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arXiv 2023年

作者： Sever, Gulay Goktas Demir, Umut Sadik Satir, A. Sahin, Mustafa Cagatay Ure, Nazım Kemal Istanbul Technical University Artificial Intelligence and Data Science Application and Research Center Istanbul34467 Turkey Turkish Aerospace Industries Inc. Ankara06980 Turkey

In this paper, we present a methodology for constructing data-driven maneuver generation models for agile aircraft that can generalize across a wide range of trim conditions and aircraft model parameters. Maneuver generation models play a crucial role in the testing and evaluation of aircraft prototypes, providing insights into the maneuverability and agility of the aircraft. However, constructing the models typically requires extensive amounts of real pilot data, which can be time-consuming and costly to obtain. Moreover, models built with limited data often struggle to generalize beyond the specific flight conditions covered in the original dataset. To address these challenges, we propose a hybrid architecture that leverages a simulation model, referred to as the source model. This open-source agile aircraft simulator shares similar dynamics with the target aircraft and allows us to generate unlimited data for building a proxy maneuver generation model. We then fine-tune this model to the target aircraft using a limited amount of real pilot data. Our approach combines techniques from imitation learning, transfer learning, and reinforcement learning to achieve this objective. To validate our methodology, we utilize real agile pilot data provided by Turkish Aerospace Industries (TAI). By employing the F-16 as the source model, we demonstrate that it is possible to construct a maneuver generation model that generalizes across various trim conditions and aircraft parameters without requiring any additional real pilot data. Our results showcase the effectiveness of our approach in developing robust and adaptable models for agile aircraft. © 2023, CC BY.

关键词： Reinforcement learning

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Cooperative Visual Inertial Odometry for Heterogeneous Swarm of Drones Navigating in Noisy Environments

Cooperative Visual Inertial Odometry for Heterogeneous Swarm...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Kamil Canberk Atik Enes Erdogan Ahmet Yusuf Yahsi Feyzullah Kara Baris Yalcin Gü rkan Cetin Nazim Kemal Ure Faculty of Aeronautics and Astronautics ITU Artificial Intelligence and Data Science Application and Research Center Istanbul Technical University Istanbul Turkey Faculty of Computer and Informatics Engineering ITU Artificial Intelligence and Data Science Application and Research Center Istanbul Technical University Istanbul Turkey Faculty of Electrical and Electronics ITU Artificial Intelligence and Data Science Application and Research Center Istanbul Technical University Istanbul Turkey Havelsan Ankara Turkey

This paper presents a methodology for enhancing the localization performance of drone swarms by collaborative propagation of the estimates of drones equipped with higher cost sensors to the drones with lower-cost sensors. Although recent advances in visual-inertial odometry (VIO) enabled good performance in GPS denied environments, the localization performance is still highly dependent on the accuracy of inertial sensors. Moreover, environmental effects that corrupt visual inputs also contribute to the error rate of VIO estimates thus localization in noisy environments with low-grade sensors is still widely an open problem. We show that this problem can be alleviated when drones are navigating in the form of a swarm, and the relative distance measurements between drones are available through ultra-wideband (UWB) signals. In particular, we develop a collaborative Kalman filtering and optimization framework, where the drones with lower grade sensors receive updates from drones that have access to higher-quality measurements. We validate our approach in a simulation environment with realistic visual representations and show that the proposed methodology can significantly improve the localization performance, especially for the scenarios where the camera measurements are corrupted with high noise. We further present results in simplistic flight tests to demonstrate the applicability of our approach to real hardware.

关键词： Location awareness Visualization Costs Navigation Surveillance Teamwork Trajectory

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Generalized-Extended-State-Observer and Equivalent-Input-Disturbance Methods for Active Disturbance Rejection: Deep Observation and Comparison

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 957-968页

作者： Jinhua She Kou Miyamoto Qing-Long Han Min Wu Hiroshi Hashimoto Qing-Guo Wang School of Engineering Tokyo University of TechnologyHachiojiTokyo 192-0982Japan K.Miyamoto is with the Institute of Technology Shimizu CorporationKotoTokyo 135-0044Japan School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia School of Automation China University of GeosciencesWuhan 430074 Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China School of Industrial Technology Advanced Institute of Industrial TechnologyTokyo 140-0011Japan Institute of Artificial Intelligence and Future Networks Beijing Normal UniversityZhuhai 519087 Guangdong Key Lab of AI and Multi-Modal Data Processing Guangdong Provincial Key Laboratory of Interdisciplinary Research and Application for Data Science BNUHKBU United International College Zhuhai 519087China

Active disturbance-rejection methods are effective in estimating and rejecting disturbances in both transient and steady-state *** paper presents a deep observation on and a comparison between two of those methods:the generalized extended-state observer(GESO)and the equivalent input disturbance(EID)from assumptions,system configurations,stability conditions,system design,disturbance-rejection performance,and extensibility.A time-domain index is introduced to assess the disturbance-rejection performance.A detailed observation of disturbance-suppression mechanisms reveals the superiority of the EID approach over the GESO method.A comparison between these two methods shows that assumptions on disturbances are more practical and the adjustment of disturbance-rejection performance is easier for the EID approach than for the GESO method.

关键词： Active disturbance-rejection control(ADRC) disturbance observer(DOB) equivalent input disturbance(EID) extendedstate observer(ESO) generalized extended-state observer(GESO)

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Step-by-Step: Controlling Arbitrary Style in Text with Large Language Models 30

Step-by-Step: Controlling Arbitrary Style in Text with Large...

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Joint 30th International Conference on Computational Linguistics and 14th International Conference on Language Resources and Evaluation, LREC-COLING 2024

作者： Liu, Pusheng Wu, Lianwei Wang, Linyong Guo, Sensen Liu, Yang National Engineering Laboratory for Integrated Aero-Space-Ground-Ocean Big Data Application Technology School of Computer Science Northwestern Polytechnical University China Research & Development Institute of Northwestern Polytechnical University Shenzhen China Chongqing Science & Technology Innovation Center of Northwestern Polytechnical University China State Key Laboratory of Integrated Service Networks Xidian University China School of Artificial Intelligence Optics and Electronics Northwestern Polytechnical University China

ISBN: (纸本)9782493814104

Recently, the autoregressive framework based on large language models (LLMs) has achieved excellent performance in controlling the generated text to adhere to the required style. These methods guide LLMs through prompt learning to generate target text in an autoregressive manner. However, this manner possesses lower controllability and suffers from the challenge of accumulating errors, where early prediction inaccuracies might influence subsequent word generation. Furthermore, existing prompt-based methods overlook specific region editing, resulting in a deficiency of localized control over input text. To overcome these challenges, we propose a novel three-stage prompt-based approach for specific region editing. To alleviate the issue of accumulating errors, we transform the text style transfer task into a text infilling task, guiding the LLMs to modify only a small portion of text within the editing region to achieve style transfer, thus reducing the number of autoregressive iterations. To achieve an effective specific editing region, we adopt both prompt-based and word frequency-based strategies for region selection, subsequently employing a discriminator to validate the efficacy of the selected region. Experiments conducted on several publicly competitive datasets for text style transfer task confirm that our proposed approach achieves state-of-the-art performance. © 2024 ELRA Language Resource Association: CC BY-NC 4.0.

关键词： Computational linguistics

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Discretizing Continuous Action Space With Unimodal Probability Distributions for On-Policy Reinforcement Learning

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IEEE Transactions on Neural Networks and Learning systems 2024年第6期36卷 11285-11297页

作者： Yuanyang Zhu Zhi Wang Yuanheng Zhu Chunlin Chen Dongbin Zhao Department of Control Science and Intelligence Engineering School of Management and Engineering and the Laboratory of Data Intelligence and Interdisciplinary Innovation Nanjing University Nanjing China Department of Control Science and Intelligence Engineering School of Management and Engineering and the Research Center for Novel Technology of Intelligent Equipment Nanjing University Nanjing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

For on-policy reinforcement learning (RL), discretizing action space for continuous control can easily express multiple modes and is straightforward to optimize. However, without considering the inherent ordering between the discrete atomic actions, the explosion in the number of discrete actions can possess undesired properties and induce a higher variance for the policy gradient (PG) estimator. In this article, we introduce a straightforward architecture that addresses this issue by constraining the discrete policy to be unimodal using Poisson probability distributions. This unimodal architecture can better leverage the continuity in the underlying continuous action space using explicit unimodal probability distributions. We conduct extensive experiments to show that the discrete policy with the unimodal probability distribution provides significantly faster convergence and higher performance for on-policy RL algorithms in challenging control tasks, especially in highly complex tasks such as Humanoid. We provide theoretical analysis on the variance of the PG estimator, which suggests that our attentively designed unimodal discrete policy can retain a lower variance and yield a stable learning process.

关键词： Task analysis Probability distribution Aerospace electronics Reinforcement learning Gaussian distribution Technological innovation Learning systems

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Public Acceptance of Autonomous Vehicle Platooning: A Stated-Preference Survey 24

Public Acceptance of Autonomous Vehicle Platooning: A Stated...

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24th COTA International Conference of Transportation Professionals: Resilient, Intelligent, Connected, and Lowcarbon Multimodal Transportation, CICTP 2024

作者： Li, Jiankai Ding, Naikan Li, Hongtao Chen, Jiamin Du, Minglin Hu, Ying Aberdeen Institute of Data Science and Artificial Intelligence South China Normal Univ. Foshan China Intelligent Transportation Systems Research Center Wuhan Univ. of Technology Wuhan China Engineering Research Center of Transportation Information and Safety Ministry of Education Wuhan China School of Civil Engineering and Transportation Northeast Forestry Univ. China Harbin Jin Hui End-of-Life Vehicles Recycling Co. Ltd. China

ISBN: (数字)9780784485484

ISBN: (纸本)9780784485484

Autonomous driving platoon control technology has gradually gained widespread attention, but public receptivity to it is shaped by a variety of factors, encompassing cognitive and personal characteristics. This study aims to understand these factors to promote the broader application of autonomous driving platoon control technology. Through questionnaires, we gathered data pertaining to the cognitive characteristics, individual preferences, and personal characteristics of the public. We used a structural equation model to analyze these data to determine the relationships and impact strengths between these factors. Results indicate that cognitive characteristics have a significant positive impact on individual preferences, particularly cognitive characteristics related to safety confidence and technological understanding. Personal characteristics also impact individual preferences. These findings may help policymakers formulate targeted policies by better understanding public needs and concerns. Moreover, it carries substantial implications for the advancement and utilization of autonomous driving platoon control technology, particularly with regard to marketing strategies. © ASCE.

关键词： Autonomous vehicles

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Structure-aware E(3)-invariant molecular conformer aggregation networks 24

Structure-aware E(3)-invariant molecular conformer aggregati...

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Proceedings of the 41st International Conference on Machine Learning

作者： Duy M. H. Nguyen Nina Lukashina Tai Nguyen An T. Le TrungTin Nguyen Nhat Ho Jan Peters Daniel Sonntag Viktor Zaverkin Mathias Niepert Department of Computer Science University of Stuttgart Germany and Max Planck Research School for Intelligent Systems (IMPRS-IS) and German Research Center for Artificial Intelligence (DFKI) Department of Computer Science University of Stuttgart Germany and Max Planck Research School for Intelligent Systems (IMPRS-IS) German Research Center for Artificial Intelligence (DFKI) Department of Computer Science Technische Universitat Darmstadt Germany School of Mathematics and Physics University of Queensland Australia Department of Statistics and Data Sciences University of Texas at Austin German Research Center for Artificial Intelligence (DFKI) and Department of Computer Science Technische Universitat Darmstadt Germany and Hessian.AI German Research Center for Artificial Intelligence (DFKI) and Department of Applied Artificial Intelligence Oldenburg University Germany NEC Laboratories Europe Department of Computer Science University of Stuttgart Germany and Max Planck Research School for Intelligent Systems (IMPRS-IS) and NEC Laboratories Europe

A molecule's 2D representation consists of its atoms, their attributes, and the molecule's covalent bonds. A 3D (geometric) representation of a molecule is called a conformer and consists of its atom types and Cartesian coordinates. Every conformer has a potential energy, and the lower this energy, the more likely it occurs in nature. Most existing machine learning methods for molecular property prediction consider either 2D molecular graphs or 3D conformer structure representations in isolation. Inspired by recent work on using ensembles of conformers in conjunction with 2D graph representations, we propose E(3)-invariant molecular conformer aggregation networks. The method integrates a molecule's 2D representation with that of multiple of its conformers. Contrary to prior work, we propose a novel 2D-3D aggregation mechanism based on a differentiable solver for the Fused Gromov-Wasserstein Barycenter problem and the use of an efficient conformer generation method based on distance geometry. We show that the proposed aggregation mechanism is E(3) invariant and propose an efficient GPU implementation. Moreover, we demonstrate that the aggregation mechanism helps to significantly outperform state-of-the-art molecule property prediction methods on established datasets. Our implementation is available at this https://***/duyhominhnguyen/conan-fgw/tree/main.

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ZuantuSet: A Collection of Historical Chinese Visualizations and Illustrations

arXiv

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arXiv 2025年

作者： Mei, Xiyao Zhang, Yu Yang, Chaofan Shi, Rui Yuan, Xiaoru National Key Laboratory of General Artificial Intelligence School of Intelligence Science and Technology Peking University Beijing China Department of Computer Science University of Oxford Oxford United Kingdom Center for Research on Ancient Chinese History Peking University Beijing China National Engineering Laboratory for Big Data Analysis and Application Peking University Beijing China PKU-WUHAN Institute for Artificial Intelligence Wuhan China

Historical visualizations are a valuable resource for studying the history of visualization and inspecting the cultural context where they were created. When investigating historical visualizations, it is essential to consider contributions from different cultural frameworks to gain a comprehensive understanding. While there is extensive research on historical visualizations within the European cultural framework, this work shifts the focus to ancient China, a cultural context that remains underexplored by visualization researchers. To this aim, we propose a semi-automatic pipeline to collect, extract, and label historical Chinese visualizations. Through the pipeline, we curate ZuantuSet, a dataset with over 71K visualizations and 108K illustrations. We analyze distinctive design patterns of historical Chinese visualizations and their potential causes within the context of Chinese history and culture. We illustrate potential usage scenarios for this dataset, summarize the unique challenges and solutions associated with collecting historical Chinese visualizations, and outline future research directions. Copyright © 2025, The Authors. All rights reserved.

关键词： data collection

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A data-Driven Approach Towards Software Regression Testing Quality Optimization 25

A Data-Driven Approach Towards Software Regression Testing Q...

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25th International Arab Conference on Information Technology, ACIT 2024

作者： Moubayed, Abdallah Alhindawi, Nouh Alsakran, Jamal Injadat, MohammadNoor Kanan, Mohammad King Fahd University of Petroleum & Minerals Computer Engineering Department Interdisciplinary Research Center for Intelligent Secure Systems Dhahran Saudi Arabia Arizona State University School of Computing and Augmented Intelligence GilbertAZ United States Jadara University Department of Software Engineering Irbid Jordan Fairleigh Dickinson University Canada Zarqa University Data Science & Artificial Intelligence Department Zarqa Jordan University of Business and Technology Department of Industrial Engineering Jeddah Saudi Arabia

ISBN: (纸本)9798331540012

Software testing is very important in software development to ensure its quality and reliability. As software systems have become more complex, the number of test cases has increased, which presents the challenge of executing all the tests in a limited time frame. Various test case prioritization techniques have been introduced to solve this problem. These methods aim to identify and implement the most critical tests first. In this paper, we propose an implementation of a dynamic test case prioritization strategy to improve software quality by increasing code coverage with special attention to edge case handling. Edge case test prioritization is a technique that improves test efficiency by selecting extreme case scenarios that can reveal critical bugs or unexpected behavior early in development, improving overall software reliability and dependability. In order to prioritize test cases, this paper presents a regression-based method that makes use of machine learning algorithms. The approach leverages previous performance data to optimize regression testing efficiency by examining variables like test time and execution status. Performance evaluations, when compared against industry standards and cutting-edge techniques, show how effective these algorithms are at correctly prioritizing test cases and identifying faults. This study offers simplified yet reliable solutions for regression testing optimization by shedding light on the efficacy of regression algorithms, such as Random Forest and decision trees. © 2024 IEEE.

关键词： Software testing

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An Interactive Annotation Method Based on Incremental Learning 2

An Interactive Annotation Method Based on Incremental Learni...

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2nd International Conference on Image Processing, Computer Vision and Machine Learning, ICICML 2023

作者： Duan, Xiusheng Sun, Guohua Cao, Jingya Zhang, Yuyang Yang, Jingchao Han, Duyu Hebei Polytechnic Institute Department of Artificial Intelligence and Big Data Shijiazhuang China Hebei Provincial University Road Traffic Perception Intelligent Application Technology Research and Development Center Shijiazhuang China Shijiazhuang Tiedao University School of Mechanical Engineering Shijiazhuang China Northeastern University Faculty of Robot Science and Engineering Shenyang China Hebei Jiaotong Vocational and Technical College Shijiazhuang China

ISBN: (纸本)9798350331417

In recent years, military science and technology has been developed rapidly, and new equipments has been equipped in the army. Augmented Reality (AR) technology provides the possibility to solve the problem of equipments operation training. But in the training process, One of the essential technologies is how to location and identify the operation keys. Obviously, the sample set of equipments operation keys is the basis of key recognition, and a certain scale of sample set is an indispensable element to ensure the performance of the recognition model. On the basis of manually establishing a small sample set, this paper puts forward a mechanism based on interactive automatic sample labeling and sample set expanding, the target recognition model was updated by incremental learning method at the same time. © 2023 IEEE.

关键词： data annotation incremental learning interaction sample augmentation

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