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检索条件"任意字段=International Conference on Methods and Models in Automation and Robotics"

共 24967 条记录，以下是701-710 订阅

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Comparative Analysis of Listwise Reranking with Large Language models in Limited-Resource Language Contexts 4

Comparative Analysis of Listwise Reranking with Large Langua...

引用

4th international conference on Artificial Intelligence, robotics, and Communication, ICAIRC 2024

作者： Shen, Yanxin Wang, Lun Shi, Chuanqi Du, Shaoshuai Tao, Yiyi Shen, Yixian Zhang, Hang Simon Fraser University Canada Duke University NC United States University of California San Diego CA United States University of Amsterdam Amsterdam Netherlands Johns Hopkins University MD United States

ISBN: (纸本)9798331531225

Large Language models (LLMs) have demonstrated significant effectiveness across various NLP tasks, including text ranking. This study assesses the performance of large language models (LLMs) in listwise reranking for limited-resource African languages. We compare proprietary models RankGPT3.5, Rank4o-mini, RankGPTo1-mini and RankClaude-sonnet in cross-lingual contexts. Results indicate that these LLMs significantly outperform traditional baseline methods such as BM25-DT in most evaluation metrics, particularly in nDCG@10 and MRR@100. These findings highlight the potential of LLMs in enhancing reranking tasks for low-resource languages and offer insights into cost-effective solutions. © 2024 IEEE.

关键词： Machine translation

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Optimizing Camera Placements for Overlapped Coverage with 3D Camera Projections 39

Optimizing Camera Placements for Overlapped Coverage with 3D...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Malhotra, Akshay Singh, Dhananjay Dadlani, Tushar Morales, Luis Yoichi InterDigital Comm Wilmington DE 19809 USA Stand Cognit San Francisco CA USA Walmart Bentonville AK USA

ISBN: (纸本)9781728196817

This paper proposes a method to compute camera 6 DoF poses to achieve a user defined coverage. The camera placement problem is modeled as a combinatorial optimization where given the maximum number of cameras, a camera set is selected from a larger pool of possible camera poses. We propose to minimize the squared error between the desired and the achieved coverage, and formulate the non-linear cost function as a mixed integer linear programming problem. A camera lens model is utilized to project the camera's view on a 3D voxel map to compute a coverage score which makes the optimization problem in real environments tractable. Experimental results in two real retail store environments demonstrate the better performance of the proposed formulation in terms of coverage and overlap for triangulation compared to existing methods.

关键词： Solid modeling Three-dimensional displays automation Computational modeling Robot vision systems Cameras Cost function

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Integrating Point and Line Features for Visual-Inertial Initialization 39

Integrating Point and Line Features for Visual-Inertial Init...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Liu, Hong Qiu, Junyin Huang, Weibo Peking Univ Shenzhen Grad Sch Key Lab Machine Percept Beijing Peoples R China

ISBN: (纸本)9781728196817

Accurate and robust initialization is crucial in visual-inertial system, which significantly affects the localization accuracy. Most of the existing feature-based initialization methods rely on point features to estimate initial parameters. However, the performance of these methods often decreases in real scene, as point features are unstable and may be discontinuously observed especially in low textured environments. By contrast, line features, providing richer geometrical information than points, are also very common in man-made buildings. Thereby, in this paper, we propose a novel visual-inertial initialization method integrating both point and line features. Specifically, a closed-form method of line features is presented for initialization, which is combined with point-based method to build an integrated linear system. Parameters including initial velocity, gravity, point depth and line's endpoints depth can be jointly solved out. Furthermore, to refine these parameters, a global optimization method is proposed, which consists of two novel nonlinear least squares problems for respective points and lines. Both gravity magnitude and gyroscope bias are considered in refinement. Extensive experimental results on both simulated and public datasets show that integrating point and line features in initialization stage can achieve higher accuracy and better robustness compared with pure point-based methods.

关键词： Linear systems Location awareness Closed-form solutions automation Buildings Optimization methods Robustness

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EDPLVO: Efficient Direct Point-Line Visual Odometry 39

EDPLVO: Efficient Direct Point-Line Visual Odometry

引用

IEEE international conference on robotics and automation (ICRA)

作者： Zhou, Lipu Huang, Guoquan Mao, Yinian Wang, Shengze Kaess, Michael Meituan 7 Rongda Rd Beijing 100012 Peoples R China Univ N Carolina Dept Comp Sci Chapel Hill NC 27599 USA Carnegie Mellon Univ Robot Inst Pittsburgh PA 15213 USA

ISBN: (纸本)9781728196817

This paper introduces an efficient direct visual odometry (VO) algorithm using points and lines. Pixels on lines are generally adopted in direct methods. However, the original photometric error is only defined for points. It seems difficult to extend it to lines. In previous works, the collinear constraints for points on lines are either ignored [1] or introduce heavy computational load into the resulting optimization system [2]. This paper extends the photometric error for lines. We prove that the 3D points of the points on a 2D line are determined by the inverse depths of the endpoints of the 2D line, and derive a closed-form solution for this problem. This property can significantly reduce the number of variables to speed up the optimization, and can make the collinear constraint exactly satisfied. Furthermore, we introduce a twostep method to further accelerate the optimization, and prove the convergence of this method. The experimental results show that our algorithm outperforms the state-of-the-art direct VO algorithms.

关键词： Three-dimensional displays Closed-form solutions automation Optimization methods Optimization Visual odometry Convergence

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Natural Gas Load Forecasting Based on Multi-Stage Model Identification 14

Natural Gas Load Forecasting Based on Multi-Stage Model Iden...

引用

14th IEEE international conference on Cyber Technology in automation, Control, and Intelligent Systems, CYBER 2024

作者： Zhang, Pengbin Wang, Hongrui Xing, Kunpeng Yuan, Mingzhe Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Guangzhou Institute of Industrial Intelligence Guangzhou511458 China China Nuclear Power Engineering Co. Ltd. Shenzhen518124 China

ISBN: (纸本)9798331506056

Natural gas load forecasting is crucial for the safe operation of urban natural gas. Based on the system identification method, the short-term natural gas load forecasting is studied in the paper. Employing a multi-stage identification framework, the initial values of the model parameters using the least squares and the instrumental variables method, while the model parameters are further optimized by the prediction error method to improve the accuracy of the model identification. The proposed method is validated by the simulation based on the public natural gas data in the U.S., demonstrating the algorithm's effectiveness in forecasting the daily natural gas load effectively. © 2024 IEEE.

关键词： Prediction models

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Towards 6DoF Bilateral Teleoperation of an Omnidirectional Aerial Vehicle for Aerial Physical Interaction 39

Towards 6DoF Bilateral Teleoperation of an Omnidirectional A...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Allenspach, Mike Lawrance, Nicholas Tognon, Marco Siegwart, Roland Swiss Fed Inst Technol Autonomous Syst Lab CH-8092 Zurich Switzerland

ISBN: (纸本)9781728196817

Bilateral teleoperation offers an intriguing solution towards shared autonomy with aerial vehicles in contact-based inspection and manipulation tasks. Omnidirectional aerial robots allow for full pose operations, making them particularly attractive in such tasks. Naturally, the question arises whether standard bilateral teleoperation methodologies are suitable for use with these vehicles. In this work, a fully decoupled 6DoF bilateral teleoperation framework for aerial physical interaction is designed and tested for the first time. The method is based on the well established rate control, recentering and interaction force feedback policy. However, practical experiments evince the difficulty of performing decoupled motions in a single axis only. As such, this work shows that the trivial extension of standard methods is insufficient for omnidirectional teleoperation, due to the operator's physical inability to properly decouple all input DoFs. This suggests that further studies on enhanced haptic feedback are necessary.

关键词： Performance evaluation Couplings automation Friction Force feedback Inspection Autonomous aerial vehicles

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Exploring the Potential of LLM-based Chatbots for Task Scheduling in Robot Operations 25

Exploring the Potential of LLM-based Chatbots for Task Sched...

引用

25th IEEE international conference on Autonomous Robot Systems and Competitions, ICARSC 2025

作者： Rema, Catarina Sousa, Armando Sobreira, Heber Costa, Pedro Silva, Manuel F. Faculty of Engineering Porto4200-465 Portugal INESC TEC - Institute for Systems and Computer Engineering Technology and Science CRIIS - Centre for Robotics in Industry and Intelligent Systems Porto4200-465 Portugal ISEP Polytechnic of Porto rua Dr. António Bernardino de Almeida Porto4249-015 Portugal

ISBN: (纸本)9798331538606

The rise of Industry 4.0 has revolutionized manufacturing by integrating real-time data analysis, artificial intelligence (AI), automation, and interconnected systems, enabling adaptive and resilient smart factories. Autonomous Mobile Robots (AMRs), with their advanced mobility and navigation capabilities, are a pillar of this transformation. However, their deployment in job shop environments adds complexity to the already challenging Job Shop Scheduling Problem (JSSP), expanding it to include task allocation, robot scheduling, and travel time optimization, creating a multi-faceted, non-deterministic polynomial-time hardness (NP-hard) problem. Traditional approaches such as heuristics, meta-heuristics, and mixed integer linear programming (MILP) are commonly used. Recent AI advancements, particularly large language models (LLM), have shown potential in addressing these scheduling challenges due to significant improvements in reasoning and decision-making from textual data. This paper examines the application of LLM to tackle scheduling complexities in smart job shops with mobile robots. Guided by tailored prompts inserted manually, LLM are employed to generate scheduling solutions, being these compared to an heuristic-based method. The results indicate that LLM currently have limitations in solving complex combinatorial problems, such as task scheduling with mobile robots. Due to issues with consistency and repeatability, they are not yet reliable enough for practical implementation in industrial environments. However, they offer a promising foundation for augmenting traditional approaches in the future. © 2025 IEEE.

关键词： Integer programming

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A First-Order Approach to Model Simultaneous Control of Multiple Microrobots 5

A First-Order Approach to Model Simultaneous Control of Mult...

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5th international conference on Manipulation, automation, and robotics at Small Scales (MARSS)

作者： Beaver, Logan E. Wu, Bingzhi Das, Sambeeta Malikopoulos, Andreas A.

ISBN: (数字)9781665459730

ISBN: (纸本)9781665459730

The control of swarm systems is relatively well understood for simple robotic platforms at the macro scale. However, there are still several unanswered questions about how similar results can be achieved for microrobots. In this paper, we propose a modeling framework based on a dynamic model of magnetized self-propelling Janus microrobots under a global magnetic field. We verify our model experimentally and provide methods that can aim at accurately describing the behavior of microrobots while modeling their simultaneous control. The model can be generalized to other microrobotic platforms in low Reynolds number environments.

关键词： Adaptation models Magnetic separation Computational modeling Switches Magnetic moments Mathematical models Trajectory

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Weakly Supervised Correspondence Learning 39

Weakly Supervised Correspondence Learning

引用

IEEE international conference on robotics and automation (ICRA)

作者： Wang, Zihan Cao, Zhangjie Hao, Yilun Sadigh, Dorsa Stanford Univ Dept Comp Sci Stanford CA 94305 USA

ISBN: (纸本)9781728196817

Correspondence learning is a fundamental problem in robotics, which aims to learn a mapping between state, action pairs of agents of different dynamics or embodiments. However, current correspondence learning methods either leverage strictly paired data-which are often difficult to collect-or learn in an unsupervised fashion from unpaired data using regularization techniques such as cycle-consistency-which suffer from severe misalignment issues. We propose a weakly supervised correspondence learning approach that trades off between strong supervision over strictly paired data and unsupervised learning with a regularizer over unpaired data. Our idea is to leverage two types of weak supervision: i) temporal ordering of states and actions to reduce the compounding error, and ii) paired abstractions, instead of paired data, to alleviate the misalignment problem and learn a more accurate correspondence. The two types of weak supervision are easy to access in real-world applications, which simultaneously reduces the high cost of annotating strictly paired data and improves the quality of the learned correspondence. We show the videos of the experiments on our website.

关键词： Costs automation Unsupervised learning Robots Videos

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AI-based Finite-Element Simulation automation Workflow applied to Automotive Electronics Field 25

AI-based Finite-Element Simulation Automation Workflow appli...

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25th international conference on Electronic Packaging Technology (ICEPT)

作者： Wang, Yinlong Xie, Pei Bosch Automot Prod Suzhou Co Ltd Engn Technol China & Digitalizat Suzhou Peoples R China

ISBN: (纸本)9798350353808

Electronic component is one of the key design elements considered during the development of automotive ECU (Electronic Control Unit). As the current state-of-the-art method, FEM (Finite-Element Method) simulation is widely used for thermal design optimization and solder joint reliability assessment of electronics at early stage of ECU development. To address the challenges of modeling fidelity and efficiency, the AI (Artificial Intelligence) integrated automated simulation workflow platform is developed. Leveraging standard and Bosch in-house developed Python libraries called "pyact", an Ansys-based automation toolset has been developed which accelerates the simulation workflow. With the assistance of AI methodologies, more precise electronic component models could be expected during calibration process. This paper presents 3 different industrial practices and examples focusing on the board level thermal management and solder joint reliability assessment. The first industrial example presents the standardization and automatization of the reliability simulation workflow of chip-resistor components. Utilizing Ansys ACT (Application Customization Toolkit), basic APIs (Application Programming Interface) of ACT are encapsulated into the Python library as pyact, enabling a fully automated simulation workflow to predicted solder joint lifetime. To further realize the fast assessment of reliability and component virtual release, an AI metamodel is derived from automated simulation-based DoE (Design of Experiments). For pursuit of accuracy for simulation models, the second industrial example presents the combination of Bayesian Optimization with BGA (Ball Grid Array) warpage calibration process to outperform the traditional manual methods. The third industrial example outlines another application of Bayesian optimization into the Zth (Transient Thermal Impedance) calibration process for component thermal models. Utilizing the multi-objective optimization algorithm, the Zth c

关键词： Electronic Components Simulation automation Solder Joint Reliability AI Thermal Management BGA Chip-resistor ECU Automotive Electronics Ansys Hybrid Modeling

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