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A meta-reinforcement learning method for adaptive payload transportation with variations

Neurocomputing 2025年 638卷

作者： Chen, Jingyu Ma, Ruidong Xu, Meng Candan, Fethi Mihaylova, Lyudmila Oyekan, John Institute of Software Chinese Academy of Sciences Beijing China Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom School of Information Technology & Management University of International Business and Economics Beijing China Department of Computer Science University of York York United Kingdom

The safe transport of cable-suspended payloads by a group of Unmanned Aerial Vehicles (UAVs) depends on their capacity to effectively respond to fluctuations in the dynamics caused by external variations, such as wind gusts. For group transportation with obstacles, internal variations, such as changes in formation, can also alter the space occupancy of the system related to collision detection. However, traditional adaptive learning methods are challenging to adapt to these two variations. In this paper, we present a learning-based method for collision-free dual-UAV–payload transportation in the presence of varied wind force and formation change. It consists of an adaptive trajectory tracking controller based on meta-model-based reinforcement learning with online adaptation and a novel correction policy, and a path planner that can sample collision-free goal states of the system for the controller based on the meta-collision predictor. The simulation results demonstrate that the proposed trajectory tracking controller outperforms state-of-the-art model-free, model-based, and variational inference methods in terms of payload tracking error reduction and robustness when dealing with the variations mentioned above. Specifically, the proposed controller reduces the average payload tracking error to less than 0.1 metres in most tasks without obstacles. Furthermore, by following the adapted paths generated by the path planner, the trajectory tracking controller can effectively track the payload while ensuring collision-free safety of the dual-UAV–payload system during navigation among obstacles. The success rate of the proposed method is more than 80% in all scenarios with obstacles. Our project website can be seen at https://***/view/meta-payload-fly/ and the source code is available at https://***/wawachen/Meta-load-fly. © 2025

关键词： Unmanned aerial vehicles (UAV)

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Privacy-Aware Edge Computation Offloading With Federated Learning in Healthcare Consumer Electronics System

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IEEE Transactions on Consumer Electronics 2025年

作者： Fei, Yiming Fang, Hao Yan, Zheng Qi, Lianyong Bilal, Muhammad Li, Yang Xu, Xiaolong Zhou, Xiaokang Nanjing University of Information Science and Technology School of Software Nanjing210044 China NanJing University of Information Science and Technology Reading Academy Nanjing210044 China Xidian University School of Cyber Engineering Shaanxi Xi'an710026 China College of computer science and technology Qingdao China Lancaster University School of Computing and Communications United Kingdom Shihezi University College of Mechanical and Electrical Engineering Shihezi832003 China Kansai University Faculty of Business and Data Science Japan

The continuous iteration of consumer electronics has significantly promoted the development of medical devices, which has enabled the collection of large amounts of heterogeneous medical data. These data are offloaded from local devices to cloud servers for processing using traditional methods, which results in high transmission latency and the risk of privacy leakage. Additionally, researchers have employed federated learning to protect data privacy, but this approach can lead to a straggler effect due to the limited computational and communication resources of terminal devices. To address these issues, a computation offloading framework is designed to optimize task and resource allocation, addressing multi-optimization problems and mitigating the straggler effect in federated learning. Moreover, a novel computation offloading method within a federated learning framework assisted by edge computing, named DRWB, is proposed. Specifically, we develop a deep reinforcement learning-based approach to transfer lagging training tasks to idle edge servers, enhancing data processing speed, minimizing transmission delays, and protecting user privacy. Extensive experimental results demonstrate that the DRWB method outperforms baseline methods, showcasing superior performance in handling heterogeneous medical data tasks. © 1975-2011 IEEE.

关键词： Electronic health record

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Data-Driven DLT3 Federated Deep Reinforcement Learning for Secure and Efficient Autonomous Driving

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IEEE Transactions on Consumer Electronics 2025年

作者： Fei, Rong Li, Qianxi Wang, Kan Khan, Fazlullah Alturki, Ryan Lan, Dapeng Xi’an University of Technology School of Computer and Engineering Xi’an710000 China University of Nottingham Ningbo China School of Computer Science Faculty of Science and Engineering Ningbo315104 China Umm Al-Qura University College of Computing Department of Software Engineering Makkah21955 Saudi Arabia Chinese Academy of Sciences Shenyang Institute of Automation Shenyang110003 China

As autonomous vehicles (AVs) become increasingly widespread, the intelligent driving control and safety concerns have emerged. Recent advents in Internet of Things (IoTs) and 6G technologies have vastly boosted AVs’ sensing and communication capabilities, thereby enabling the high-speed and real-time data exchange. However, efficiently utilizing data while safeguarding the privacy remains challenges. Thus, we propose a federated learning (FL) framework with the privacy protection to facilitate the deep reinforcement learning (DRL) for longitudinal vehicle safety tracking control. First, the proposed framework enables the efficient information sharing and policy updates via encrypted policy gradient transmission. Then, the twin delayed deep deterministic policy gradient (TD3) method makes the velocity decision in the local model, while the dual long short-term memory (LSTM) network captures the temporal trajectory information. Finally, stacked denoising autoencoders (SDAE) is used to extract high-level environmental features, and the dual-LSTM-TD3 (DLT3)-SDAE model is introduced to enhance the policy decision efficiency and accuracy. Experimental results demonstrate that within the FL framework supported by homomorphic encryption, the DLT3-SDAE-based AV agent surpasses other DRL methods in terms of collision avoidance and average rewards, in the LAF environment. The safety, efficiency and comfort of the DLT3-SDAE AV agent are also evaluated and demonstrated. © 1975-2011 IEEE.

关键词： Deep reinforcement learning

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A Robust Key Exchange and Tamper-Resistant Protocol for HAN and NAN Networks in Smart Grids

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IEEE Internet of Things Journal 2025年

作者： Ayub, Muhammad Faizan Li, Xiong Mahmood, Khalid Shamshad, Salman Das, Ashok Kumar Wang, Guijuan University of Electronic Science and Technology of China School of Computer Science and Engineering Sichuan Chengdu611731 China National Yunlin University of Science and Technology Graduate School of Intelligent Data Science Yunlin Douliu64002 Taiwan The University of Lahore Department of Software Engineering Lahore54590 Pakistan International Institute of Information Technology Center for Security Theory and Algorithmic Research Hyderabad500 032 India Korea University College of Informatics Department of Computer Science and Engineering Anam-ro Seoul145 Korea Republic of Qilu University of Technology Shandong Academy of Sciences Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center Jinan250353 China Shandong Fundamental Research Center for Computer Science Shandong Provincial Key Laboratory of Industrial Network and Information System Security Jinan250353 China

Smart Grids (SG) rely on Home Area Networks (HAN) and Neighborhood Area Networks (NAN) to ensure efficient power distribution, real-time monitoring, and seamless communication between smart devices. Despite these advantages, the use of public communication channels in HAN and NAN networks introduces critical challenges, such as vulnerability to impersonation, physical tampering, and scalability issues in resource-constrained environments. These issues compromise the stability, reliability, and security of SG environments. Existing protocols often fail to adequately address these challenges, particularly in ensuring resistance to physical tampering of supply lines and impersonation attacks. Additionally, they struggle to minimize the computation, communication, and energy costs associated with securing a resource-constrained SG environment. Therefore, we propose a robust key exchange and tamper-resistant protocol for HAN and NAN networks to address these limitations. The proposed protocol leverages the Physical Unclonable Function (PUF) mechanism to offer physical tampering resistance to smart meters. We validate our protocol formally using the Random or Real (RoR) model, which confirms its security robustness. Additionally, our informal security analysis highlights the protocol's resilience against impersonation, physical tampering attacks, etc. We analyze and compare the performance of the proposed protocol, which further demonstrates our protocol's effectiveness and security compared to competing protocols. Moreover, the proposed protocol achieves resource efficiency with 45.99% and 58.85% substantial reductions in computation overhead and energy overhead, respectively, compared to competing protocols. These results showcase the protocol's enhanced security and practicality for resource-constrained SG environments. © 2014 IEEE.

关键词： Authentication Protocol

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Continual Test-Time Adaptation for Single Image Defocus Deblurring via Causal Siamese Networks

arXiv

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arXiv 2025年

作者： Cui, Shuang Li, Yi Li, Jiangmeng Tang, Xiongxin Su, Bing Xu, Fanjiang Xiong, Hui National Key Laboratory of Space Integrated Information System Institute of Software Chinese Academy of Sciences University of Chinese Academy of Sciences China Beijing Key Laboratory of Big Data Management and Analysis Methods Gaoling School of Artificial Intelligence Renmin University of China China Department of Computer Science & Engineering the Hong Kong University of Science and Technology Hong Kong

Single image defocus deblurring (SIDD) aims to restore an all-in-focus image from a defocused one. Distribution shifts in defocused images generally lead to performance degradation of existing methods during out-of-distribution inferences. In this work, we gauge the intrinsic reason behind the performance degradation, which is identified as the heterogeneity of lens-specific point spread functions. Empirical evidence supports this finding, motivating us to employ a continual test-time adaptation (CTTA) paradigm for SIDD. However, traditional CTTA methods, which primarily rely on entropy minimization, cannot sufficiently explore task-dependent information for pixel-level regression tasks like SIDD. To address this issue, we propose a novel Siamese networks-based continual test-time adaptation framework, which adapts source models to continuously changing target domains only requiring unlabeled target data in an online manner. To further mitigate semantically erroneous textures introduced by source SIDD models under severe degradation, we revisit the learning paradigm through a structural causal model and propose Causal Siamese networks (CauSiam). Our method leverages large-scale pre-trained vision-language models to derive discriminative universal semantic priors and integrates these priors into Siamese networks, ensuring causal identifiability between blurry inputs and restored images. Extensive experiments demonstrate that CauSiam effectively improves the generalization performance of existing SIDD methods in continuously changing domains. Copyright © 2025, The Authors. All rights reserved.

关键词： Semantics

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Neurocomputational Modelling of EEG Connectivity: Links Between Depression, Inflammation, and Gut-Microbiome 17th

Neurocomputational Modelling of EEG Connectivity: Links Betw...

引用

17th International Conference on Brain Informatics, BI 2024

作者： Doborjeh, Zohreh lavin, Daniel Hunter, Kirsty Heym, Nadja Heasman, Bryony Doborjeh, Maryam Kasabov, Nikola Gibson, Glen Sumich, Alexander School of Engineering Computer and Mathematical Sciences Knowledge Engineering and Discovery Research Institute Auckland University of Technology Auckland New Zealand School of Population Health Faculty of Medical and Health Sciences The University of Auckland Auckland New Zealand Department of Sport Science School of Science and Technology Nottingham Trent University Nottingham United Kingdom NTU Psychology School of Social Sciences Nottingham Trent University Nottingham United Kingdom School of Software Engineering Dalian University Dalian China Institute for Information and Communication Technologies Bulgarian Academy of Sciences Sofia Bulgaria Department of Food and Nutritional Sciences The University of Reading Whiteknights Reading United Kingdom Department of Psychology and Neuroscience Auckland University of Technology Auckland New Zealand

ISBN: (纸本)9789819632930

The immune and enteric systems have been implicated in psychopathology, including depressive disorders. However, the precise neurocognitive mechanisms remain unclear. The present study uses Brain-Inspired Spiking Neural Network (SNN) technique to model electroencephalographic (EEG) data as a function of gut-microbiota, inflammation, and depressive symptoms. Forty-two participants (nonclinical cohort) were assessed for Bacteroides-Prevotella (BAC) colonization in faecal samples, Interleukin 6 (IL-6) in peripheral blood, depressive symptoms (self-report of cognitive and non-cognitive symptoms) and brain function (resting state EEG). SNN models were applied to EEG data to generate connection weight values across scalp regions. Connection weights were visualized as a function of 1) depression;2) inflammation;3) gut microbiome. Lower depression and higher BAC were associated with higher frontal connection weights (cognitive depression = bilateral, non-cognitive and BAC = left hemisphere only). Lower cognitive depression and lower IL-6 were associated with higher posterior connection weights. The SNN models achieved higher accuracy for theta and alpha EEG sub-bands, highlighting their relevance in differentiating between groups. These findings emphasize the potential of SNNs in predicting parameters from brain functional connectivity data and developing targeted diagnostic and intervention strategies. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Electroencephalography

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Fuzzy Granule Density-Based Outlier Detection with Multi-Scale Granular Balls

arXiv

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arXiv 2025年

作者： Gao, Can Tan, Xiaofeng Zhou, Jie Ding, Weiping Pedrycz, Witold The College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Intelligent Information Processing Shenzhen518060 China The National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen518060 China The School of Artificial Intelligence and Computer Science Nantong University Nantong226019 China The Faculty of Data Science City University of Macau Macau999078 China The Department of Electrical and Computer Engineering University of Alberta Edmonton Canada Systems Research Institute Polish Academy of Sciences Warsaw Poland The Department of Electrical and Computer Engineering King Abdulaziz University Jeddah Saudi Arabia The Department of Computer Engineering Istinye University Istanbul Turkey

Outlier detection refers to the identification of anomalous samples that deviate significantly from the distribution of normal data and has been extensively studied and used in a variety of practical tasks. However, most unsupervised outlier detection methods are carefully designed to detect specified outliers, while real-world data may be entangled with different types of outliers. In this study, we propose a fuzzy rough sets-based multi-scale outlier detection method to identify various types of outliers. Specifically, a novel fuzzy rough sets-based method that integrates relative fuzzy granule density is first introduced to improve the capability of detecting local outliers. Then, a multi-scale view generation method based on granular-ball computing is proposed to collaboratively identify group outliers at different levels of granularity. Moreover, reliable outliers and inliers determined by the three-way decision are used to train a weighted support vector machine to further improve the performance of outlier detection. The proposed method innovatively transforms unsupervised outlier detection into a semi-supervised classification problem and for the first time explores the fuzzy rough sets-based outlier detection from the perspective of multi-scale granular balls, allowing for high adaptability to different types of outliers. Extensive experiments carried out on both artificial and UCI datasets demonstrate that the proposed outlier detection method significantly outperforms the state-of-the-art methods, improving the results by at least 8.48% in terms of the Area Under the ROC Curve (AUROC) index. The source codes are released at https://***/Xiaofeng-Tan/MGBOD. © 2025, CC BY.

关键词： Granulation

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SG-GAN: Fine Stereoscopic-Aware Generation for 3D Brain Point Cloud Up-Sampling From a Single Image

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IEEE Transactions on Emerging Topics in Computational Intelligence 2025年

作者： Hu, Bowen Yao, Weiheng Qiao, Sibo Pham, Hieu Wang, Shuqiang Ng, Michael Kwok-Po Chinese Academy of Sciences Shenzhen Institutes of Advanced Technology Shenzhen518055 China Tiangong University School of Software Tianjin300387 China VinUniversity College of Engineering and Computer Science VinUni-Illinois Smart Health Center Hanoi100000 Viet Nam Hong Kong Baptist University Department of Mathematics Hong Kong

In minimally-invasive brain surgeries with indirect and narrow operating environments, 3D brain reconstruction is crucial. However, as requirements of accuracy for some new minimally-invasive surgeries (such as brain-computer interface surgery) are higher and higher, the outputs of conventional 3D reconstruction, such as point cloud (PC), are facing the challenges that sample points are too sparse and the precision is insufficient. On the other hand, there is a scarcity of high-density point cloud datasets, which makes it challenging to train models for direct reconstruction of high-density brain point clouds. In this work, a novel model named stereoscopic-aware graph generative adversarial network (SG-GAN) with two stages is proposed to generate fine high-density PC conditioned on a single image. The Stage-I GAN sketches the primitive shape and basic structure of the organ based on the given image, yielding Stage-I point clouds. The Stage-II GAN takes the results from Stage-I and generates high-density point clouds with detailed features. The Stage-II GAN is capable of correcting defects and restoring the detailed features of the region of interest (ROI) through the up-sampling process. Furthermore, a parameter-free-attention-based free-transforming module is developed to learn the efficient features of input, while upholding a promising performance. Comparing with the existing methods, the SG-GAN model shows superior performance in terms of visual quality, objective measurements, and performance in classification, as demonstrated by comprehensive results measured by several evaluation metrics including PC-to-PC error and Chamfer distance. © 2017 IEEE.

关键词： 3D reconstruction

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UncTrack: Reliable Visual Object Tracking with Uncertainty-Aware Prototype Memory Network

arXiv

引用

arXiv 2025年

作者： Yao, Siyuan Guo, Yang Yan, Yanyang Ren, Wenqi Cao, Xiaochun School of Computer Science National Pilot Software Engineering School Beijing University of Posts and Telecommunications Beijing100876 China State Key Lab of Processors Institute of Computing Technology Chinese Academy of Sciences Beijing100190 China School of Cyber Science and Technology Sun Yat-sen University Shenzhen Campus Shenzhen518107 China

Transformer-based trackers have achieved promising success and become the dominant tracking paradigm due to their accuracy and efficiency. Despite the substantial progress, most of the existing approaches tackle object tracking as a deterministic coordinate regression problem, while the target localization uncertainty has been greatly overlooked, which hampers trackers’ ability to maintain reliable target state prediction in challenging scenarios. To address this issue, we propose UncTrack, a novel uncertainty-aware transformer tracker that predicts the target localization uncertainty and incorporates this uncertainty information for accurate target state inference. Specifically, UncTrack utilizes a transformer encoder to perform feature interaction between template and search images. The output features are passed into an uncertainty-aware localization decoder (ULD) to coarsely predict the corner-based localization and the corresponding localization uncertainty. Then the localization uncertainty is sent into a prototype memory network (PMN) to excavate valuable historical information to identify whether the target state prediction is reliable or not. To enhance the template representation, the samples with high confidence are fed back into the prototype memory bank for memory updating, making the tracker more robust to challenging appearance variations. Extensive experiments demonstrate that our method outperforms other state-of-the-art methods. Our code is available at https://***/ManOfStory/UncTrack. Copyright © 2025, The Authors. All rights reserved.

关键词： Object tracking

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UncTrack: Reliable Visual Object Tracking with an Uncertainty-Aware Prototype Memory Network

引用

IEEE Transactions on Image Processing 2025年

作者： Yao, Siyuan Guo, Yang Yan, Yanyang Ren, Wenqi Cao, Xiaochun Beijing University of Posts and Telecommunications School of Computer Science National Pilot Software Engineering School Beijing100876 China Chinese Academy of Sciences State Key Lab of Processors Institute of Computing Technology Beijing100190 China Sun Yat-sen University School of Cyber Science and Technology Shenzhen Campus Shenzhen518107 China

Transformer-based trackers have achieved promising success and become the dominant tracking paradigm because of their accuracy and efficiency. Despite the substantial progress, most of the existing approaches handle object tracking as a deterministic coordinate regression problem, while the target localization uncertainty has been largely overlooked, which hampers trackers' ability to maintain reliable target state prediction in challenging scenarios. To address this issue, we propose UncTrack, a novel uncertainty-aware transformer-based tracker that predicts the target localization uncertainty and incorporates this uncertainty information for accurate target state inference. Specifically, UncTrack uses a transformer encoder to perform feature interactions between the template and search images. The output features are passed into an uncertainty-aware localization decoder (ULD) to coarsely predict the corner-based localization and the corresponding localization uncertainty. Then, the localization uncertainty is sent into a prototype memory network (PMN) to excavate valuable historical information to identify whether the target state prediction is reliable. To enhance the template representation, the samples with high confidence are fed back into the prototype memory bank for memory updating, which makes the tracker more robust to challenging appearance variations. Extensive experiments demonstrate that our method outperforms the state-of-the-art methods. Our code is available at https://***/ManOfStory/UncTrack. © 1992-2012 IEEE.

关键词： HTTP

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