Yu Chen

Wei Deng, Yu Chen, Nicole Tianjiao Yang et al.

Diffusion models have become the go-to method for large-scale generative models in real-world applications. These applications often involve data distributions confined within bounded domains, typically requiring ad-hoc thresholding techniques for boundary enforcement. Reflected diffusion models (Lou23) aim to enhance generalizability by generating the data distribution through a backward process governed by reflected Brownian motion. However, reflected diffusion models may not easily adapt to diverse domains without the derivation of proper diffeomorphic mappings and do not guarantee optimal transport properties. To overcome these limitations, we introduce the Reflected Schrodinger Bridge algorithm: an entropy-regularized optimal transport approach tailored for generating data within diverse bounded domains. We derive elegant reflected forward-backward stochastic differential equations with Neumann and Robin boundary conditions, extend divergence-based likelihood training to bounded domains, and explore natural connections to entropic optimal transport for the study of approximate linear convergence - a valuable insight for practical training. Our algorithm yields robust generative modeling in diverse domains, and its scalability is demonstrated in real-world constrained generative modeling through standard image benchmarks.

Yinghao Zhao, Li Yan, Yu Chen et al.

Autonomous exploration is one of the important parts to achieve the autonomous operation of Unmanned Aerial Vehicles (UAVs). To improve the efficiency of the exploration process, a fast and autonomous exploration planner (FAEP) is proposed in this paper. We firstly design a novel frontiers exploration sequence generation method to obtain a more reasonable exploration path, which considers not only the flight-level but frontier-level factors into TSP. According to the exploration sequence and the distribution of frontiers, a two-stage heading planning strategy is proposed to cover more frontiers by heading change during an exploration journey. To improve the stability of path searching, a guided kinodynamic path searching based on a guiding path is devised. In addition, a dynamic start point selection method for replanning is also adopted to increase the fluency of flight. We present sufficient benchmark and real-world experiments. Experimental results show the superiority of the proposed exploration planner compared with typical and state-of-the-art methods.

Seyed Yahya Nikouei, Ronghua Xu, Deeraj Nagothu et al.

Information from surveillance video is essential for situational awareness (SAW). Nowadays, a prohibitively large amount of surveillance data is being generated continuously by ubiquitously distributed video sensors. It is very challenging to immediately identify the objects of interest or zoom in suspicious actions from thousands of video frames. Making the big data indexable is critical to tackle this problem. It is ideal to generate pattern indexes in a real-time, on-site manner on the video streaming instead of depending on the batch processing at the cloud centers. The modern edge-fog-cloud computing paradigm allows implementation of time sensitive tasks at the edge of the network. The on-site edge devices collect the information sensed in format of frames and extracts useful features. The near-site fog nodes conduct the contextualization and classification of the features. The remote cloud center is in charge of more data intensive and computing intensive tasks. However, exchanging the index information among devices in different layers raises security concerns where an adversary can capture or tamper with features to mislead the surveillance system. In this paper, a blockchain enabled scheme is proposed to protect the index data through an encrypted secure channel between the edge and fog nodes. It reduces the chance of attacks on the small edge and fog devices. The feasibility of the proposal is validated through intensive experimental analysis.