Jiayin Chen

Bingchen Huang, Zhineng Chen, Peng Zhou et al.

The dynamic expansion architecture is becoming popular in class incremental learning, mainly due to its advantages in alleviating catastrophic forgetting. However, task confusion is not well assessed within this framework, e.g., the discrepancy between classes of different tasks is not well learned (i.e., inter-task confusion, ITC), and certain priority is still given to the latest class batch (i.e., old-new confusion, ONC). We empirically validate the side effects of the two types of confusion. Meanwhile, a novel solution called Task Correlated Incremental Learning (TCIL) is proposed to encourage discriminative and fair feature utilization across tasks. TCIL performs a multi-level knowledge distillation to propagate knowledge learned from old tasks to the new one. It establishes information flow paths at both feature and logit levels, enabling the learning to be aware of old classes. Besides, attention mechanism and classifier re-scoring are applied to generate more fair classification scores. We conduct extensive experiments on CIFAR100 and ImageNet100 datasets. The results demonstrate that TCIL consistently achieves state-of-the-art accuracy. It mitigates both ITC and ONC, while showing advantages in battle with catastrophic forgetting even no rehearsal memory is reserved.

Shan Zhang, Jiayin Chen, Feng Lyu et al.

Embedded with advanced sensors, cameras and processors, the emerging automated driving vehicles are capable of sensing the environment and conducting automobile operation, paving the way to modern intelligent transportation systems (ITS) with high safety and efficiency. On the other hand, vehicular communication networks (VCNs) connect vehicles, infrastructures, clouds, and all other devices with communication modules, whereby vehicles can obtain local and global information to make intelligent operation decisions. Although the sensing-based automated driving technologies and VCNs have been investigated independently, their interactions and mutual benefits are still underdeveloped. In this article, we argue that VCNs have attractive potentials to enhance the on-board sensing-based automated vehicles from different perspectives, such as driving safety, transportation efficiency, as well as customer experiences. A case study is conducted to demonstrate that the traffic jam can be relieved at intersections with automated driving vehicles coordinated with each other through VCNs. Furthermore, we highlight the critical yet interesting issues for future research, based on the specific requirements posed by automated driving on VCNs.

Zhengnan Sun, Zhaotai Shi, Jiayin Chen et al.

Bimanual dexterous manipulation remains significant challenges in robotics due to the high DoFs of each hand and their coordination. Existing single-hand manipulation techniques often leverage human demonstrations to guide RL methods but fail to generalize to complex bimanual tasks involving multiple sub-skills. In this paper, we introduce VTAO-BiManip, a novel framework that combines visual-tactile-action pretraining with object understanding to facilitate curriculum RL to enable human-like bimanual manipulation. We improve prior learning by incorporating hand motion data, providing more effective guidance for dual-hand coordination than binary tactile feedback. Our pretraining model predicts future actions as well as object pose and size using masked multimodal inputs, facilitating cross-modal regularization. To address the multi-skill learning challenge, we introduce a two-stage curriculum RL approach to stabilize training. We evaluate our method on a bottle-cap unscrewing task, demonstrating its effectiveness in both simulated and real-world environments. Our approach achieves a success rate that surpasses existing visual-tactile pretraining methods by over 20%.

Jiayin Chen, Hendra I. Nurdin, Naoki Yamamoto

The combination of machine learning and quantum computing has emerged as a promising approach for addressing previously untenable problems. Reservoir computing is an efficient learning paradigm that utilizes nonlinear dynamical systems for temporal information processing, i.e., processing of input sequences to produce output sequences. Here we propose quantum reservoir computing that harnesses complex dissipative quantum dynamics. Our class of quantum reservoirs is universal, in that any nonlinear fading memory map can be approximated arbitrarily closely and uniformly over all inputs by a quantum reservoir from this class. We describe a subclass of the universal class that is readily implementable using quantum gates native to current noisy gate-model quantum computers. Proof-of-principle experiments on remotely accessed cloud-based superconducting quantum computers demonstrate that small and noisy quantum reservoirs can tackle high-order nonlinear temporal tasks. Our theoretical and experimental results pave the path for attractive temporal processing applications of near-term gate-model quantum computers of increasing fidelity but without quantum error correction, signifying the potential of these devices for wider applications including neural modeling, speech recognition and natural language processing, going beyond static classification and regression tasks.

Jiayin Chen, Hendra I. Nurdin

In this paper, we develop a theory of learning nonlinear input-output maps with fading memory by dissipative quantum systems, as a quantum counterpart of the theory of approximating such maps using classical dynamical systems. The theory identifies the properties required for a class of dissipative quantum systems to be {\em universal}, in that any input-output map with fading memory can be approximated arbitrarily closely by an element of this class. We then introduce an example class of dissipative quantum systems that is provably universal. Numerical experiments illustrate that with a small number of qubits, this class can achieve comparable performance to classical learning schemes with a large number of tunable parameters. Further numerical analysis suggests that the exponentially increasing Hilbert space presents a potential resource for dissipative quantum systems to surpass classical learning schemes for input-output maps.