Sha Hu

Jiayong Qin, Xianyu Zhu, Qiyu Liu et al.

A growing trend in the database and system communities is to augment conventional index structures, such as B+-trees, with machine learning (ML) models. Among these, error-bounded Piecewise Linear Approximation ($ε$-PLA) has emerged as a popular choice due to its simplicity and effectiveness. Despite its central role in many learned indexes, the design and analysis of $ε$-PLA fitting algorithms remain underexplored. In this paper, we revisit $ε$-PLA from both theoretical and empirical perspectives, with a focus on its application in learned index structures. We first establish a fundamentally improved lower bound of $Ω(κ\cdot ε^2)$ on the expected segment coverage for existing $ε$-PLA fitting algorithms, where $κ$ is a data-dependent constant. We then present a comprehensive benchmark of state-of-the-art $ε$-PLA algorithms when used in different learned data structures. Our results highlight key trade-offs among model accuracy, model size, and query performance, providing actionable guidelines for the principled design of future learned data structures.

Sha Hu, Zeshi Yang, Greg Mori

We consider the problem of optimizing a robot morphology to achieve the best performance for a target task, under computational resource limitations. The evaluation process for each morphological design involves learning a controller for the design, which can consume substantial time and computational resources. To address the challenge of expensive robot morphology evaluation, we present a continuous multi-fidelity Bayesian Optimization framework that efficiently utilizes computational resources via low-fidelity evaluations. We identify the problem of non-stationarity over fidelity space. Our proposed fidelity warping mechanism can learn representations of learning epochs and tasks to model non-stationary covariances between continuous fidelity evaluations which prove challenging for off-the-shelf stationary kernels. Various experiments demonstrate that our method can utilize the low-fidelity evaluations to efficiently search for the optimal robot morphology, outperforming state-of-the-art methods.

Chongwen Huang, Sha Hu, George C. Alexandropoulos et al.

Future wireless networks are expected to evolve towards an intelligent and software reconfigurable paradigm enabling ubiquitous communications between humans and mobile devices. They will be also capable of sensing, controlling, and optimizing the wireless environment to fulfill the visions of low-power, high-throughput, massively-connected, and low-latency communications. A key conceptual enabler that is recently gaining increasing popularity is the Holographic Multiple Input Multiple Output Surface (HMIMOS) that refers to a low-cost transformative wireless planar structure comprising of sub-wavelength metallic or dielectric scattering particles, which is capable of impacting electromagnetic waves according to desired objectives. In this article, we provide an overview of HMIMOS communications by introducing the available hardware architectures for reconfigurable such metasurfaces and their main characteristics, as well as highlighting the opportunities and key challenges in designing HMIMOS-enabled communications.

Changan Chen, Sha Hu, Payam Nikdel et al.

We present a relational graph learning approach for robotic crowd navigation using model-based deep reinforcement learning that plans actions by looking into the future. Our approach reasons about the relations between all agents based on their latent features and uses a Graph Convolutional Network to encode higher-order interactions in each agent's state representation, which is subsequently leveraged for state prediction and value estimation. The ability to predict human motion allows us to perform multi-step lookahead planning, taking into account the temporal evolution of human crowds. We evaluate our approach against a state-of-the-art baseline for crowd navigation and ablations of our model to demonstrate that navigation with our approach is more efficient, results in fewer collisions, and avoids failure cases involving oscillatory and freezing behaviors.