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S2KAN-SLAM: Elastic Neural LiDAR SLAM with SDF Submaps and Kolmogorov-Arnold Networks

IEEE Transactions on Circuits and systems for Video Technology 2025年

作者： Wang, Zhong Zhang, Lin Wang, Hesheng Shanghai Jiao Tong University State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China Tongji University School of Computer Science and Technology National Pilot Software Engineering School with Chinese Characteristics Shanghai201804 China

Traditional LiDAR SLAM approaches prioritize localization over mapping, yet high-precision dense maps are essential for numerous applications involving intelligent agents. Recent advancements have introduced methods leveraging neural fields to enhance mapping capabilities;however, these approaches still face several limitations. Firstly, concerning scene representation, they typically employ neural fields with high-dimensional features and multi-layer perceptron decoders utilizing non-continuous activation functions. This results in low learning efficiency and challenges in capturing high-frequency signals. Secondly, in terms of scene organization, these methods often treat the entire scene as a singular neural field, leading to inefficiencies, inflexibility, and difficulties in rectifying accumulated errors when mapping large-scale environments over extended periods. To tackle the first issue, we propose a lightweight continuous SDF regression approach by encoding the scene in single-valued embeddings and decoding SDF values from a Kolmogorov-Arnold Network. By minimizing discrepancies in measuring range, sampling distance, and decoded SDF values, we facilitate iterative frame-to-model tracking and bundle adjustment neural mapping. To mitigate the second challenge, we propose structuring the whole scene into multiple neural SDF submaps. By establishing node-node, node-submap, and loop closure constraints into a global pose graph, the system can create dense neural maps with global consistency across large-scale scenes. Experimental evaluations in both real-world and simulated settings indicate that our system achieves superior mapping completeness and accuracy, enhanced learning efficiency, reduced memory consumption, and greater flexibility compared to its counterparts. © 2025 IEEE.

关键词： Mapping

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Automatic web page data extraction through MD5 trigeminal tree and improved BIRCH

Automatic web page data extraction through MD5 trigeminal tr...

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2022 International Conference on Electronic information engineering, Big Data, and computer Technology, EIBDCT 2022

作者： Gong, Jibing Kou, Xiaomeng Zhang, Hanyun Peng, Jiquan Gong, Shishan Wang, Shuli School of Information Science and Engineering Yanshan University Qinhuangdao066004 China Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory for Software Engineering of Hebei Province Yanshan University Qinhuangdao066004 China School of Information Science Yanshan University Qinhuangdao066004 China

ISBN: (纸本)9781510655133

This paper proposes an automatic data extraction algorithm for web pages based on noise reduction and visualization blocks' construction. In this algorithm, we first build an MD5 trigeminal tree of the web page's source files using a Message-Digest Algorithm. And then we arrange some noise reduction. Finally, we construct visualization blocks by an optimized cluster algorithm named BIRCH A-CF which could create an area clustering feature forest and complete the clustering by dynamically changing the circle's radius according to the correction factor. We perform experiments on eight different datasets to compare our method with eight baseline methods. The experimental results show that our approach outperforms current methods by providing more accuracy and robustness, it also accelerates noise reduction and reduces the number of nodes effectively. © 2022 SPIE.

关键词： Visualization

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FIRE: A Dataset for Feedback integration and Refinement Evaluation of Multimodal Models 38

FIRE: A Dataset for Feedback Integration and Refinement Eval...

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38th Conference on Neural information Processing systems, NeurIPS 2024

作者： Li, Pengxiang Gao, Zhi Zhang, Bofei Yuan, Tao Wu, Yuwei Harandi, Mehrtash Jia, Yunde Zhu, Song-Chun Li, Qing Beijing Key Laboratory of Intelligent Information Technology School of Computer Science & Technology Beijing Institute of Technology China State Key Laboratory of General Artificial Intelligence BIGAI China State Key Laboratory of General Artificial Intelligence Peking University China Department of Electrical and Computer System Engineering Monash University Australia Guangdong Laboratory of Machine Perception and Intelligent Computing Shenzhen MSU-BIT University China Department of Automation Tsinghua University China

Vision language models (VLMs) have achieved impressive progress in diverse applications, becoming a prevalent research direction. In this paper, we build FIRE, a feedback-refinement dataset, consisting of 1.1M multi-turn conversations that are derived from 27 source datasets, empowering VLMs to spontaneously refine their responses based on user feedback across diverse tasks. To scale up the data collection, FIRE is collected in two components: FIRE-100K and FIRE-1M, where FIRE-100K is generated by GPT-4V, and FIRE-1M is freely generated via models trained on FIRE-100K. Then, we build FIRE-Bench, a benchmark to comprehensively evaluate the feedback-refining capability of VLMs, which contains 11K feedback-refinement conversations as the test data, two evaluation settings, and a model to provide feedback for VLMs. We develop the FIRE-LLaVA model by fine-tuning LLaVA on FIRE-100K and FIRE-1M, which shows remarkable feedback-refining capability on FIRE-Bench and outperforms untrained VLMs by 50%, making more efficient user-agent interactions and underscoring the significance of the FIRE dataset. © 2024 Neural information processing systems foundation. All rights reserved.

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Prediction-Based Thunderstorm Path Recovery Method Using CNN-BiLSTM

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Intelligent Automation & Soft Computing 2023年第8期37卷 1637-1654页

作者： Xu Yang Ling Zhuang Yuqiang Sun Wenjie Zhang School of Electronics and Information Engineering Nanjing University of Information Science and TechnologyNanjing210044China Department of Electrical and Computer Engineering University of AlbertaEdmontonAB T6G 2R3Canada CCCC Highway Consultants Co. Ltd.Beijing100101China School of Geographical Sciences Nanjing University of Information Science and TechnologyNanjing210044China State Key Laboratory of Resources and Environmental Information System Institute of Geographic Sciences and Natural Resources ResearchChinese Academy of SciencesBeijing100101China

The loss of three-dimensional atmospheric electric field(3DAEF)data has a negative impact on thunderstorm *** paper proposes a method for thunderstorm point charge path *** on the relation-ship between a point charge and 3DAEF,we derive corresponding localization formulae by establishing a point charge localization ***,point charge movement paths are obtained after fitting time series localization ***,AEF data losses make it difficult to fit and visualize ***,using available AEF data without loss as input,we design a hybrid model combining the convolutional neural network(CNN)and bi-directional long short-term memory(BiLSTM)to predict and recover the lost *** paths are not present during sunny weather,we propose an extreme gradient boosting(XGBoost)model combined with a stacked autoencoder(SAE)to further determine the weather conditions of the recovered ***,historical AEF data of known weathers are input into SAE-XGBoost to obtain the distribution of predicted values(PVs).With threshold adjustments to reduce the negative effects of invalid PVs on SAE-XGBoost,PV intervals corresponding to different weathers are *** recovered AEF is then input into the fixed SAE-XGBoost *** paths need to be fitted is determined by the interval to which the output PV *** results confirm that the proposed method can effectively recover point charge paths,with a maximum path deviation of approximately 0.018 km and a determination coefficient of 94.17%.This method provides a valid reference for visual thunderstorm monitoring.

关键词： Thunderstorm point charge atmospheric electric field(AEF) recovery

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Integrating VGGSK and BEATs for Enhanced Sound Event Detection: A Semi-Supervised GRU-Based system with Weak Labels and Synthetic Soundscapes

Integrating VGGSK and BEATs for Enhanced Sound Event Detecti...

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Asia-Pacific Signal and information Processing Association Annual Summit and Conference (APSIPA)

作者： Po Cheng Chan Wei-Yu Chen Chung Li Lu Hsiang-Feng Chuang Yu-Han Cheng Jia Ching Wang Advanced Technology Laboratory Chunghwa Telecom Laboratories Taoyuan Taiwan Department of Computer Science and Information Engineering National Central University

ISBN: (数字)9798350367331

ISBN: (纸本)9798350367348

This paper presents the architecture we developed for the Detection and Classification of Acoustic Scenes and Events (DCASE) 2023 Challenge, specifically Task 4 on Sound Event Detection using Weak Labels and Synthetic Soundscapes. We integrated embeddings from VGGSK and BEATs, and employed a GRU-based model to classify sound events in each time frame. The system employs thresholding and smoothing techniques in its post-processing phase. For semi-supervised learning, we used the mean teacher approach with an Exponential Moving Average (EMA) strategy to update the teacher model’s parameters. Pseudo-labels, generated by the student model, help leverage unlabeled data. Additionally, we applied data augmentation methods including mix-up, Gaussian noise, and embedding masking. With additional training data, our system achieved a Polyphonic Sound Detection Score (PSDS) of 0.529 for PSDS1 and 0.78 for PSDS2 on the validation dataset.

关键词： Training Measurement Smoothing methods Gaussian noise Training data information processing Semisupervised learning Data augmentation Data models information and communication technology

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ANIMC: A Soft Approach for Autoweighted Noisy and Incomplete Multiview Clustering

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2022年第2期3卷 192-206页

作者： Fang, Xiang Hu, Yuchong Zhou, Pan Wu, Dapeng Hubei Engineering Research Center on Big Data Security School of Cyber Science and Engineering The School of Computer Science and Technology Huazhong University of Science and Technology Wuhan430074 China Key Laboratory of Information Storage System Ministry of Education of China School of Computer Science and Technology Huazhong University of Science and Technology Wuhan430074 China Hubei Engineering Research Center on Big Data Security School of Cyber Science and Engineering Huazhong University of Science and Technology Wuhan430074 China Department of Electrical and Computer Engineering University of Florida GainesvilleFL32611 United States

Multiview clustering has wide real-world applications because it can process data from multiple sources. However, these data often contain missing instances and noises, which are ignored by most multiview clustering methods. Missing instances may make these methods difficult to use directly, and noises will lead to unreliable clustering results. In this article, we propose a novel autoweighted noisy and incomplete multiview clustering (ANIMC) approach via a soft autoweighted strategy and a doubly soft regular regression model. First, by designing adaptive semiregularized nonnegative matrix factorization, the soft autoweighted strategy assigns a proper weight to each view and adds a soft boundary to balance the influence of noises and incompleteness. Second, by proposing θ-norm, the doubly soft regularized regression model adjusts the sparsity of our model by choosing different θ. Compared with previous methods, ANIMC has three unique advantages: 1) it is a soft algorithm to adjust our approach in different scenarios, thereby improving its generalization ability;2) it automatically learns a proper weight for each view, thereby reducing the influence of noises;3) it performs doubly soft regularized regression that aligns the same instances in different views, thereby decreasing the impact of missing instances. Extensive experimental results show its superior advantages over other state-of-the-art works. © 2020 IEEE.

关键词： Clustering algorithms

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Discounted Iterative Adaptive Critic Designs With Novel Stability Analysis for Tracking Control

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IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1262-1272页

作者： Mingming Ha Ding Wang Derong Liu School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing 100083China Faculty of Information Technology the Beijing Key Laboratory of Computational Intelligence and Intelligent Systemthe Beijing Laboratory of Smart Environmental Protectionand the Beijing Institute of Artificial IntelligenceBeijing University of TechnologyBeijing 100124China Department of Electrical and Computer Engineering University of Illinois at ChicagoChicago IL 60607 USA IEEE

The core task of tracking control is to make the controlled plant track a desired *** traditional performance index used in previous studies cannot eliminate completely the tracking error as the number of time steps *** this paper,a new cost function is introduced to develop the value-iteration-based adaptive critic framework to solve the tracking control *** the regulator problem,the iterative value function of tracking control problem cannot be regarded as a Lyapunov function.A novel stability analysis method is developed to guarantee that the tracking error converges to *** discounted iterative scheme under the new cost function for the special case of linear systems is ***,the tracking performance of the present scheme is demonstrated by numerical results and compared with those of the traditional approaches.

关键词： Adaptive critic design adaptive dynamic programming(ADP) approximate dynamic programming discrete-time nonlinear systems reinforcement learning stability analysis tracking control value iteration(VI)

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Using Lock-Free Design for Throughput-Optimized Cache Eviction

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Proceedings of the ACM on Measurement and Analysis of Computing systems 2025年第2期9卷 1-28页

作者： Dong, Chao Wang, Fang Jiang, Hong Feng, Dan Huazhong University of Science and Technology Key Laboratory of Information Storage System Wuhan National Laboratory for Optoelectronics Engineering Research Center of data storage systems and Technology School of Computer Science and Technology Ministry of Education of China Hubei Wuhan China University of Texas at Arlington Department of Computer Science and Engineering ArlingtonTX United States

In large-scale information systems, storage device performance continues to improve while workloads expand in size and access characteristics. This growth puts tremendous pressure on caches and storage hierarchy in terms of concurrent throughput. However, existing cache eviction policies often struggle to provide adequate concurrent throughput due to their reliance on coarse-grained locking mechanisms and complex data structures. This paper presents a practical approach to cache eviction algorithm design, called Mobius, that optimizes the concurrent throughput of caches and reduces cache operation latency by utilizing lock-free data structures, while maintaining comparable hit ratios. Mobius includes two key designs. First, Mobius employs two lock-free FIFO queues to manage cache items, ensuring that all cache operations are executed efficiently in parallel. Second, Mobius integrates a consecutive detection mechanism that merges multiple modifications during eviction into a single operation, thereby reducing data races. Extensive evaluations using both synthetic and real-world workloads from high-concurrency clusters demonstrate that Mobius achieves a concurrent-throughput improvement ranging from 1.2× to 8.5× over state-of-the-art methods, while also maintaining lower latency and comparable cache hit ratios. The implementation of Mobius in CacheLib and RocksDB highlights its effectiveness in enhancing cache performance in practical scenarios. © 2025 ACM.

关键词： Keyways

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Prediction of piRNA-mRNA interactions based on an interactive inference network

Prediction of piRNA-mRNA interactions based on an interactiv...

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2023 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2023

作者： Liu, Yajun Li, Ru Li, Aimin Fei, Rong Guo, Xie Wu, Fang-Xiang Xi'an University of Technology Shaanxi Key Laboratory for Network Computing and Security Technology Xi'an China Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an China University of Saskatchewan Division of Biomedical Engineering Department of Computer Science Department of Mechanical Engineering Saskatoon Canada

ISBN: (纸本)9798350337488

As the largest class of small non-coding RNAs, piRNAs primarily present in the reproductive cells of mammals, which influence post-transcriptional processes of mRNAs in multiple ways. Effective methods for predicting piRNA and mRNA target relationships can help identify piRNA functions, investigate the possibility of piRNAs as biomarkers and therapeutic targets. In this study, we propose a computational approach for classifying the relationships of piRNA-mRNA pairs based on an interactive inference network (IIN). First, we gather piRNA-mRNA target data, collect sequence data by position alignment, and construct a benchmark dataset. Furthermore, a reliable negative set is constructed by positive-unlabeled learning. Finally, we view a piRNA and a mRNA sequence as a premise and hypothesis sentence, respectively, and IIN model is used to predict the relationship between them. The experiments demonstrate that our method effectively characterizes piRNA-mRNA interaction and could be beneficial for researchers to investigate piRNA functions. © 2023 IEEE.

关键词： interactive inference network noncoding RNA piRNA-mRNA interactions positive-unlabeled learning

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Continual Reinforcement Learning for Digital Twin Synchronization Optimization

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IEEE Transactions on Mobile Computing 2025年

作者： Tong, Haonan Chen, Mingzhe Zhao, Jun Hu, Ye Yang, Zhaohui Liu, Yuchen Yin, Changchuan Beijing University of Posts and Telecommunications Beijing Key Laboratory of Network System Architecture and Convergence Beijing Advanced Information Network Laboratory Beijing China College of Computing and Data Science Singapore University of Miami Department of Electrical and Computer Engineering Frost Institute for Data Science and Computing Coral Gables33146 United States University of Miami Department of Industrial and Systems Engineering Coral Gables33146 United States Zhejiang University College of Information Science and Electronic Engineering Hangzhou310027 China North Carolina State University Department of Computer Science RaleighNC27695 United States Beijing Key Laboratory of Network System Architecture and Convergence China Beijing University of Posts and Telecommunications Beijing Advanced Information Network Laboratory Beijing100876 China

This article investigates the adaptive resource allocation scheme for digital twin (DT) synchronization optimization over dynamic wireless networks. In our considered model, a base station (BS) continuously collects factory physical object state data from wireless devices to build a real-time virtual DT system for factory event analysis. Due to continuous data transmission, maintaining DT synchronization must use extensive wireless resources. To address this issue, a subset of devices is selected to transmit their sensing data, and resource block (RB) allocation is optimized. This problem is formulated as a constrained Markov process (CMDP) problem that minimizes the long-term mismatch between the physical and virtual systems. To solve this CMDP, we first transform the problem into a dual problem that refines RB constraint impacts on device scheduling strategies. We then propose a continual reinforcement learning (CRL) algorithm to solve the dual problem. The CRL algorithm learns a stable policy across historical experiences for quick adaptation to dynamics in physical states and network capacity. Simulation results show that the CRL can adapt quickly to network capacity changes and reduce normalized root mean square error (NRMSE) between physical and virtual states by up to 55.2%, using the same RB number as traditional methods. © 2025 IEEE. All rights reserved.

关键词： Markov processes

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