ORCID Profile
0000-0002-5680-9031
Current Organisation
Motherbrain Research, EQT Group
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Publisher: ACM
Date: 17-10-2022
Publisher: IEEE
Date: 06-2022
Publisher: Springer Science and Business Media LLC
Date: 23-06-2016
Publisher: Association for Computational Linguistics
Date: 2021
Publisher: Springer International Publishing
Date: 2016
Publisher: IEEE
Date: 10-2017
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2020
Publisher: Springer Science and Business Media LLC
Date: 07-06-2018
Publisher: MIT Press
Date: 18-04-2023
DOI: 10.1162/NECO_A_01579
Abstract: Visual navigation involves a movable robotic agent striving to reach a point goal (target location) using vision sensory input. While navigation with ideal visibility has seen plenty of success, it becomes challenging in suboptimal visual conditions like poor illumination, where traditional approaches suffer from severe performance degradation. We propose E3VN (echo-enhanced embodied visual navigation) to effectively perceive the surroundings even under poor visibility to mitigate this problem. This is made possible by adopting an echoer that actively perceives the environment via auditory signals. E3VN models the robot agent as playing a cooperative Markov game with that echoer. The action policies of robot and echoer are jointly optimized to maximize the reward in a two-stream actor-critic architecture. During optimization, the reward is also adaptively decomposed into the robot and echoer parts. Our experiments and ablation studies show that E3VN is consistently effective and robust in point goal navigation tasks, especially under nonideal visibility.
Publisher: International Joint Conferences on Artificial Intelligence Organization
Date: 08-2023
Abstract: As humans, we hear sound every second of our life. The sound we hear is often affected by the acoustics of the environment surrounding us. For ex le, a spacious hall leads to more reverberation. Room Impulse Responses (RIR) are commonly used to characterize environment acoustics as a function of the scene geometry, materials, and source/receiver locations. Traditionally, RIRs are measured by setting up a loudspeaker and microphone in the environment for all source/receiver locations, which is time-consuming and inefficient. We propose to let two robots measure the environment's acoustics by actively moving and emitting/receiving sweep signals. We also devise a collaborative multi-agent policy where these two robots are trained to explore the environment's acoustics while being rewarded for wide exploration and accurate prediction. We show that the robots learn to collaborate and move to explore environment acoustics while minimizing the prediction error. To the best of our knowledge, we present the very first problem formulation and solution to the task of collaborative environment acoustics measurements with multiple agents.
Publisher: IEEE
Date: 07-2019
Publisher: IEEE
Date: 08-2014
Publisher: Springer International Publishing
Date: 2017
Publisher: IEEE
Date: 08-2018
Publisher: IEEE
Date: 08-2020
Publisher: IEEE
Date: 06-2022
Publisher: International Union of Crystallography (IUCr)
Date: 17-01-2013
DOI: 10.1107/S0021889812048376
Abstract: A polarized neutron Laue diffraction experiment on a single crystal of neodymium-doped lanthanum magnesium nitrate hydrate containing polarized proton spins is reported. By using dynamic nuclear polarization to polarize the proton spins, it is demonstrated that the intensities of the Bragg peaks can be enhanced or diminished significantly, whilst the incoherent background, due to proton spin disorder, is reduced. It follows that the method offers unique possibilities to tune continuously the contrast of the Bragg reflections and thereby represents a new tool for increasing substantially the signal-to-noise ratio in neutron diffraction patterns of hydrogenous matter.
Publisher: IEEE
Date: 09-2014
Publisher: Springer International Publishing
Date: 2021
Publisher: IEEE
Date: 06-2016
Publisher: IEEE
Date: 02-2016
Publisher: arXiv
Date: 2022
Publisher: Elsevier BV
Date: 2016
Publisher: IEEE
Date: 04-2015
No related grants have been discovered for Lele Cao.