Hao Xu

Huixuan Chi, Hao Xu, Hao Fu et al.

Modeling the evolution of user preference is essential in recommender systems. Recently, dynamic graph-based methods have been studied and achieved SOTA for recommendation, majority of which focus on user's stable long-term preference. However, in real-world scenario, user's short-term preference evolves over time dynamically. Although there exists sequential methods that attempt to capture it, how to model the evolution of short-term preference with dynamic graph-based methods has not been well-addressed yet. In particular: 1) existing methods do not explicitly encode and capture the evolution of short-term preference as sequential methods do; 2) simply using last few interactions is not enough for modeling the changing trend. In this paper, we propose Long Short-Term Preference Modeling for Continuous-Time Sequential Recommendation (LSTSR) to capture the evolution of short-term preference under dynamic graph. Specifically, we explicitly encode short-term preference and optimize it via memory mechanism, which has three key operations: Message, Aggregate and Update. Our memory mechanism can not only store one-hop information, but also trigger with new interactions online. Extensive experiments conducted on five public datasets show that LSTSR consistently outperforms many state-of-the-art recommendation methods across various lines.

Hao Xu, Shaojie Shen

Distributed pose graph optimization (DPGO) is one of the fundamental techniques of swarm robotics. Currently, the sub-problems of DPGO are built on the native poses. Our validation proves that this approach may introduce an imbalance in the sizes of the sub-problems in real-world scenarios, which affects the speed of DPGO optimization, and potentially increases communication requirements. In addition, the coherence of the estimated poses is not guaranteed when the robots in the swarm fail, or partial robots are disconnected. In this paper, we propose BDPGO, a balanced distributed pose graph optimization framework using the idea of decoupling the robot poses and DPGO. BDPGO re-distributes the poses in the pose graph to the robot swarm in a balanced way by introducing a two-stage graph partitioning method to build balanced subproblems. Our validation demonstrates that BDPGO significantly improves the optimization speed without changing the specific algorithm of DPGO in realistic datasets. What's more, we also validate that BDPGO is robust to robot failure, changes in the wireless network. BDPGO has capable of keeps the coherence of the estimated poses in these situations. The framework also has the potential to be applied to other collaborative simultaneous localization and mapping (CSLAM) problems involved in distributedly solving the factor graph.

Hao Xu, Shengqi Sang, Peizhen Bai et al.

Heterogeneous graph representation learning aims to learn low-dimensional vector representations of different types of entities and relations to empower downstream tasks. Existing methods either capture semantic relationships but indirectly leverage node/edge attributes in a complex way, or leverage node/edge attributes directly without taking semantic relationships into account. When involving multiple convolution operations, they also have poor scalability. To overcome these limitations, this paper proposes a flexible and efficient Graph information propagation Network (GripNet) framework. Specifically, we introduce a new supergraph data structure consisting of supervertices and superedges. A supervertex is a semantically-coherent subgraph. A superedge defines an information propagation path between two supervertices. GripNet learns new representations for the supervertex of interest by propagating information along the defined path using multiple layers. We construct multiple large-scale graphs and evaluate GripNet against competing methods to show its superiority in link prediction, node classification, and data integration.

Hao Xu, Luqi Wang, Yichen Zhang et al.

The collaboration of unmanned aerial vehicles (UAVs) has become a popular research topic for its practicability in multiple scenarios. The collaboration of multiple UAVs, which is also known as aerial swarm is a highly complex system, which still lacks a state-of-art decentralized relative state estimation method. In this paper, we present a novel fully decentralized visual-inertial-UWB fusion framework for relative state estimation and demonstrate the practicability by performing extensive aerial swarm flight experiments. The comparison result with ground truth data from the motion capture system shows the centimeter-level precision which outperforms all the Ultra-WideBand (UWB) and even vision based method. The system is not limited by the field of view (FoV) of the camera or Global Positioning System (GPS), meanwhile on account of its estimation consistency, we believe that the proposed relative state estimation framework has the potential to be prevalently adopted by aerial swarm applications in different scenarios in multiple scales.