Haoran Song

Haoran Song, Jiarui Feng, Guangfu Li et al.

In real-world scientific discovery, human beings always make use of the accumulated prior knowledge with imagination pick select one or a few most promising hypotheses from large and noisy data analysis results. In this study, we introduce a new type of graph structure, the text-numeric graph (TNG), which is defined as graph entities and associations have both text-attributed information and numeric information. The TNG is an ideal data structure model for novel scientific discovery via graph reasoning because it integrates human-understandable textual annotations or prior knowledge, with numeric values that represent the observed or activation levels of graph entities or associations in different samples. Together both the textual information and numeric values determine the importance of graph entities and associations in graph reasoning for novel scientific knowledge discovery. We further propose integrating large language models (LLMs) and graph neural networks (GNNs) to analyze the TNGs for graph understanding and reasoning. To demonstrate the utility, we generated the text-omic(numeric) signaling graphs (TOSG), as one type of TNGs, in which all graphs have the same entities, associations and annotations, but have sample-specific entity numeric (omic) values using single cell RNAseq (scRNAseq) datasets of different diseases. We proposed joint LLM-GNN models for key entity mining and signaling pathway mining on the TOSGs. The evaluation results showed the LLM-GNN and TNGs models significantly improve classification accuracy and network inference. In conclusion, the TNGs and joint LLM-GNN models are important approaches for scientific discovery.

Haoran Song, Di Luan, Wenchao Ding et al.

Predicting the future trajectories of on-road vehicles is critical for autonomous driving. In this paper, we introduce a novel prediction framework called PRIME, which stands for Prediction with Model-based Planning. Unlike recent prediction works that utilize neural networks to model scene context and produce unconstrained trajectories, PRIME is designed to generate accurate and feasibility-guaranteed future trajectory predictions. PRIME guarantees the trajectory feasibility by exploiting a model-based generator to produce future trajectories under explicit constraints and enables accurate multimodal prediction by utilizing a learning-based evaluator to select future trajectories. We conduct experiments on the large-scale Argoverse Motion Forecasting Benchmark, where PRIME outperforms the state-of-the-art methods in prediction accuracy, feasibility, and robustness under imperfect tracking.

Haoran Song, Wenchao Ding, Yuxuan Chen et al.

It is critical to predict the motion of surrounding vehicles for self-driving planning, especially in a socially compliant and flexible way. However, future prediction is challenging due to the interaction and uncertainty in driving behaviors. We propose planning-informed trajectory prediction (PiP) to tackle the prediction problem in the multi-agent setting. Our approach is differentiated from the traditional manner of prediction, which is only based on historical information and decoupled with planning. By informing the prediction process with the planning of ego vehicle, our method achieves the state-of-the-art performance of multi-agent forecasting on highway datasets. Moreover, our approach enables a novel pipeline which couples the prediction and planning, by conditioning PiP on multiple candidate trajectories of the ego vehicle, which is highly beneficial for autonomous driving in interactive scenarios.

Haoran Song, Joshua A. Haustein, Weihao Yuan et al.

In this work, we address a planar non-prehensile sorting task. Here, a robot needs to push many densely packed objects belonging to different classes into a configuration where these classes are clearly separated from each other. To achieve this, we propose to employ Monte Carlo tree search equipped with a task-specific heuristic function. We evaluate the algorithm on various simulated and real-world sorting tasks. We observe that the algorithm is capable to reliably sort large numbers of convex and non-convex objects, as well as convex objects in the presence of immovable obstacles.

Weihao Yuan, Kaiyu Hang, Haoran Song et al.

Moving a human body or a large and bulky object can require the strength of whole arm manipulation (WAM). This type of manipulation places the load on the robot's arms and relies on global properties of the interaction to succeed---rather than local contacts such as grasping or non-prehensile pushing. In this paper, we learn to generate motions that enable WAM for holding and transporting of humans in certain rescue or patient care scenarios. We model the task as a reinforcement learning problem in order to provide a behavior that can directly respond to external perturbation and human motion. For this, we represent global properties of the robot-human interaction with topology-based coordinates that are computed from arm and torso positions. These coordinates also allow transferring the learned policy to other body shapes and sizes. For training and evaluation, we simulate a dynamic sea rescue scenario and show in quantitative experiments that the policy can solve unseen scenarios with differently-shaped humans, floating humans, or with perception noise. Our qualitative experiments show the subsequent transporting after holding is achieved and we demonstrate that the policy can be directly transferred to a real world setting.