entirety of the scenario information into a latent representation, DynPoint concentrates on predicting the explicit 3D correspondence between neighboring frames to realize information aggregation. Specifically, this correspondence prediction is achieved through the estimation of consistent depth and scene flow information across frames. Subsequently, the acquired correspondence is utilized to aggregate information from multiple reference frames to a target frame, by constructing hierarchical neural point clouds. The resulting framework enables swift and accurate view synthesis for desired views of target frames. The experimental results obtained demonstrate the considerable acceleration of training time achieved - typically an order of magnitude - by our proposed method while yielding comparable outcomes compared to prior approaches. Furthermore, our method exhibits strong robustness in handling long-duration videos without learning a canonical representation of video content.

A truly generalizable approach to rigid segmentation and motion estimation is fundamental to 3D understanding of articulated objects and moving scenes. In view of the closely intertwined relationship between segmentation and motion estimates, we present an SE(3) equivariant architecture and a training strategy to tackle this task in an unsupervised manner. Our architecture is composed of two interconnected, lightweight heads. These heads predict segmentation masks using point-level invariant features and estimate motion from SE(3) equivariant features, all without the need for category information. Our training strategy is unified and can be implemented online, which jointly optimizes the predicted segmentation and motion by leveraging the interrelationships among scene flow, segmentation mask, and rigid transformations. We conduct experiments on four datasets to demonstrate the superiority of our method. The results show that our method excels in both model performance and computational efficiency, with only 0.25M parameters and 0.92G FLOPs. To the best of our knowledge, this is the first work designed for category-agnostic part-level SE(3) equivariance in dynamic point clouds., Comment: To appear at NeurIPS 2023

Scene flow is a powerful tool for capturing the motion field of 3D point clouds. However, it is difficult to directly apply flow-based models to dynamic point cloud classification since the unstructured points make it hard or even impossible to efficiently and effectively trace point-wise correspondences. To capture 3D motions without explicitly tracking correspondences, we propose a kinematics-inspired neural network (Kinet) by generalizing the kinematic concept of ST-surfaces to the feature space. By unrolling the normal solver of ST-surfaces in the feature space, Kinet implicitly encodes feature-level dynamics and gains advantages from the use of mature backbones for static point cloud processing. With only minor changes in network structures and low computing overhead, it is painless to jointly train and deploy our framework with a given static model. Experiments on NvGesture, SHREC'17, MSRAction-3D, and NTU-RGBD demonstrate its efficacy in performance, efficiency in both the number of parameters and computational complexity, as well as its versatility to various static backbones. Noticeably, Kinet achieves the accuracy of 93.27% on MSRAction-3D with only 3.20M parameters and 10.35G FLOPS., Comment: To appear at CVPR 2022 (Source Code: https://github.com/jx-zhong-for-academic-purpose/Kinet )

We present a compact high-resolution gravity gradiometer based on dual Rb-85 atom interferometers using stimulated Raman transitions. A baseline L=44.5 cm and an interrogation time T=130 ms are realized in a sensor head with volume of less than 100 liters. Experimental parameters are optimized to improve the short-term sensitivity while a rejection algorithm relying on inversion of the Raman wave vector is implemented to improve the long-term stability. After an averaging time of 17000 s, a phase resolution of 104 {\mu}rad is achieved, which corresponds to a gravity gradient resolution of 0.86 E. As far as we know, this is the sub-E atom gravity gradiometer with the highest level of compactness to date. After the evaluation and correction of system errors induced by light shift, residual Zeeman shift, Coriolis effect and self-attraction effect, the instrument serves as an absolute gravity gradiometer and with it the local gravity gradient is measured to be 3114 (53) E., Comment: 10 pages, 11 figures

In this paper, we present an uncertainty-aware INVASE to quantify predictive confidence of healthcare problem. By introducing learnable Gaussian distributions, we lever-age their variances to measure the degree of uncertainty. Based on the vanilla INVASE, two additional modules are proposed, i.e., an uncertainty quantification module in the predictor, and a reward shaping module in the selector. We conduct extensive experiments on UCI-WDBC dataset. Notably, our method eliminates almost all predictive bias with only about 20% queries, while the uncertainty-agnostic counterpart requires nearly 100% queries. The open-source implementation with a detailed tutorial is available at https://github.com/jx-zhong-for-academic-purpose/Uncertainty-aware-INVASE/blob/main/tutorialinvase%2B.ipynb.

Generic object detection algorithms have proven their excellent performance in recent years. However, object detection on underwater datasets is still less explored. In contrast to generic datasets, underwater images usually have color shift and low contrast; sediment would cause blurring in underwater images. In addition, underwater creatures often appear closely to each other on images due to their living habits. To address these issues, our work investigates augmentation policies to simulate overlapping, occluded and blurred objects, and we construct a model capable of achieving better generalization. We propose an augmentation method called RoIMix, which characterizes interactions among images. Proposals extracted from different images are mixed together. Previous data augmentation methods operate on a single image while we apply RoIMix to multiple images to create enhanced samples as training data. Experiments show that our proposed method improves the performance of region-based object detectors on both Pascal VOC and URPC datasets., Comment: ICASSP 2020

In recent years, memory-augmented neural networks(MANNs) have shown promising power to enhance the memory ability of neural networks for sequential processing tasks. However, previous MANNs suffer from complex memory addressing mechanism, making them relatively hard to train and causing computational overheads. Moreover, many of them reuse the classical RNN structure such as LSTM for memory processing, causing inefficient exploitations of memory information. In this paper, we introduce a novel MANN, the Auto-addressing and Recurrent Memory Integrating Network (ARMIN) to address these issues. The ARMIN only utilizes hidden state ht for automatic memory addressing, and uses a novel RNN cell for refined integration of memory information. Empirical results on a variety of experiments demonstrate that the ARMIN is more light-weight and efficient compared to existing memory networks. Moreover, we demonstrate that the ARMIN can achieve much lower computational overhead than vanilla LSTM while keeping similar performances. Codes are available on github.com/zoharli/armin., Comment: Published in IJCAI 2019

Van der Waals (vdW) ferromagnetic materials are rapidly establishing themselves as effective building blocks for next generation spintronic devices. When layered with non-magnetic vdW materials, such as graphene and/or topological insulators, vdW heterostructures can be assembled (with no requirement for lattice matching) to provide otherwise unattainable device structures and functionalities. We report a hitherto rarely seen antisymmetric magnetoresistance (MR) effect in van der Waals heterostructured Fe3GeTe2/graphite/Fe3GeTe2 devices. Unlike conventional giant magnetoresistance (GMR) which is characterized by two resistance states, the MR in these vdW heterostructures features distinct high, intermediate and low resistance states. This unique characteristic is suggestive of underlying physical mechanisms that differ from those observed before. After theoretical calculations, the three resistance behavior was attributed to a spin momentum locking induced spin polarized current at the graphite/FGT interface. Our work reveals that ferromagnetic heterostructures assembled from vdW materials can exhibit substantially different properties to those exhibited by similar heterostructures grown in vacuum. Hence, it highlights the potential for new physics and new spintronic applications to be discovered using vdW heterostructures., Comment: 35 pages (Accepted by Science Advances)

The Zhaoshan long-baseline Atom Interferometer Gravitation Antenna (ZAIGA) is a new type of underground laser-linked interferometer facility, and is currently under construction. It is in the 200-meter-on-average underground of a mountain named Zhaoshan which is about 80 km southeast to Wuhan. ZAIGA will be equipped with long-baseline atom interferometers, high-precision atom clocks, and large-scale gyros. ZAIGA facility will take an equilateral triangle configuration with two 1-km-apart atom interferometers in each arm, a 300-meter vertical tunnel with atom fountain and atom clocks mounted, and a tracking-and-ranging 1-km-arm-length prototype with lattice optical clocks linked by locked lasers. The ZAIGA facility will be used for experimental research on gravitation and related problems including gravitational wave detection, high-precision test of the equivalence principle of micro-particles, clock based gravitational red-shift measurement, rotation measurement and gravito-magnetic effect., Comment: 20 pages, 15 figures

Video anomaly detection under weak labels is formulated as a typical multiple-instance learning problem in previous works. In this paper, we provide a new perspective, i.e., a supervised learning task under noisy labels. In such a viewpoint, as long as cleaning away label noise, we can directly apply fully supervised action classifiers to weakly supervised anomaly detection, and take maximum advantage of these well-developed classifiers. For this purpose, we devise a graph convolutional network to correct noisy labels. Based upon feature similarity and temporal consistency, our network propagates supervisory signals from high-confidence snippets to low-confidence ones. In this manner, the network is capable of providing cleaned supervision for action classifiers. During the test phase, we only need to obtain snippet-wise predictions from the action classifier without any extra post-processing. Extensive experiments on 3 datasets at different scales with 2 types of action classifiers demonstrate the efficacy of our method. Remarkably, we obtain the frame-level AUC score of 82.12% on UCF-Crime., Comment: To appear in CVPR 2019