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Jianmin Ji

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40 papers
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40

AAAI Conference 2026 Conference Paper

Vulnerability-Aware Robust Multimodal Adversarial Training

  • Junrui Zhang
  • Xinyu Zhao
  • Jie Peng
  • Chenjie Wang
  • Jianmin Ji
  • Tianlong Chen

Multimodal learning has shown significant superiority on various tasks by integrating multiple modalities. However, the interdependencies among modalities increase the susceptibility of multimodal models to adversarial attacks. Existing methods mainly focus on attacks on specific modalities or indiscriminately attack all modalities. In this paper, we find that these approaches ignore the differences between modalities in their contribution to final robustness, resulting in suboptimal robustness performance. To bridge this gap, we introduce Vulnerability-Aware Robust Multimodal Adversarial Training (VARMAT), a probe-in-training adversarial training method that improves multimodal robustness by identifying the vulnerability of each modality. To be specific, VARMAT first explicitly quantifies the vulnerability of each modality, grounded in a first-order approximation of the attack objective (Probe). Then, we propose a targeted regularization term that penalizes modalities with high vulnerability, guiding robust learning while maintaining task accuracy (Training). We demonstrate the enhanced robustness of our method across multiple multimodal datasets involving diverse modalities. Finally, we achieve {12.73%, 22.21%, 11.19%} robustness improvement on three multimodal datasets, revealing a significant blind spot in multimodal adversarial training.

IROS Conference 2025 Conference Paper

AAOPL: Automated Articulated Object Parameter Learning for Open-World Robotics

  • Ziyang Feng
  • Quecheng Qiu
  • Silong Zhang
  • Jianmin Ji

Articulated objects are ubiquitous in daily environments, and effective manipulation of these objects is essential for advancing open-world robotics. Existing approaches, which rely heavily on large-scale data collection or simulation, often face limitations in real-world applications, including issues with generalization and the sim-to-real gap. In this paper, we introduce the Automated Articulated Object Parameter Learning (AAOPL) framework, which autonomously learns the articulation parameters of real-world articulated objects through direct interaction. This approach enables robots to generate precise manipulation trajectories without relying on predefined object models or extensive human demonstration data. To accelerate the learning process, we develop Accelerated Single-Step Gradient (ASSG) algorithm, which efficiently refines the articulation parameters by leveraging real-time execution feedback. Experimental results demonstrate that AAOPL can learn accurate articulation parameters within 30 minutes (80 trials) and generate robust manipulation trajectories, outperforming baseline methods in terms of both task completion and force efficiency. Our approach eliminates the need for large-scale training datasets and can adapt to various articulated objects in real-world environments, offering a scalable solution for autonomous robotic manipulation in unstructured settings.

ICRA Conference 2025 Conference Paper

CAFE-AD: Cross-Scenario Adaptive Feature Enhancement for Trajectory Planning in Autonomous Driving

  • Junrui Zhang 0012
  • Chenjie Wang
  • Jie Peng 0002
  • Haoyu Li
  • Jianmin Ji
  • Yu Zhang 0086
  • Yanyong Zhang

Imitation learning based planning tasks on the nuPlan dataset have gained great interest due to their potential to generate human-like driving behaviors. However, open-loop training on the nuPlan dataset tends to cause causal confusion during closed-loop testing, and the dataset also presents a longtail distribution of scenarios. These issues introduce challenges for imitation learning. To tackle these problems, we introduce CAFE-AD, a Cross-Scenario Adaptive Feature Enhancement for Trajectory Planning in Autonomous Driving method, designed to enhance feature representation across various scenario types. We develop an adaptive feature pruning module that ranks feature importance to capture the most relevant information while reducing the interference of noisy information during training. Moreover, we propose a cross-scenario feature interpolation module that enhances scenario information to introduce diversity, enabling the network to alleviate overfitting in dominant scenarios. We evaluate our method CAFEAD, on the challenging public nuPlan Test14-Hard closed-loop simulation benchmark. The results demonstrate that CAFEAD outperforms state-of-the-art methods including rule-based and hybrid planners, and exhibits the potential in mitigating the impact of long-tail distribution within the dataset. Additionally, we further validate its effectiveness in real-world environments. The code and models will be made available at https://github.com/AlniyatRui/CAFE-AD.

ICRA Conference 2025 Conference Paper

CELLmap: Enhancing LiDAR SLAM Through Elastic and Lightweight Spherical Map Representation

  • Yifan Duan
  • Xinran Zhang
  • Yao Li 0016
  • Guoliang You
  • Xiaomeng Chu
  • Jianmin Ji
  • Yanyong Zhang

SLAM is a fundamental capability of unmanned systems, with LiDAR-based SLAM gaining widespread adoption due to its high precision. Current SLAM systems can achieve centimeter-level accuracy within a short period. However, there are still several challenges when dealing with largescale mapping tasks including significant storage requirements and difficulty of reusing the constructed maps. To address this, we first design an elastic and lightweight map representation called CELLmap, composed of several CELLS, each representing the local map at the corresponding location. Then, we design a general backend including CELL-based bidirectional registration module and loop closure detection module to improve global map consistency. Our experiments have demonstrated that CELLmap can represent the precise geometric structure of large-scale maps of KITTI dataset using only about 60 MB. Additionally, our general backend achieves up to a 26. 88% improvement over various LiDAR odometry methods.

IROS Conference 2025 Conference Paper

Hierarchical Framework for Constrained Dual-Arm Cooperative Manipulation with Whole-Body Collision Avoidance

  • Silong Zhang
  • Quecheng Qiu
  • Yingtai Ni
  • Yuecheng Shao
  • Ziyang Feng
  • Jianmin Ji

Dual-arm robotic systems hold great potential for complex bimanual tasks that require intricate and coordinated manipulation, such as holding and transporting a tray with a cup of coffee while navigating through cluttered environments. However, these tasks pose significant challenges due to the inherent closed-chain constraints between the arms and the object, as well as the need for real-time collision avoidance, especially in real-world applications. To address these challenges, we introduce a hierarchical framework that combines learning-based planning with classical control theory to ensure whole-body collision avoidance movement while maintaining the kinematic relationship. In addition, we present a novel, efficient, and cost-free data generation method specifically designed for dual-arm cooperative tasks, overcoming the lack of sufficient training data. Extensive experiments in both simulation and real-world scenarios demonstrate that our approach improves the success rate by 26. 3% compared to existing planning methods and by 54. 7% compared to end-to-end methods. These results highlight the advantages of our method in whole-body collision avoidance and environmental adaptability, making it a promising solution for dual-arm cooperative tasks.

IJCAI Conference 2025 Conference Paper

Improving Efficiency of Answer Set Planning with Rough Solutions from Large Language Models for Robotic Task Planning

  • Xinrui Lin
  • Yangfan Wu
  • Huanyu Yang
  • Yuting Huang
  • Yu Zhang
  • Jianmin Ji
  • Yanyong Zhang

Answer Set Programming (ASP) planning can be used to refine the rough solutions generated by Large Language Models (LLMs) to handle specific restrictions of actions, i. e. , reconstruct the rough solutions to be executable, for robotic task planning. However, it is still challenging to efficiently solve ASP programs that have multiple variables with large domains, which prevents the above application of ASP planning from real-world task planning problems. In this paper, we consider how to reduce the domains of variables without losing possible solutions for ASP planning, while given these rough solutions from LLMs. Based on the above reduction, we introduce CLMASP, an approach that couples LLMs with ASP for robotic task planning. We evaluate CLMASP on the VirtualHome platform for common indoor tasks, demonstrating a significant improvement in the executable rate from under 10% to nearly 90% and reducing average ASP planning time from over 2 hours to under 5 seconds. Code is available at https: //github. com/CLMASP/CLMASP.

ICRA Conference 2025 Conference Paper

MT-PCR: Leveraging Modality Transformation for Large-Scale Point Cloud Registration with Limited Overlap

  • Yilong Wu
  • Yifan Duan
  • Yuxi Chen
  • Xinran Zhang
  • Yedong Shen
  • Jianmin Ji
  • Yanyong Zhang
  • Lu Zhang

Large-scale scene point cloud registration with limited overlap is a challenging task due to computational load and constrained data acquisition. To tackle these issues, we propose a point cloud registration method, MT-PCR, based on Modality Transformation. MT-PCR leverages a Bird's Eye View (BEV) capturing the maximal overlap information to improve the accuracy and utilizes images to provide complementary spatial features. Specifically, MT-PCR converts 3D point clouds to BEV images and estimates correspondence by 2D image keypoints extraction and matching. Subsequently, the 2D correspondence estimates are then transformed back to 3D point clouds using inverse mapping. We have applied MT-PCR to Terrestrial Laser Scanning (TLS) and Aerial Laser Scanning (ALS) point cloud registration on the GrAco dataset, involving 8 low-overlap, square-kilometer scale registration scenarios. Experiments and comparisons with commonly used methods demonstrate that MT-PCR can achieve superior accuracy and robustness in large-scale scenes with limited overlap.

IROS Conference 2025 Conference Paper

NaviDiffuser: Tackling Multi-Objective Robot Navigation by Weight Range Guided Diffusion Model

  • Xuyang Zhang
  • Ziyang Feng
  • Quecheng Qiu
  • Jie Peng 0002
  • Haoyu Li
  • Jianmin Ji

The data-driven paradigm has shown great potential in solving many decision-making tasks. In the robot navigation realm, it also sparked a new trend. People believe powerful data-driven methods can learn efficient and general navigation policies from a vast offline dataset. However, robot navigation tasks differ from common planning tasks and present unique challenges. It often involves multi-objective optimization to meet arbitrary and ever-changing human preferences. It should also overcome the short-sighted problem to obtain globally optimal performance. Furthermore, high planning frequency is needed to address real-time demands. These factors obstruct the application of data-driven methods in robot navigation. To address these challenges, we integrate one of the most powerful data-driven methods, the diffusion model, into robot navigation. Our proposed approach, NaviDiffuser, utilizes a novel classification label to guide the diffusion model in capturing the complex connections between navigation and human preferences. Its Transformer network backbone outputs action sequences to alleviate short-sightedness. It also includes special distillation skills to boost the planning speed and quality. We conduct experiments in both simulated and real-world scenarios to evaluate our approach. In these experiments, NaviDiffuser not only demonstrates an extremely high arrival rate but also adjusts its navigation policy to align with different human preferences.

ICRA Conference 2025 Conference Paper

OG-Gaussian: Occupancy Based Street Gaussians for Autonomous Driving

  • Yedong Shen
  • Xinran Zhang
  • Yifan Duan
  • Shiqi Zhang
  • Heng Li
  • Yilong Wu
  • Jianmin Ji
  • Yanyong Zhang

Accurate and realistic 3D scene reconstruction enables the lifelike creation of autonomous driving simulation environments. With advancements in 3D Gaussian Splatting (3DGS), previous studies have applied it to reconstruct complex dynamic driving scenes. These methods typically require expensive LiDAR sensors and pre-annotated datasets of dynamic objects. To address these challenges, we propose OG-Gaussian, a novel approach that replaces LiDAR point clouds with Occupancy Grids (OGs) generated from surround-view camera images using Occupancy Prediction Network (ONet). Our method leverages the semantic information in OGs to separate dynamic vehicles from static street background, converting these grids into two distinct sets of initial point clouds for reconstructing both static and dynamic objects. Additionally, we estimate the trajectories and poses of dynamic objects through a learning-based approach, eliminating the need for complex manual annotations. Experiments on Waymo Open dataset demonstrate that OG-Gaussian is on par with the current state-of-the-art in terms of reconstruction quality and rendering speed, achieving an average PSNR of 35. 13 and a rendering speed of 143 FPS, while significantly reducing computational costs and economic overhead.

AAAI Conference 2025 Conference Paper

Traffic Scenario Logic: A Spatial-Temporal Logic for Modeling and Reasoning of Urban Traffic Scenarios

  • Ruolin Wang
  • Yuejiao Xu
  • Jianmin Ji

Formal representations of traffic scenarios can be used to generate test cases for the safety verification of autonomous driving. However, most existing methods are limited to highway or highly simplified intersection scenarios due to the intricacy and diversity of traffic scenarios. In response, we propose Traffic Scenario Logic (TSL), which is a spatial-temporal logic designed for modeling and reasoning of urban pedestrian-free traffic scenarios. TSL provides a formal representation of the urban road network that can be derived from OpenDRIVE, i.e., the de facto industry standard of high-definition maps for autonomous driving, enabling the representation of a broad range of traffic scenarios without discretization approximations. We implemented the reasoning of TSL using Telingo, i.e., a solver for temporal programs based on Answer Set Programming, and tested it on different urban road layouts. Demonstrations show the effectiveness of TSL in test scenario generation and its potential value in areas like decision-making and control verification of autonomous driving. The code for TSL reasoning has been open-sourced.

ICRA Conference 2024 Conference Paper

CalibFormer: A Transformer-based Automatic LiDAR-Camera Calibration Network

  • Yuxuan Xiao
  • Yao Li 0016
  • Chengzhen Meng
  • Xingchen Li
  • Jianmin Ji
  • Yanyong Zhang

The fusion of LiDARs and cameras has been increasingly adopted in autonomous driving for perception tasks. The performance of such fusion-based algorithms largely depends on the accuracy of sensor calibration, which is challenging due to the difficulty of identifying common features across different data modalities. Previously, many calibration methods involved specific targets and/or manual intervention, which has proven to be cumbersome and costly. Learning-based online calibration methods have been proposed, but their performance is barely satisfactory in most cases. These methods usually suffer from issues such as sparse feature maps, unreliable cross-modality association, inaccurate calibration parameter regression, etc. In this paper, to address these issues, we propose CalibFormer, an end-to-end network for automatic LiDAR-camera calibration. We aggregate multiple layers of camera and LiDAR image features to achieve high-resolution representations. A multi-head correlation module is utilized to identify correlations between features more accurately. Lastly, we employ transformer architectures to estimate accurate calibration parameters from the correlation information. Our method achieved a mean translation error of 0. 8751cm and a mean rotation error of 0. 0562° on the KITTI dataset, surpassing existing state-of-the-art methods and demonstrating strong robustness, accuracy, and generalization capabilities.

IROS Conference 2024 Conference Paper

CRPlace: Camera-Radar Fusion with BEV Representation for Place Recognition

  • Shaowei Fu
  • Yifan Duan
  • Yao Li 0016
  • Chengzhen Meng
  • Yingjie Wang
  • Jianmin Ji
  • Yanyong Zhang

The integration of complementary characteristics from camera and radar data has emerged as an effective approach in 3D object detection. However, such fusion-based methods remain unexplored for place recognition, an equally important task for autonomous systems. Given that place recognition relies on the similarity between a query scene and the corresponding candidate scene, the stationary background of a scene is expected to play a crucial role in the task. As such, current well-designed camera-radar fusion methods for 3D object detection can hardly take effect in place recognition because they mainly focus on dynamic foreground objects. In this paper, a background-attentive camera-radar fusion-based method, named CRPlace, is proposed to generate background-attentive global descriptors from multi-view images and radar point clouds for accurate place recognition. To extract stationary background features effectively, we design an adaptive module that generates the background-attentive mask by utilizing the camera BEV feature and radar dynamic points. With the guidance of a background mask, we devise a bidirectional cross-attention-based spatial fusion strategy to facilitate comprehensive spatial interaction between the background information of the camera BEV feature and the radar BEV feature. As the first camera-radar fusion-based place recognition network, CRPlace has been evaluated thoroughly on the nuScenes dataset. The results show that our algorithm outperforms a variety of baseline methods across a comprehensive set of metrics (recall@1 reaches 91. 2%).

IROS Conference 2024 Conference Paper

LDP: A Local Diffusion Planner for Efficient Robot Navigation and Collision Avoidance

  • Wenhao Yu 0010
  • Jie Peng 0002
  • Huanyu Yang
  • Junrui Zhang 0012
  • Yifan Duan
  • Jianmin Ji
  • Yanyong Zhang

The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of policies. The intricate nature of real-world scenarios, characterized by dynamic obstacles and maze-like structures, underscores the complexity of robot local navigation decision-making as a conditional distribution problem. Nevertheless, leveraging the diffusion model for robot local navigation is not trivial and encounters several under-explored challenges: (1) Data Urgency The complex conditional distribution in local navigation needs training data to include diverse policy in diverse real-world scenarios; (2) Myopic Observation Due to the diversity of the perception scenarios, diffusion decisions based on the local perspective of robots may prove suboptimal for completing the entire task, as they often lack foresight. In certain scenarios requiring detours, the robot may become trapped. To address these issues, our approach begins with an exploration of a diverse data generation mechanism that encompasses multiple agents exhibiting distinct preferences through target selection informed by integrated global-local insights. Then, based on this diverse training data, a diffusion agent is obtained, capable of excellent collision avoidance in diverse scenarios. Subsequently, we augment our Local Diffusion Planner, also known as LDP by incorporating global observations in a lightweight manner. This enhancement broadens the observational scope of LDP, effectively mitigating the risk of becoming ensnared in local optima and promoting more robust navigational decisions. Our experimental results demonstrated that the LDP outperforms other baseline algorithms in navigation performance, exhibiting enhanced robustness across diverse scenarios with different policy preferences and superior generalization capabilities for unseen scenarios. Moreover, we highlighted the competitive advantage of the LDP within real-world settings.

IROS Conference 2024 Conference Paper

MM-Gaussian: 3D Gaussian-based Multi-modal Fusion for Localization and Reconstruction in Unbounded Scenes

  • Chenyang Wu
  • Yifan Duan
  • Xinran Zhang
  • Yu Sheng
  • Jianmin Ji
  • Yanyong Zhang

Localization and mapping are critical tasks for various applications such as autonomous vehicles and robotics. The challenges posed by outdoor environments present particular complexities due to their unbounded characteristics. In this work, we present MM-Gaussian, a LiDAR-camera multimodal fusion system for localization and mapping in unbounded scenes. Our approach is inspired by the recently developed 3D Gaussians, which demonstrate remarkable capabilities in achieving high rendering quality and fast rendering speed. Specifically, our system fully utilizes the geometric structure information provided by solid-state LiDAR to address the problem of inaccurate depth encountered when relying solely on visual solutions in unbounded, outdoor scenarios. Additionally, we utilize 3D Gaussian point clouds, with the assistance of pixel-level gradient descent, to fully exploit the color information in photos, thereby achieving realistic rendering effects. To further bolster the robustness of our system, we designed a relocalization module, which assists in returning to the correct trajectory in the event of a localization failure. Experiments conducted in multiple scenarios demonstrate the effectiveness of our method.

ICRA Conference 2024 Conference Paper

NaviFormer: A Data-Driven Robot Navigation Approach via Sequence Modeling and Path Planning with Safety Verification

  • Xuyang Zhang
  • Ziyang Feng
  • Quecheng Qiu
  • Yu'an Chen
  • Bei Hua
  • Jianmin Ji

Reinforcement learning has shown great potential in improving the performance of robot navigation. In response to the increasing deployments of mobile robots within various scenarios, a data-driven paradigm of navigation approach with safety verification is preferred where one can train RL algorithms with large amounts of prior data, keep learning continuously, and ensure safe navigation in applications. Conventional end-to-end reinforcement learning navigation paradigms have encountered multiple challenges in meeting these demands. In this work, we introduce a novel robot navigation approach termed NaviFormer. This approach handles navigation tasks based on sequence modeling to obtain the data-driven ability. It also integrates rule-based verification for safety insurance. We conduct a series of experiments to validate the data-driven ability of our approach and to compare it with existing navigation methods. We also perform quantitative tests on a real-world robot platform, TurtleBot. The experimental results show our method’s outstanding data-driven ability and highlight its superior arrival rate and generalization compared to other state-of-the-art methods like the PPO-based navigation method.

ICRA Conference 2024 Conference Paper

OCC-VO: Dense Mapping via 3D Occupancy-Based Visual Odometry for Autonomous Driving

  • Heng Li
  • Yifan Duan
  • Xinran Zhang
  • Haiyi Liu
  • Jianmin Ji
  • Yanyong Zhang

Visual Odometry (VO) plays a pivotal role in autonomous systems, with a principal challenge being the lack of depth information in camera images. This paper introduces OCC-VO, a novel framework that capitalizes on recent advances in deep learning to transform 2D camera images into 3D semantic occupancy, thereby circumventing the traditional need for concurrent estimation of ego poses and landmark locations. Within this framework, we utilize the TPV-Former to convert surround view cameras’ images into 3D semantic occupancy. Addressing the challenges presented by this transformation, we have specifically tailored a pose estimation and mapping algorithm that incorporates Semantic Label Filter, Dynamic Object Filter, and finally, utilizes Voxel PFilter for maintaining a consistent global semantic map. Evaluations on the Occ3D-nuScenes not only showcase a 20. 6% improvement in Success Ratio and a 29. 6% enhancement in trajectory accuracy against ORB-SLAM3, but also emphasize our ability to construct a comprehensive map. Our implementation is open-sourced and available at: https://github.com/USTCLH/OCC-VO.

ICRA Conference 2024 Conference Paper

PathRL: An End-to-End Path Generation Method for Collision Avoidance via Deep Reinforcement Learning

  • Wenhao Yu 0010
  • Jie Peng 0002
  • Quecheng Qiu
  • Hanyu Wang
  • Lu Zhang
  • Jianmin Ji

Robot navigation using deep reinforcement learning (DRL) has shown great potential in improving the performance of mobile robots. Nevertheless, most existing DRL-based navigation methods primarily focus on training a policy that directly commands the robot with low-level controls, like linear and angular velocities, which leads to unstable speeds and unsmooth trajectories of the robot during the long-term execution. An alternative method is to train a DRL policy that outputs the navigation path directly. Then the robot can follow the generated path smoothly using sophisticated velocity-planning and path-following controllers, whose parameters are specified according to the hardware platform. However, two roadblocks arise for training a DRL policy that outputs paths: (1) The action space for potential paths often involves higher dimensions comparing to low-level commands, which increases the difficulties of training; (2) It takes multiple time steps to track a path instead of a single time step, which requires the path to predicate the interactions of the robot w. r. t. the dynamic environment in multiple time steps. This, in turn, amplifies the challenges associated with training. In response to these challenges, we propose PathRL, a novel DRL method that trains the policy to generate the navigation path for the robot. Specifically, we employ specific action space discretization techniques and tailored state space representation methods to address the associated challenges. Curriculum learning is employed to expedite the training process, while the reward function also takes into account the smooth transition between adjacent paths. In our experiments, PathRL achieves better success rates and reduces angular rotation variability compared to other DRL navigation methods, facilitating stable and smooth robot movement. We demonstrate the competitive edge of PathRL in both real-world scenarios and multiple challenging simulation environments.

AAAI Conference 2024 Conference Paper

SDAC: A Multimodal Synthetic Dataset for Anomaly and Corner Case Detection in Autonomous Driving

  • Lei Gong
  • Yu Zhang
  • Yingqing Xia
  • Yanyong Zhang
  • Jianmin Ji

Nowadays, closed-set perception methods for autonomous driving perform well on datasets containing normal scenes. However, they still struggle to handle anomalies in the real world, such as unknown objects that have never been seen while training. The lack of public datasets to evaluate the model performance on anomaly and corner cases has hindered the development of reliable autonomous driving systems. Therefore, we propose a multimodal Synthetic Dataset for Anomaly and Corner case detection, called SDAC, which encompasses anomalies captured from multi-view cameras and the LiDAR sensor, providing a rich set of annotations for multiple mainstream perception tasks. SDAC is the first public dataset for autonomous driving that categorizes anomalies into object, scene, and scenario levels, allowing the evaluation under different anomalous conditions. Experiments show that closed-set models suffer significant performance drops on anomaly subsets in SDAC. Existing anomaly detection methods fail to achieve satisfactory performance, suggesting that anomaly detection remains a challenging problem. We anticipate that our SDAC dataset could foster the development of safe and reliable systems for autonomous driving.

KR Conference 2023 Conference Paper

A²CoST: An ASP-based Avoidable Collision Scenario Testbench for Autonomous Vehicles

  • Ruolin Wang
  • Yuejiao Xu
  • Jie Peng
  • Jianmin Ji

This paper addresses the challenge of generating safety-critical scenarios with multiple adversarial vehicles for testing autonomous vehicles. Such scenarios must be plausible and collision-avoidable while resulting in a collision with the vehicle-under-test. However, the tremendous number of scenarios and the low ratio of plausible scenarios makes previous methods squander primary resources on implausible scenarios, degenerating their efficiency. We propose a two-stage framework called the ASP-based Avoidable Collision Scenario Testbench (A²CoST) to overcome this obstacle and improve efficiency. In the former stage, we apply Answer Set Programming (ASP) for generating plausible logical scenarios. In the latter stage, we use a search algorithm to refine logical scenarios into safety-critical concrete scenarios. We also compute collision-free trajectories in these concrete scenarios while the vehicle-under-test fails to avoid the collision. We empirically show the A²CoST significantly decreases the time consumption for simple scenarios while still effectively generating complex critical scenarios. The comparison with real-world traffic data further demonstrates the value of A²CoST in generating plausible scenarios. The source codes of our method and the baselines are opened at https: //github. com/Autonomous-Driving-Safety-Project/AACoST.

NeurIPS Conference 2023 Conference Paper

CluB: Cluster Meets BEV for LiDAR-Based 3D Object Detection

  • Yingjie Wang
  • Jiajun Deng
  • Yuenan Hou
  • Yao Li
  • Yu Zhang
  • Jianmin Ji
  • Wanli Ouyang
  • Yanyong Zhang

Currently, LiDAR-based 3D detectors are broadly categorized into two groups, namely, BEV-based detectors and cluster-based detectors. BEV-based detectors capture the contextual information from the Bird's Eye View (BEV) and fill their center voxels via feature diffusion with a stack of convolution layers, which, however, weakens the capability of presenting an object with the center point. On the other hand, cluster-based detectors exploit the voting mechanism and aggregate the foreground points into object-centric clusters for further prediction. In this paper, we explore how to effectively combine these two complementary representations into a unified framework. Specifically, we propose a new 3D object detection framework, referred to as CluB, which incorporates an auxiliary cluster-based branch into the BEV-based detector by enriching the object representation at both feature and query levels. Technically, CluB is comprised of two steps. First, we construct a cluster feature diffusion module to establish the association between cluster features and BEV features in a subtle and adaptive fashion. Based on that, an imitation loss is introduced to distill object-centric knowledge from the cluster features to the BEV features. Second, we design a cluster query generation module to leverage the voting centers directly from the cluster branch, thus enriching the diversity of object queries. Meanwhile, a direction loss is employed to encourage a more accurate voting center for each cluster. Extensive experiments are conducted on Waymo and nuScenes datasets, and our CluB achieves state-of-the-art performance on both benchmarks.

IROS Conference 2023 Conference Paper

Reinforcement Learning for Robot Navigation with Adaptive Forward Simulation Time (AFST) in a Semi-Markov Model

  • Yu'an Chen
  • Ruosong Ye
  • Ziyang Tao
  • Hongjian Liu
  • Guangda Chen
  • Jie Peng 0002
  • Jun Ma 0034
  • Yu Zhang 0086

Deep reinforcement learning (DRL) algorithms have proven effective in robot navigation, especially in unknown environments, by directly mapping perception inputs into robot control commands. However, most existing methods ignore the local minimum problem in navigation and thereby cannot handle complex unknown environments. In this paper, we propose the first DRL-based navigation method modeled by a semi-Markov decision process (SMDP) with continuous action space, named Adaptive Forward Simulation Time (AFST), to overcome this problem. Specifically, we reduce the dimensions of the action space and improve the distributed proximal policy optimization (DPPO) algorithm for the specified SMDP problem by modifying its GAE to better estimate the policy gradient in SMDPs. Experiments in various unknown environments demonstrate the effectiveness of AFST.

ICRA Conference 2022 Conference Paper

Learning to Socially Navigate in Pedestrian-rich Environments with Interaction Capacity

  • Quecheng Qiu
  • Shunyi Yao
  • Jing Wang 0193
  • Jun Ma 0034
  • Guangda Chen
  • Jianmin Ji

Existing navigation policies for autonomous robots tend to focus on collision avoidance while ignoring human-robot interactions in social life. For instance, robots can pass along the corridor safer and easier if pedestrians notice them. Sounds have been considered as an efficient way to attract the attention of pedestrians, which can alleviate the freezing robot problem. In this work, we present a new deep reinforcement learning (DRL) based social navigation approach for autonomous robots to move in pedestrian-rich environments with interaction capacity. Most existing DRL based methods intend to train a general policy that outputs both navigation actions, i. e. , expected robot's linear and angular velocities, and interaction actions, i. e. , the beep action, in the context of reinforcement learning. Different from these methods, we intend to train the policy via both supervised learning and reinforcement learning. In specific, we first train an interaction policy in the context of supervised learning, which provides a better understanding of the social situation, then we use this interaction policy to train the navigation policy via multiple reinforcement learning algorithms. We evaluate our approach in various simulation environments and compare it to other methods. The experimental results show that our approach outperforms others in terms of the success rate. We also deploy the trained policy on a real-world robot, which shows a nice performance in crowded environments.

IROS Conference 2022 Conference Paper

PFilter: Building Persistent Maps through Feature Filtering for Fast and Accurate LiDAR-based SLAM

  • Yifan Duan
  • Jie Peng 0002
  • Yu Zhang 0086
  • Jianmin Ji
  • Yanyong Zhang

Simultaneous localization and mapping (SLAM) based on laser sensors has been widely adopted by mobile robots and autonomous vehicles. These SLAM systems are required to support accurate localization with limited computational resources. In particular, point cloud registration, i. e. , the process of matching and aligning multiple LiDAR scans collected at multiple locations in a global coordinate framework, has been deemed as the bottleneck step in SLAM. In this paper, we propose a feature filtering algorithm, PFilter, that can filter out invalid features and can thus greatly alleviate this bottleneck. Meanwhile, the overall registration accuracy is also improved due to the carefully curated feature points. We integrate PFilter into the well-established scan-to-map LiDAR odometry framework, F-LOAM, and evaluate its performance on the KITTI dataset. The experimental results show that PFilter can remove about 48. 4% of the points in the local feature map and reduce feature points in scan by 19. 3% on average, which save 20. 9% processing time per frame. In the mean time, we improve the accuracy by 9. 4%.

IROS Conference 2021 Conference Paper

Crowd-Aware Robot Navigation for Pedestrians with Multiple Collision Avoidance Strategies via Map-based Deep Reinforcement Learning

  • Shunyi Yao
  • Guangda Chen
  • Quecheng Qiu
  • Jun Ma 0034
  • Xiaoping Chen
  • Jianmin Ji

It is challenging for a mobile robot to navigate through human crowds. Existing approaches usually assume that pedestrians follow a predefined collision avoidance strategy, like social force model (SFM) or optimal reciprocal collision avoidance (ORCA). However, their performances commonly need to be further improved for practical applications, where pedestrians follow multiple different collision avoidance strategies. In this paper, we propose a map-based deep reinforcement learning approach for crowd-aware robot navigation with various pedestrians. We use the sensor map to represent the environmental information around the robot, including its shape and observable appearances of obstacles. We also introduce the pedestrian map that specifies the movements of pedestrians around the robot. By applying both maps as inputs of the neural network, we show that a navigation policy can be trained to better interact with pedestrians following different collision avoidance strategies. We evaluate our approach under multiple scenarios both in the simulator and on an actual robot. The results show that our approach allows the robot to successfully interact with various pedestrians and outperforms compared methods in terms of the success rate.

IROS Conference 2021 Conference Paper

DRQN-based 3D Obstacle Avoidance with a Limited Field of View

  • Yu'an Chen
  • Guangda Chen
  • Lifan Pan
  • Jun Ma 0034
  • Yu Zhang 0086
  • Yanyong Zhang
  • Jianmin Ji

In this paper, we propose a map-based end-to-end DRL approach for three-dimensional (3D) obstacle avoidance in a partially observed environment, which is applied to achieve autonomous navigation for an indoor mobile robot using a depth camera with a narrow field of view. We first train a neural network with LSTM units in a 3D simulator of mobile robots to approximate the Q-value function in double DRQN. We also use a curriculum learning strategy to accelerate and stabilize the training process. Then we deploy the trained model to a real robot to perform 3D obstacle avoidance in its navigation. We evaluate the proposed approach both in the simulated environment and on a robot in the real world. The experimental results show that the approach is efficient and easy to be deployed, and it performs well for 3D obstacle avoidance with a narrow observation angle, which outperforms other existing DRL-based models by 15. 5% on success rate.

AAMAS Conference 2021 Conference Paper

Parallel Curriculum Experience Replay in Distributed Reinforcement Learning

  • Yuyu Li
  • Jianmin Ji

Distributed training architectures have been shown to be effective to improve the performance of reinforcement learning algorithms. However, their performances are still poor for problems with sparse rewards, e. g. , the scoring task with or without goalkeeper for robots in RoboCup soccer. It is challenging to solve these tasks in reinforcement learning, especially for those that require combining high-level actions with flexible control. To address these challenges, we introduce a distributed training framework with parallel curriculum experience replay that can collect different experiences in parallel and then automatically identify the difficulty of these subtasks. Experiments on the domain of simulated RoboCup soccer show that, the approach is effective and outperforms existing reinforcement learning methods.

ICRA Conference 2021 Conference Paper

Towards an Online RRT-based Path Planning Algorithm for Ackermann-steering Vehicles

  • Jie Peng 0002
  • Yu'an Chen
  • Yifan Duan
  • Yu Zhang 0086
  • Jianmin Ji
  • Yanyong Zhang

It is challenging to develop an online path planning algorithm for Ackermann-steering vehicles to find collision-free and kinematically-feasible paths, that is efficient for dense environments, adaptable to various environments, and suitable for environments with narrow passages. In this paper, we propose a kinematically constrained RRT-based path planning algorithm integrating with a trajectory parameter space (TP-space) with three novel improvements to meet the above requirements. In specific, we introduce a new way to choose candidate nodes to expand the tree for an RRT-based algorithm, which can significantly increase the success rate of the expansion and improve the efficiency of the algorithm. We also introduce a procedure to incrementally adjust the step size for the expansion, which enables the algorithm to automatically adapt to various environments. At last, we integrate rapidly-exploring random vines (RRV) with a TP-space to handle kinematic constraints and improve the performance of the algorithm to expand the tree through a narrow passage. We also prove that the algorithm is probabilistic complete and asymptotically near-optimal. An ablation study shows that all three improvements can notably improve the performance of the RRT-based path planning algorithm. We also evaluate the algorithm in various environments. The experimental results show that our algorithm achieves competitive performance compared with the state-of-the-art. The source code is available at https://github.com/PengJieb/fastbkrrt.

ICRA Conference 2019 Conference Paper

A Multi-Domain Feature Learning Method for Visual Place Recognition

  • Peng Yin 0001
  • Lingyun Xu
  • Xueqian Li
  • Chen Yin
  • Yingli Li
  • Rangaprasad Arun Srivatsan
  • Lu Li
  • Jianmin Ji

Visual Place Recognition (VPR) is an important component in both computer vision and robotics applications, thanks to its ability to determine whether a place has been visited and where specifically. A major challenge in VPR is to handle changes of environmental conditions including weather, season and illumination. Most VPR methods try to improve the place recognition performance by ignoring the environmental factors, leading to decreased accuracy decreases when environmental conditions change significantly, such as day versus night. To this end, we propose an end-to-end conditional visual place recognition method. Specifically, we introduce the multi-domain feature learning method (MDFL) to capture multiple attribute-descriptions for a given place, and then use a feature detaching module to separate the environmental condition-related features from those that are not. The only label required within this feature learning pipeline is the environmental condition. Evaluation of the proposed method is conducted on the multi-season NORDLAND dataset, and the multi-weather GTAV dataset. Experimental results show that our method improves the feature robustness against variant environmental conditions.

ICRA Conference 2019 Conference Paper

MRS-VPR: a multi-resolution sampling based global visual place recognition method

  • Peng Yin 0001
  • Rangaprasad Arun Srivatsan
  • Yin Chen
  • Xueqian Li
  • Hongda Zhang
  • Lingyun Xu
  • Lu Li
  • Zhenzhong Jia

Place recognition and loop closure detection are challenging for long-term visual navigation tasks. SeqSLAM is considered to be one of the most successful approaches to achieve long-term localization under varying environmental conditions and changing viewpoints. SeqSLAM uses a brute-force sequential matching method, which is computationally intensive. In this work, we introduce a multi-resolution sampling-based global visual place recognition method (MRS-VPR), which can significantly improve the matching efficiency and accuracy in sequential matching. The novelty of this method lies in the coarse-to-fine searching pipeline and a particle filter-based global sampling scheme, that can balance the matching efficiency and accuracy in the long-term navigation task. Moreover, our model works much better than SeqSLAM when the testing sequence is over a much smaller time scale than the reference sequence. Our experiments demonstrate that MRSVPR is efficient in locating short temporary trajectories within long-term reference ones without compromising on the accuracy compared to SeqSLAM.

IJCAI Conference 2016 Conference Paper

Eliminating Disjunctions in Answer Set Programming by Restricted Unfolding

  • Jianmin Ji
  • Hai Wan
  • Kewen Wang
  • Zhe Wang
  • Chuhan ZHANG
  • Jiangtao Xu

A disjunctive logic program under the answer set semantics can be equivalently translated to a normal logic program by the shifting transformation, if the program is head-cycle-free. In this paper, we provide an answer-set-preserving rewriting of a general disjunctive program to a normal program by first applying the unfolding transformation on atoms that prevent the program from being head-cycle-free, then shifting the resulting program. Different from other transformations that eliminate disjunctions in answer set programming, the new rewriting is efficient for "almost" head-cycle-free programs, i. e. , programs that have only a few atoms that prevent them to be head-cycle-free. Based on the new rewriting, we provide an anytime algorithm to compute answer sets of a disjunctive program by calling solvers for normal logic programs. The experiment shows that the algorithm is efficient for some disjunctive programs. We also extend the rewriting to non-ground answer set programs on finite structures.

AAAI Conference 2015 Conference Paper

On Elementary Loops and Proper Loops for Disjunctive Logic Programs

  • Jianmin Ji
  • Hai Wan
  • Peng Xiao

This paper proposes an alternative definition of elementary loops and extends the notion of proper loops for disjunctive logic programs. Different from normal logic programs, the computational complexities of recognizing elementary loops and proper loops for disjunctive programs are coNP-complete. To address this problem, we introduce weaker versions of both elementary loops and proper loops and provide polynomial time algorithms for identifying them respectively. On the other hand, based on the notion of elementary loops, the class of Head-Elementary-loop-Free (HEF) programs was presented, which can be turned into equivalent normal logic programs by shifting head atoms into bodies. However, the problem of recognizing an HEF program is coNP-complete. Then we present a subclass of HEF programs which generalizes the class of Head-Cycle- Free programs and provide a polynomial time algorithm to identify them. At last, some experiments show that both elementary loops and proper loops could be replaced by their weak versions in practice.

IJCAI Conference 2015 Conference Paper

On Forgetting Postulates in Answer Set Programming

  • Jianmin Ji
  • Jia-Huai You
  • Yisong Wang

Forgetting is an important mechanism for logicbased agent systems. A recent interest has been in the desirable properties of forgetting in answer set programming (ASP) and their impact on the design of forgetting operators. It is known that some subsets of these properties are incompatible, i. e. , they cannot be satisfied at the same time. In this paper, we are interested in the question on the largest set ∆ of pairs (Π, V ), where Π is a logic program and V is a set of atoms, such that a forgetting operator exists that satisfies all the desirable properties for each (Π, V ) in ∆. We answer this question positively by discovering the precise condition under which the knowledge forgetting, a well-established approach to forgetting in ASP, satisfies the property of strong persistence, which leads to a sufficient and necessary condition for a forgetting operator to satisfy all the desirable properties proposed in the literature. We explore computational complexities on checking the condition and present a syntactic characterization which can serve as the basis of computing knowledge forgetting in ASP.

IJCAI Conference 2015 Conference Paper

Simplifying A Logic Program Using Its Consequences

  • Jianmin Ji
  • Hai Wan
  • Ziwei Huo
  • Zhenfeng Yuan

A consequence of a logic program is a consistent set of literals that are satisfied by every answer set. The well-founded model is a consequence that can be used to simplify the logic program. In this paper, we extend the notion of well-founded models to consequences for simplifying disjunctive logic programs (DLPs) in a general manner. Specifically, we provide two main notions, strong reliable set and weak reliable set, and show that a DLP is strongly equivalent to the simplified program if and only if the consequence is a strong reliable set, and they have the same answer sets if and only if the consequence is a weak reliable set. Then we provide computational complexity on identifying both notions. In addition, we provide an algorithm to compute some strong reliable sets and show that the approach is an extension of the well-founded model in simplifying logic programs.

AAAI Conference 2015 Conference Paper

Splitting a Logic Program Revisited

  • Jianmin Ji
  • Hai Wan
  • Ziwei Huo
  • Zhenfeng Yuan

Lifschitz and Turner introduced the notion of the splitting set and provided a method to divide a logic program into two parts. They showed that the task of computing the answer sets of the program can be converted into the tasks of computing the answer sets of these parts. However, the empty set and the set of all atoms are the only two splitting sets for many programs, then these programs cannot be divided by the splitting method. In this paper, we extend Lifschitz and Turner’s splitting set theorem to allow the program to be split by an arbitrary set of atoms, while some new atoms may be introduced in the process. To illustrate the usefulness of the result, we show that for some typical programs the splitting process is efficient and the program simplification problem can be investigated using the concept of splitting.

AAAI Conference 2014 Conference Paper

Elementary Loops Revisited

  • Jianmin Ji
  • Hai Wan
  • Peng Xiao
  • Ziwei Huo
  • Zhanhao Xiao

The notions of loops and loop formulas play an important role in answer set computation. However, there would be an exponential number of loops in the worst case. Gebser and Schaub characterized a subclass elementary loops and showed that they are sufficient for selecting answer sets from models of a logic program. This paper proposes an alternative definition of elementary loops and identify a subclass of elementary loops, called proper loops. By applying a special form of their loop formulas, proper loops are also sufficient for the SAT-based answer set computation. A polynomial algorithm to recognize a proper loop is given and shows that for certain logic programs, identifying all proper loops of a program is more efficient than that of elementary loops. Furthermore, we prove that, by considering the structure of the positive body-head dependency graph of a program, a large number of loops could be ignored for identifying proper loops. We provide another algorithm for identifying all proper loops of a program. The experiments show that, for certain programs whose dependency graphs consisting of sets of components that are densely connected inside and sparsely connected outside, the new algorithm is more efficient.

IJCAI Conference 2013 Conference Paper

Handling Open Knowledge for Service Robots

  • Xiaoping Chen
  • Jianmin Ji
  • Zhiqiang Sui
  • Jiongkun Xie

Users may ask a service robot to accomplish various tasks so that the designer of the robot cannot program each of the tasks beforehand. As more and more open-source knowledge resources become available, it is worthwhile trying to make use of open-source knowledge resources for service robots. The challenge lies in the autonomous identification, acquisition and utilization of missing knowledge about a user task at hand. In this paper, the core problem is formalized and the complexity results of the main reasoning issues are provided. A mechanism for task planning with open-knowledge rules which are provided by non-experts in semistructured natural language and thus generally underspecified are introduced. Techniques for translating the semi-structured knowledge from a large open-source knowledge base are also presented. Experiments showed a remarkable improvement of the system performance on a test set consisting of hundreds of user desires from the open-source knowledge base.

AAMAS Conference 2011 Conference Paper

Towards Robot Incremental Learning Constraints from Comparative Demonstration

  • Rong Zhang
  • Shangfei Wang
  • Xiaoping Chen
  • Dong Yin
  • Shijia Chen
  • Min Cheng
  • Yanpeng Lv
  • Jianmin Ji

This paper presents an attempt on incremental robot learning from demonstration. Based on previously learnt knowledge about a task in simpler situations, a robot learns to fulfill the same task properly in a more complicated situation through analyzing comparative demonstrations and extracting new knowledge, especially the constraints that the task in the new situation imposes on the robot's behaviors.

AAMAS Conference 2010 Conference Paper

Developing High-level Cognitive Functions for Service Robots

  • Xiaoping Chen
  • Jianmin Ji
  • Jiehui Jiang
  • Guoqiang Jin
  • Feng Wang
  • Jiongkun Xie

The primary target of this work is human-robot collaboration, especially for service robots in complicated applicationscenarios. Three assumptions and four requirements areidentified. State-of-the-art, general-purpose Natural Language Processing (NLP), Commonsense Reasoning (in particular, ASP), and Robotics techniques are integrated in alayered architecture. The architecture and mechanisms havebeen implemented on a service robot, Ke Jia. Instead ofcommand languages, small limited segments of natural languages are employed in spoken dialog between Ke Jia and itsusers. The information in the dialog is extracted, classifiedand transferred into inner representation by Ke Jia's NLPmechanism, and further used autonomously in problem-solvingand planning. A series of case study was conducted onKe Jia with positive results, verifying its ability of acquiringknowledge through spoken dialog with users, autonomoussolving problems by virtue of acquired causal knowledge, and autonomous planning for complex tasks.

KR Conference 2008 Conference Paper

Computing Loops with at Most One External Support Rule

  • Xiaoping Chen
  • Jianmin Ji
  • Fangzhen Lin

If a loop has no external support rules, then its loop formula is equivalent to a set of unit clauses; and if it has exactly one external support rule, then its loop formula is equivalent to a set of binary clauses. In this paper, we consider how to compute these loops and their loop formulas in a normal logic program, and use them to derive consequences of a logic program. We show that an iterative procedure based on unit propagation, the program completion and the loop formulas of loops with no external support rules can compute the same consequences as the "Expand" operator in smodels, which is known to compute the well-founded model when the given normal logic program has no constraints. We also show that using the loop formulas of loops with at most one external support rule, the same procedure can compute more consequences, and these extra consequences can help ASP solvers such as cmodels to find answer sets of certain logic programs.

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