Zhitao Liu

Xuemin Chi, Jun Zeng, Jihao Huang et al.

We present a fast planning architecture called Hamilton-Jacobi-based bidirectional A* (HJBA*) to solve general tight parking scenarios. The algorithm is a two-layer composed of a high-level HJ-based reachability analysis and a lower-level bidirectional A* search algorithm. In high-level reachability analysis, a backward reachable tube (BRT) concerning vehicle dynamics is computed by the HJ analysis and it intersects with a safe set to get a safe reachable set. The safe set is defined by constraints of positive signed distances for obstacles in the environment and computed by solving QP optimization problems offline. For states inside the intersection set, i.e., the safe reachable set, the computed backward reachable tube ensures they are reachable subjected to system dynamics and input bounds, and the safe set guarantees they satisfy parking safety with respect to obstacles in different shapes. For online computation, randomized states are sampled from the safe reachable set, and used as heuristic guide points to be considered in the bidirectional A* search. The bidirectional A* search is paralleled for each randomized state from the safe reachable set. We show that the proposed two-level planning algorithm is able to solve different parking scenarios effectively and computationally fast for typical parking requests. We validate our algorithm through simulations in large-scale randomized parking scenarios and demonstrate it to be able to outperform other state-of-the-art parking planning algorithms.

Tao Chen, Andreu Cecilia, Lei Wang et al.

Replay attacks comprise replaying previously recorded sensor measurements and injecting malicious signals into a physical plant, causing great damage to cyber-physical systems. Replay attack detection has been widely studied for linear systems, whereas limited research has been reported for nonlinear cases. In this paper, the replay attack is studied in the context of a nonlinear plant controlled by an observer-based output feedback controller. We first analyze replay attack detection using an innovation-based detector and reveal that this detector alone may fail to detect such attacks. Consequently, we turn to a watermark-based design framework to improve the detection. In the proposed framework, the effects of the watermark on attack detection and closed-loop system performance loss are quantified by two indices, which exploit the incremental gains of nonlinear systems. To balance the detection performance and control system performance loss, an explicit optimization problem is formulated. Moreover, to achieve a better balance, we generalize the proposed watermark design framework to co-design the watermark, controller and observer. Numerical simulations are presented to validate the proposed frameworks.

Zhitao Liu, Zengyu Liu, Jiwei Wei et al.

3D cross-modal retrieval is gaining attention in the multimedia community. Central to this topic is learning a joint embedding space to represent data from different modalities, such as images, 3D point clouds, and polygon meshes, to extract modality-invariant and discriminative features. Hence, the performance of cross-modal retrieval methods heavily depends on the representational capacity of this embedding space. Existing methods treat all instances equally, applying the same penalty strength to instances with varying degrees of difficulty, ignoring the differences between instances. This can result in ambiguous convergence or local optima, severely compromising the separability of the feature space. To address this limitation, we propose an Instance-Variant loss to assign different penalty strengths to different instances, improving the space separability. Specifically, we assign different penalty weights to instances positively related to their intra-class distance. Simultaneously, we reduce the cross-modal discrepancy between features by learning a shared weight vector for the same class data from different modalities. By leveraging the Gaussian RBF kernel to evaluate sample similarity, we further propose an Intra-Class loss function that minimizes the intra-class distance among same-class instances. Extensive experiments on three 3D cross-modal datasets show that our proposed method surpasses recent state-of-the-art approaches.

Zhitao Liu, Ning Xie, Guobiao Yang et al.

Quantitative analysis of Game User eXperience (GUX) is important to the game industry. Different from the typical questionnaire analysis, this paper focuses on the computational analysis of GUX. We aim to analyze the relationship between game and players using the multi-modal data including physiological data and game process data. We theoretically extend the Flow model from the classic skill-and-challenge plane by expanding new dimension on motivation, which is the result of the multi-modal data analysis on affect, and physiological data. We call this 3D Flow as Motivational Flow, MovFlow. Meanwhile, we implement a quantitative GUX Analysis System (GUXAS), which can predict the player's in-game experience state by only using game process data. It analyzes the correlation among not only in-game state, but the player's psychological-and-physiological reaction in the entire interactive game-play process. The experiments demonstrated our MovFlow model efficiently distinguished the users' in-game experience states from the perspective of GUX.

Zhitao Liu, Jinke Shi, Junhao He et al.

To adapt to different environments, human circadian rhythms will be constantly adjusted as the environment changes, which follows the principle of survival of the fittest. According to this principle, objective factors (such as circadian rhythms, and light intensity) can be utilized to control time perception. The subjective judgment on the estimation of elapsed time is called time perception. In the physical world, factors that can affect time perception, represented by illumination, are called the Zeitgebers. In recent years, with the development of Virtual Reality (VR) technology, effective control of zeitgebers has become possible, which is difficult to achieve in the physical world. Based on previous studies, this paper deeply explores the actual performance in VR environment of four types of time zeitgebers (music, color, cognitive load, and concentration) that have been proven to have a certain impact on time perception in the physical world. It discusses the study of the measurement of the difference between human time perception and objective escaped time in the physical world.