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Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation

IEEE Transactions on Pattern Analysis and Machine Intelligence 2025年第7期47卷 5520-5537页

作者： Jian Liu Wei Sun Hui Yang Pengchao Deng Chongpei Liu Nicu Sebe Hossein Rahmani Ajmal Mian National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering School of Robotics and the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an China Department of Information Engineering and Computer Science University of Trento Trento Italy School of Computing and Communications Lancaster University Lancaster U.K. Department of Computer Science The University of Western Australia Crawley WA Australia

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization to intra-class unknown objects. However, these methods require manual collection and labeling of large-scale real-world training data. To address this problem, we introduce a diffusion-based paradigm for domain-generalized category-level 9-DoF object pose estimation. Our motivation is to leverage the latent generalization ability of the diffusion model to address the domain generalization challenge in object pose estimation. This entails training the model exclusively on rendered synthetic data to achieve generalization to real-world scenes. We propose an effective diffusion model to redefine 9-DoF object pose estimation from a generative perspective. Our model does not require any 3D shape priors during training or inference. By employing the Denoising Diffusion Implicit Model, we demonstrate that the reverse diffusion process can be executed in as few as 3 steps, achieving near real-time performance. Finally, we design a robotic grasping system comprising both hardware and software components. Through comprehensive experiments on two benchmark datasets and the real-world robotic system, we show that our method achieves state-of-the-art domain generalization performance.

关键词： Shape Solid modeling Three-dimensional displays Pose estimation Training Robots Grasping Diffusion models Real-time systems Point cloud compression

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IRS-Enhanced Anti-Jamming Precoding Against DISCO Physical Layer Jamming Attacks

arXiv

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arXiv 2024年

作者： Huang, Huan Zhang, Hongliang Cai, Yi Zhang, Yunjing Lee Swindlehurst, A. Han, Zhu Electronic Information School Soochow University Suzhou China State Key Laboratory of Advanced Optical Communication Systems and Networks School of Electronics Peking University Beijing China Department of Electrical and Computer Engineering University of Houston Houston United States Center for Pervasive Communications and Computing University of California Irvine United States

Illegitimate intelligent reflective surfaces (IRSs) can pose significant physical layer security risks on multi-user multiple-input single-output (MU-MISO) systems. Recently, a DISCO approach has been proposed an illegitimate IRS with random and time-varying reflection coefficients, referred to as a "disco" IRS (DIRS). Such DIRS can attack MU-MISO systems without relying on either jamming power or channel state information (CSI), and classical anti-jamming techniques are ineffective for the DIRS-based fully-passive jammers (DIRS-based FPJs). In this paper, we propose an IRS-enhanced anti-jamming precoder against DIRS-based FPJs that requires only statistical rather than instantaneous CSI of the DIRS-jammed channels. Specifically, a legitimate IRS is introduced to reduce the strength of the DIRS-based jamming relative to the transmit signals at a legitimate user (LU). In addition, the active beamforming at the legitimate access point (AP) is designed to maximize the signal-to-jamming-plus-noise ratios (SJNRs). Numerical results are presented to evaluate the effectiveness of the proposed IRS-enhanced anti-jamming precoder against DIRS-based FPJs. Copyright © 2024, The Authors. All rights reserved.

关键词： Channel state information

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Lag Synchronization and Lag H∞ Synchronization for Multiweighted Coupled Reaction-Diffusion Neural Networks Suffering Topology Attacks

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IEEE Transactions on Control of Network systems 2025年

作者： Wang, Jin-Liang Zhao, Xin-Yu Ren, Shun-Yan Huang, Tingwen Tiangong University Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems School of Computer Science and Technology Tianjin300387 China Tiangong University School of Electronics & Information Engineering Tianjin300387 China University of Electronic Science and Technology of China School of Mechanical and Electrical Engineering Chengdu611731 China Shenzhen University of Advanced Technology Faculty of Computer Science and Control Engineering Shenzhen518055 China

This paper mainly discusses two kinds of coupled reaction-diffusion neural networks (CRNN) under topology attacks, that is, the cases with multistate couplings and with multiple spatial-diffusion couplings. On one hand, by adopting state feedback control scheme, the problem of the lag synchronization for the multistate coupled CRNN is addressed. Moreover, the influences of external disturbances for the lag synchronization of the CRNN with multistate couplings are also taken into consideration. On the other hand, several lag and lag H∞ synchronization conditions for CRNN with multiple spatial-diffusion couplings are derived under the help of the Kronecker product and the state feedback control method. Finally, two numerical examples are provided to verify the correctness of the derived criteria. © 2014 IEEE.

关键词： State feedback

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FireANTs: Adaptive Riemannian Optimization for Multi-Scale Diffeomorphic Matching

arXiv

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arXiv 2024年

作者： Jena, Rohit Chaudhari, Pratik Gee, James C. Computer and Information Science University of Pennsylvania United States Electrical and Systems Engineering University of Pennsylvania United States Radiology Perelman School of Medicine University of Pennsylvania United States Penn Image Computing and Science Laboratory University of Pennsylvania United States

The paper proposes FireANTs, the first multi-scale Adaptive Riemannian Optimization algorithm for dense diffeomorphic image matching. One of the most critical and understudied aspects of diffeomorphic image matching algorithms are its highly ill-conditioned nature. We quantitatively capture the extent of ill-conditioning in a typical MRI matching task, motivating the need for an adaptive optimization algorithm for diffeomorphic matching. To this end, FireANTs generalizes the concept of momentum and adaptive estimates of the Hessian to mitigate this ill-conditioning in the non-Euclidean space of diffeomorphisms. Unlike common non-Euclidean manifolds, we also formalize considerations for multi-scale optimization of diffeomorphisms. Our rigorous mathematical results and operational contributions lead to a state-of-the-art dense matching algorithm that can be applied to generic image data with remarkable accuracy and robustness. We demonstrate consistent improvements in image matching performance across a spectrum of community-standard medical and biological correspondence matching challenges spanning a wide variety of image modalities, anatomies, resolutions, acquisition protocols, and preprocessing pipelines. This improvement is supplemented by from 300× up to 3200× speedup over existing state-of-the-art algorithms. For the first time, we perform diffeomorphic matching of sub-micron mouse cortex volumes at native resolution. Our fast implementation also enables hyperparameter studies that were intractable with existing correspondence matching algorithms. © 2024, CC BY.

关键词： Neuroimaging

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Hybrid surface waves in twisted anisotropic heterometasurfaces

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Physical Review Applied 2024年第6期21卷 064034-064034页

作者： Xinyan Zhang Chenxu Bian Zheng Gong Ruoxi Chen Tony Low Hongsheng Chen Xiao Lin Interdisciplinary Center for Quantum Information State Key Laboratory of Extreme Photonics and Instrumentation International Joint Innovation Center The Electromagnetics Academy at Zhejiang University Department of Electrical and Computer Engineering Key Lab. of Advanced Micro/Nano Electronic Devices & Smart Systems of Zhejiang Jinhua Institute of Zhejiang University Shaoxing Institute of Zhejiang University

Recent advances in twisted photonic structures (e.g., twisted bilayer graphene and twisted anisotropic metasurfaces) have enabled many exotic phenomena of light-matter interactions, such as topological transition of the isofrequency contour of surface waves at the magic angle, photonic flatbands, and localization-to-delocalization transition of light. In general, the optical features of these twisted photonic structures are sensitive to the interlayer twist angle. Here we investigate the mode hybridization of surface waves supported by twisted bilayer anisotropic heterometasurfaces, whose two constituent metasurfaces are nonidentical and support surface waves with similar spatial confinements but distinct polarizations. Counterintuitively, we find that the shape of the isofrequency contour of these hybrid surface waves—eigenmodes with both transverse magnetic and transverse electric wave components—can be insensitive to the twist angle, due to the weak interlayer electromagnetic coupling. Moreover, the interlayer distance provides a unique route to reshape the dispersion of one specific kind of hybrid surface wave, while it has negligible influence on the other kinds. Our finding enriches the physics of light-matter interactions in twisted photonic structures and may open new possibilities to mold the flow of light at the subwavelength scale.

关键词： Classical optics Light-matter interaction Metamaterials Metasurfaces Near-field optics Photonics Plasmonics Van der Waals interaction

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MIMO Beamforming and Signal Modulation Design for Federated Learning Optimization

MIMO Beamforming and Signal Modulation Design for Federated ...

引用

IEEE Conference on Global Communications (GLOBECOM)

作者： Nuocheng Yang Sihua Wang Mingzhe Chen Cong Shen Changchuan Yin Christopher G. Brinton Beijing Laboratory of Advanced Information Network Beijing University of Posts and Telecommunications Beijing China Department of Electrical and Computer Engineering Institute for Data Science and Computing University of Miami Coral Gables FL USA Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA USA School of Electrical and Computer Engineering Purdue University West Lafayette IN USA

In this paper, we consider the optimization of federated learning (FL) over a realistic wireless multiple-input multiple-output (MIMO) communication system with digital modulation and over-the-air computation (AirComp). In such a system, MIMO devices transmit their locally trained FL models to a parameter server (PS) using beamforming to maximize the number of devices scheduled for transmission. AirComp enables efficient wireless model aggregation by the PS in bandwidth-limited settings. However, wireless channel fading can produce distortions in AirComp-based FL. To tackle this challenge, we develop a novel aggregation scheme that combines digital modulation with AirComp to mitigate wireless fading while ensuring communication efficiency. We formulate this as a joint transmit-receive beamforming design optimization problem which dynamically adjusts the beamforming matrices to minimize the FL training loss with transmission errors. To solve this problem based on limited information at the PS, we employ an artificial neural network (ANN) to estimate the local FL models of all devices. Then, we derive a closed-form optimal design of the transmit and receive beamforming matrices based on predicted FL models. Numerical evaluations validate the advantages of the proposed methodology in terms of model training performance compared with baselines.

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Personalized Federated Learning with Collaborative Aggregation Networks for Multi-Site Brain Disorder Diagnosis

Personalized Federated Learning with Collaborative Aggregati...

引用

Industrial Automation, Robotics and Control engineering (IARCE), International Conference on

作者： Qian Si Yang Li School of Cyber Science and Technology Beihang University Beijing China Department of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing State Key Laboratory of Virtual Reality Technology and Systems Advanced Institute of Information Technology Peking University Beihang University Beijing China

ISBN: (数字)9798350380323

ISBN: (纸本)9798350380330

In multi-site brain disease diagnosis studies, traditional centralized training methods necessitate sharing medical data, posing significant privacy risks. Federated learning (FL) offers a privacy-preserving solution by enabling global model training through aggregating locally trained models from multiple data centers without sharing raw data. However, current FL approaches rely on a server-based network topology, where central server failure disrupts training. Additionally, data heterogeneity across sites often slows convergence and reduces accuracy. To overcome these issues, we introduce a decentralized personalized federated learning collaborative aggregation network (pFedCAN). This framework has two core components: (1) separating local models into shared and personalized layers, and (2) forming a collaborative aggregation network via similarity detection in the shared layers. Specifically, each center trains its local model, then separates it into shared and personalized layers. The shared layer is exchanged with other centers, while the personalized layer remains local. Data centers analyze similarities in received shared layers to build a collaborative network, where shared layers from similar centers are aggregated to refine the model. This approach flexibly adapts to varying levels of data heterogeneity, enhancing model training efficiency. Validation on public datasets, ABIDE I and ADHD, shows that the proposed method outperforms current leading techniques.

关键词： Training Adaptation models Data centers Federated learning Service robots Collaboration Brain modeling Data models Servers Medical diagnostic imaging

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Guest Editorial: Special issue on computational methods and artificial intelligence applications in low-carbon energy systems

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IET Renewable Power Generation 2024年第3期18卷 303-305页

作者： Wang, Yishen Zhou, Fei Guerrero, Josep M. Baker, Kyri Chen, Yize Wang, Hao Xu, Bolun Xu, Qianwen Zhu, Hong Agwan, Utkarsha State Grid Laboratory of Grid Advanced Computing and Applications State Grid Smart Grid Research Institute Co. Ltd. Beijing China Department of Energy Technology Aalborg University Aalborg Denmark Department of Civil Environmental and Architectural Engineering University of Colorado-Boulder BoulderCO United States Guangzhou China Department of Data Science and AI Monash University ClaytonVIC Australia Department of Earth and Environmental Engineering Columbia University New YorkNY United States Electric Power and Energy Systems Division KTH Royal Institute of Technology Stockholm Sweden State Grid Jiangsu Electric Power Co. Ltd. Nanjing China Department of Electrical Engineering and Computer Sciences University of California - Berkeley BerkeleyCA United States

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Multidimensional Voronoi Constellations vs. Short Blocklength Probabilistic Shaping: A Comparison for Multilevel Coding Approach

Multidimensional Voronoi Constellations vs. Short Blocklengt...

引用

Asia Communications and Photonics Conference and Exhibition (ACP)

作者： Yajie Sheng Bin Chen Yi Lei Jingxin Deng Jiwei Xu Mengfan Fu Qunbi Zhuge Shen Li Department of Computer Science and Information Engineering Hefei University of Technology Hefei China Department of Electronic Engineering State Key Laboratory of Advanced Optical Communication Systems and Networks Shanghai Jiao Tong University Shanghai China Department of Electrical and Computer Engineering Centre of Optics Photonics and Lasers (COPL) Université Laval Québec Canada

Performance of concatenated multilevel coding with probabilistic shaping (PS) and Voronoi constellations (VCs) is analysed over AWGN channel. Numerical results show that VCs provide up to 1.3 dB SNR gains over PS-QAM ... 详细信息

ISBN: (数字)9798350379266

ISBN: (纸本)9798350379273

关键词： AWGN channels Wireless communication Optical fibers Probabilistic logic Optical fiber communication Encoding Complexity theory Gain Photonics Signal to noise ratio

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AgileWatts: An Energy-Efficient CPU Core Idle-State Architecture for Latency-Sensitive Server Applications 22

AgileWatts: An Energy-Efficient CPU Core Idle-State Architec...

引用

Proceedings of the 55th Annual IEEE/ACM International Symposium on Microarchitecture

作者： Jawad Haj Yahya Haris Volos Davide B. Bartolini Georgia Antoniou Jeremie S. Kim Zhe Wang Kleovoulos Kalaitzidis Tom Rollet Zhirui Chen Ye Geng Onur Mutlu Yiannakis Sazeides Rivos Inc Mountain View California United States Computer Architecture Laboratory Department of Computer Science University of Cyprus Computing Systems Lab Huawei Zurich Research Center Department of Information Technology and Electrical Engineering ETH Zurich Switzerland

ISBN: (纸本)9781665462723

User-facing applications running in modern datacenters exhibit irregular request patterns and are implemented using a multitude of services with tight latency requirements (30--250μs). These characteristics render existing energy-conserving techniques ineffective when processors are idle due to the long transition time (order of 100μs) from a deep CPU core idle power state (C-state). While prior works propose management techniques to mitigate this inefficiency, we tackle it at its root with AgileWatts (AW): a new deep CPU core C-state architecture optimized for datacenter server processors targeting latency-sensitive *** drastically reduces the transition latency from deep CPU core idle power states while retaining most of their power savings based on three key ideas. First, AW eliminates the latency (several microseconds) of saving/restoring the core context when powering-off/-on the core in a deep idle state by i) implementing medium-grained power-gates, carefully distributed across the CPU core, and ii) retaining context in the power-ungated domain. Second, AW eliminates the flush latency (several tens of microseconds) of the L1/L2 caches when entering a deep idle state by keeping L1/L2 content power-ungated. A small control logic also remains ungated to serve cache coherence traffic. AW implements cache sleep-mode and leakage reduction for the power-ungated domain by lowering a core's voltage to the minimum operational level. Third, using a state-of-the-art power efficient all-digital phase-locked loop (ADPLL) clock generator, AW keeps the PLL active and locked during the idle state, cutting microseconds of wake-up latency at negligible power *** evaluation with an accurate industrial-grade simulator calibrated against an Intel Skylake server shows that AW reduces the energy consumption of Memcached by up to 71% (35% on average) with <1% end-to-end performance degradation. We observe similar trends for other evaluated services (MySQL and Kafka).

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