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Junhui Wang

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13 papers

2 author rows

ICRA Conference 2025 Conference Paper

OpenBench: A New Benchmark and Baseline for Semantic Navigation in Smart Logistics

Junhui Wang
Dongjie Huo
Zehui Xu
Yongliang Shi
Yimin Yan
Yuanxin Wang
Chao Gao
Yan Qiao 0004

The increasing demand for efficient last-mile delivery in smart logistics underscores the role of autonomous robots in enhancing operational efficiency and reducing costs. Traditional navigation methods, which depend on highprecision maps, are resource-intensive, while learning-based approaches often struggle with generalization in real-world scenarios. To address these challenges, this work proposes the Openstreetmap-enhanced oPen-air sEmantic Navigation (OPEN) system that combines foundation models with classic algorithms for scalable outdoor navigation. The system uses off-the-shelf OpenStreetMap (OSM) for flexible map representation, thereby eliminating the need for extensive pre-mapping efforts. It also employs Large Language Models (LLMs) to comprehend delivery instructions and Vision-Language Models (VLMs) for global localization, map updates, and house number recognition. To compensate the limitations of existing benchmarks that are inadequate for assessing last-mile delivery, this work introduces a new benchmark specifically designed for outdoor navigation in residential areas, reflecting the real-world challenges faced by autonomous delivery systems. Extensive experiments in simulated and real-world environments demonstrate the proposed system's efficacy in enhancing navigation efficiency and reliability. To facilitate further research, our code and benchmark are publicly available 1 1 https://ei-nav.github.io/OpenBench/.

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NeurIPS Conference 2024 Conference Paper

On the Target-kernel Alignment: a Unified Analysis with Kernel Complexity

Chao Wang
Xin He
Yuwen Wang
Junhui Wang

This paper investigates the impact of alignment between the target function of interest and the kernel matrix on a variety of kernel-based methods based on a general loss belonging to a rich loss function family, which covers many commonly used methods in regression and classification problems. We consider the truncated kernel-based method (TKM) which is estimated within a reduced function space constructed by using the spectral truncation of the kernel matrix and compare its theoretical behavior to that of the standard kernel-based method (KM) under various settings. By using the kernel complexity function that quantifies the complexity of the induced function space, we derive the upper bounds for both TKM and KM, and further reveal their dependencies on the degree of target-kernel alignment. Specifically, for the alignment with polynomial decay, the established results indicate that under the just-aligned and weakly-aligned regimes, TKM and KM share the same learning rate. Yet, under the strongly-aligned regime, KM suffers the saturation effect, while TKM can be continuously improved as the alignment becomes stronger. This further implies that TKM has a strong ability to capture the strong alignment and provide a theoretically guaranteed solution to eliminate the phenomena of saturation effect. The minimax lower bound is also established for the squared loss to confirm the optimality of TKM. Extensive numerical experiments further support our theoretical findings. The Python code for reproducing the numerical experiments is available at https: //github. com/wywangen.

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JMLR Journal 2024 Journal Article

Transfer learning for tensor Gaussian graphical models

Mingyang Ren
Yaoming Zhen
Junhui Wang

Tensor Gaussian graphical models (GGMs), interpreting conditional independence structures within tensor data, have important applications in numerous areas. Yet, the available tensor data in one single study is often limited due to high acquisition costs. Although relevant studies can provide additional data, it remains an open question how to pool such heterogeneous data. In this paper, we propose a transfer learning framework for tensor GGMs, which takes full advantage of informative auxiliary domains even when non-informative auxiliary domains are present, benefiting from the carefully designed data-adaptive weights. Our theoretical analysis shows substantial improvement of estimation errors and variable selection consistency on the target domain under much relaxed conditions, by leveraging information from auxiliary domains. Extensive numerical experiments are conducted on both synthetic tensor graphs and brain functional connectivity network data, which demonstrates the satisfactory performance of the proposed method. [abs] [ pdf ][ bib ] &copy JMLR 2024. ( edit, beta )

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JMLR Journal 2023 Journal Article

Kernel-based estimation for partially functional linear model: Minimax rates and randomized sketches

Shaogao Lv
Xin He
Junhui Wang

This paper considers the partially functional linear model (PFLM) where all predictive features consist of a functional covariate and a high dimensional scalar vector. Over an infinite dimensional reproducing kernel Hilbert space, the proposed estimation for PFLM is a least square approach with two mixed regularizations of a function-norm and an $\ell_1$-norm. Our main task in this paper is to establish the minimax rates for PFLM under high dimensional setting, and the optimal minimax rates of estimation are established by using various techniques in empirical process theory for analyzing kernel classes. In addition, we propose an efficient numerical algorithm based on randomized sketches of the kernel matrix. Several numerical experiments are implemented to support our method and optimization strategy. [abs] [ pdf ][ bib ] &copy JMLR 2023. ( edit, beta )

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JMLR Journal 2022 Journal Article

Learning linear non-Gaussian directed acyclic graph with diverging number of nodes

Ruixuan Zhao
Xin He
Junhui Wang

An acyclic model, often depicted as a directed acyclic graph (DAG), has been widely employed to represent directional causal relations among collected nodes. In this article, we propose an efficient method to learn linear non-Gaussian DAG in high dimensional cases, where the noises can be of any continuous non-Gaussian distribution. The proposed method leverages the concept of topological layer to facilitate the DAG learning, and its theoretical justification in terms of exact DAG recovery is also established under mild conditions. Particularly, we show that the topological layers can be exactly reconstructed in a bottom-up fashion, and the parent-child relations among nodes can also be consistently established. The established asymptotic DAG recovery is in sharp contrast to that of many existing learning methods assuming parental faithfulness or ordered noise variances. The advantage of the proposed method is also supported by the numerical comparison against some popular competitors in various simulated examples as well as a real application on the global spread of COVID-19. [abs] [ pdf ][ bib ] &copy JMLR 2022. ( edit, beta )

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JMLR Journal 2022 Journal Article

Projected Robust PCA with Application to Smooth Image Recovery

Long Feng
Junhui Wang

Most high-dimensional matrix recovery problems are studied under the assumption that the target matrix has certain intrinsic structures. For image data related matrix recovery problems, approximate low-rankness and smoothness are the two most commonly imposed structures. For approximately low-rank matrix recovery, the robust principal component analysis (PCA) is well-studied and proved to be effective. For smooth matrix problem, 2d fused Lasso and other total variation based approaches have played a fundamental role. Although both low-rankness and smoothness are key assumptions for image data analysis, the two lines of research, however, have very limited interaction. Motivated by taking advantage of both features, we in this paper develop a framework named projected robust PCA (PRPCA), under which the low-rank matrices are projected onto a space of smooth matrices. Consequently, a large class of image matrices can be decomposed as a low-rank and smooth component plus a sparse component. A key advantage of this decomposition is that the dimension of the core low-rank component can be significantly reduced. Consequently, our framework is able to address a problematic bottleneck of many low-rank matrix problems: singular value decomposition (SVD) on large matrices. Theoretically, we provide explicit statistical recovery guarantees of PRPCA and include classical robust PCA as a special case. [abs] [ pdf ][ bib ] &copy JMLR 2022. ( edit, beta )

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IROS Conference 2022 Conference Paper

ULSM: Underground Localization and Semantic Mapping with Salient Region Loop Closure under Perceptually-Degraded Environment

Junhui Wang
Bin Tian 0003
Rui Zhang
Long Chen 0005

Simultaneous Localization and Mapping (SLAM) has greatly assisted in exploring perceptually-degraded underground environments, such as human-made tunnels, mine tunnels, and caves. However, the recurring sensor failures and spurious loop closures in these scenes bring significant challenges to applying SLAM. This paper proposes an architecture for underground localization and semantic mapping (ULSM) that promotes the robustness of odometry estimation and map-building. In this architecture, a two-stage robust motion compensation method is proposed to adapt to sensor-failure situations. The proposed salient region loop closure detection contributes to avoiding spurious loop closures. Meanwhile, the 2D pose as the initial value for point cloud registration is estimated without additional input. We also design a multi-robot cooperative mapping scheme based on descriptors of the salient region. Extensive experiments are conducted on datasets collected in the Tunnel Circuit of DARPA Subterranean Challenge.

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NeurIPS Conference 2021 Conference Paper

Improved Learning Rates of a Functional Lasso-type SVM with Sparse Multi-Kernel Representation

Shaogao Lv
Junhui Wang
Jiankun Liu
Yong Liu

In this paper, we provide theoretical results of estimation bounds and excess risk upper bounds for support vector machine (SVM) with sparse multi-kernel representation. These convergence rates for multi-kernel SVM are established by analyzing a Lasso-type regularized learning scheme within composite multi-kernel spaces. It is shown that the oracle rates of convergence of classifiers depend on the complexity of multi-kernels, the sparsity, a Bernstein condition and the sample size, which significantly improves on previous results even for the additive or linear cases. In summary, this paper not only provides unified theoretical results for multi-kernel SVMs, but also enriches the literature on high-dimensional nonparametric classification.

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JMLR Journal 2019 Journal Article

Smooth neighborhood recommender systems

Ben Dai
Junhui Wang
Xiaotong Shen
Annie Qu

Recommender systems predict users' preferences over a large number of items by pooling similar information from other users and/or items in the presence of sparse observations. One major challenge is how to utilize user-item specific covariates and networks describing user-item interactions in a high-dimensional situation, for accurate personalized prediction. In this article, we propose a smooth neighborhood recommender in the framework of the latent factor models. A similarity kernel is utilized to borrow neighborhood information from continuous covariates over a user-item specific network, such as a user's social network, where the grouping information defined by discrete covariates is also integrated through the network. Consequently, user-item specific information is built into the recommender to battle the `cold-start” issue in the absence of observations in collaborative and content-based filtering. Moreover, we utilize a “divide-and-conquer” version of the alternating least squares algorithm to achieve scalable computation, and establish asymptotic results for the proposed method, demonstrating that it achieves superior prediction accuracy. Finally, we illustrate that the proposed method improves substantially over its competitors in simulated examples and real benchmark data--Last.fm music data. [abs] [ pdf ][ bib ] &copy JMLR 2019. ( edit, beta )

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JMLR Journal 2016 Journal Article

Model-free Variable Selection in Reproducing Kernel Hilbert Space

Lei Yang
Shaogao Lv
Junhui Wang

Variable selection is popular in high-dimensional data analysis to identify the truly informative variables. Many variable selection methods have been developed under various model assumptions. Whereas success has been widely reported in literature, their performances largely depend on validity of the assumed models, such as the linear or additive models. This article introduces a model-free variable selection method via learning the gradient functions. The idea is based on the equivalence between whether a variable is informative and whether its corresponding gradient function is substantially non-zero. The proposed variable selection method is then formulated in a framework of learning gradients in a flexible reproducing kernel Hilbert space. The key advantage of the proposed method is that it requires no explicit model assumption and allows for general variable effects. Its asymptotic estimation and selection consistencies are studied, which establish the convergence rate of the estimated sparse gradients and assure that the truly informative variables are correctly identified in probability. The effectiveness of the proposed method is also supported by a variety of simulated examples and two real-life examples. [abs] [ pdf ][ bib ] &copy JMLR 2016. ( edit, beta )

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JMLR Journal 2013 Journal Article

Consistent Selection of Tuning Parameters via Variable Selection Stability

Wei Sun
Junhui Wang
Yixin Fang

Penalized regression models are popularly used in high- dimensional data analysis to conduct variable selection and model fitting simultaneously. Whereas success has been widely reported in literature, their performances largely depend on the tuning parameters that balance the trade-off between model fitting and model sparsity. Existing tuning criteria mainly follow the route of minimizing the estimated prediction error or maximizing the posterior model probability, such as cross validation, AIC and BIC. This article introduces a general tuning parameter selection criterion based on variable selection stability. The key idea is to select the tuning parameters so that the resultant penalized regression model is stable in variable selection. The asymptotic selection consistency is established for both fixed and diverging dimensions. Its effectiveness is also demonstrated in a variety of simulated examples as well as an application to the prostate cancer data. [abs] [ pdf ][ bib ] &copy JMLR 2013. ( edit, beta )

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JMLR Journal 2009 Journal Article

On Efficient Large Margin Semisupervised Learning: Method and Theory

Junhui Wang
Xiaotong Shen
Wei Pan

In classification, semisupervised learning usually involves a large amount of unlabeled data with only a small number of labeled data. This imposes a great challenge in that it is difficult to achieve good classification performance through labeled data alone. To leverage unlabeled data for enhancing classification, this article introduces a large margin semisupervised learning method within the framework of regularization, based on an efficient margin loss for unlabeled data, which seeks efficient extraction of the information from unlabeled data for estimating the Bayes decision boundary for classification. For implementation, an iterative scheme is derived through conditional expectations. Finally, theoretical and numerical analyses are conducted, in addition to an application to gene function prediction. They suggest that the proposed method enables to recover the performance of its supervised counterpart based on complete data in rates of convergence, when possible. [abs] [ pdf ][ bib ] &copy JMLR 2009. ( edit, beta )

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JMLR Journal 2007 Journal Article

Large Margin Semi-supervised Learning

Junhui Wang
Xiaotong Shen

In classification, semi-supervised learning occurs when a large amount of unlabeled data is available with only a small number of labeled data. In such a situation, how to enhance predictability of classification through unlabeled data is the focus. In this article, we introduce a novel large margin semi-supervised learning methodology, using grouping information from unlabeled data, together with the concept of margins, in a form of regularization controlling the interplay between labeled and unlabeled data. Based on this methodology, we develop two specific machines involving support vector machines and ψ-learning, denoted as SSVM and SPSI, through difference convex programming. In addition, we estimate the generalization error using both labeled and unlabeled data, for tuning regularizers. Finally, our theoretical and numerical analyses indicate that the proposed methodology achieves the desired objective of delivering high performance in generalization, particularly against some strong performers. [abs] [ pdf ][ bib ] &copy JMLR 2007. ( edit, beta )

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