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arXiv 2024年

作者： Zhang, Yaning Yu, Zitong Wang, Tianyi Huang, Xiaobin Shen, Linlin Gao, Zan Ren, Jianfeng Computer Vision Institute College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China School of Computing and Information Technology Great Bay University Dongguan523000 China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen518060 China Nanyang Technological University 50 Nanyang Ave Block N 4 639798 Singapore Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518129 China Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University China Jinan250014 China Key Laboratory of Computer Vision and System Ministry of Education Tianjin University of Technology Tianjin300384 China School of Computer Science University of Nottingham Ningbo China

The rapid advancement of photorealistic generators has reached a critical juncture where the discrepancy between authentic and manipulated images is increasingly indistinguishable. Thus, benchmarking and advancing techniques detecting digital manipulation become an urgent issue. Although there have been a number of publicly available face forgery datasets, the forgery faces are mostly generated using GAN-based synthesis technology, which does not involve the most recent technologies like diffusion. The diversity and quality of images generated by diffusion models have been significantly improved and thus a much more challenging face forgery dataset shall be used to evaluate SOTA forgery detection literature. In this paper, we propose a large-scale, diverse, and fine-grained high-fidelity dataset, namely GenFace, to facilitate the advancement of deepfake detection, which contains a large number of forgery faces generated by advanced generators such as the diffusion-based model and more detailed labels about the manipulation approaches and adopted generators. In addition to evaluating SOTA approaches on our benchmark, we design an innovative Cross Appearance-Edge Learning (CAEL) detector to capture multi-grained appearance and edge global representations, and detect discriminative and general forgery traces. Moreover, we devise an Appearance-Edge Cross-Attention (AECA) module to explore the various integrations across two domains. Extensive experiment results and visualizations show that our detection model outperforms the state of the arts on different settings like cross-generator, cross-forgery, and cross-dataset evaluations. Code and datasets will be available at https://***/Jenine-321/GenFace. Copyright © 2024, The Authors. All rights reserved.

关键词： Image enhancement

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The loop closure Detection Algorithm Based on Bag of Semantic Word For Robot Navigation

The loop closure Detection Algorithm Based on Bag of Semanti...

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Information Technology,Big Data and Artificial intelligence (ICIBA), International Conference on IEEE International Conference on

作者： Pengcheng Yu Xiaogang Ruan Xiaoqing Zhu Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing China

ISBN: (数字)9781728152240

ISBN: (纸本)9781728152257

Simultaneous localization and mapping (SLAM) is mainly used to solve the problem of mobile robot navigation in an unknown environment. The loop closure detection is a key step in visual SLAM and plays an important role in building consistent maps and reducing pose cumulative errors. A new loop closure detection method based on the bag of semantic word (BOSW) is proposed in this paper, extracting semantic descriptors by using a neural network pre-trained on the scene recognition data set. Traditionally, the visual bag of word (BoW) model adopts the features such as ORB and SURF which is easily affected by the environment. With advantages of better ability to deal with changes in lighting, the convolutional neural network can extract the abstract features of the image. For these reasons, we proposed a new algorithm that combines the bag of word model and the convolutional neural network. The feature maps, extracted by the VGG16 neural network which is trained on the dataset named Places365 (VGG16-Places365), are used as the semantic descriptors instead of ORB descriptors. The workflow of building the vocabulary of the semantic words, extracting the feature vector of the image and computing the similarity score is presented. The performance of BOSW is evaluated by a comparison study with the traditional visual bag of word model and Inception-based deep learning method which use Inception's fully connected layer output as the feature vector of the picture. Overall, the experiments on New College datasets verified that our mode show stronger generalization and can achieve higher accuracy in the loop closure detection.

关键词： Feature extraction Semantics Visualization Detection algorithms Simultaneous localization and mapping Clustering algorithms Vocabulary

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Advanced Policy Learning Near-Optimal Regulation

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IEEE/CAA Journal of Automatica Sinica 2019年第3期6卷 743-749页

作者： Ding Wang Xiangnan Zhong IEEE the Faculty of Information Technology Beijing University of Technology and also with the Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing University of Technology the Department of Electrical Engineering University of North Texas

Designing advanced design techniques for feedback stabilization and optimization of complex systems is important to the modern control field. In this paper, a near-optimal regulation method for general nonaffine dynamics is developed with the help of policy learning. For addressing the nonaffine nonlinearity, a pre-compensator is constructed, so that the augmented system can be formulated as affine-like form. Different cost functions are defined for original and transformed controlled plants and then their relationship is analyzed in detail. Additionally, an adaptive critic algorithm involving stability guarantee is employed to solve the augmented optimal control problem. At last, several case studies are conducted for verifying the stability, robustness, and optimality of a torsional pendulum plant with suitable cost.

关键词： Adaptive critic algorithm learning control neural approximation nonaffine dynamics optimal regulation

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S4TP: Social-Suitable and Safety-Sensitive Trajectory Planning for Autonomous Vehicles

arXiv

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arXiv 2024年

作者： Wang, Xiao Tang, Ke Dai, Xingyuan Xu, Jintao Du, Quancheng Ai, Rui Wang, Yuxiao Gu, Weihao Engineering Research Center of Autonomous Unmanned System Technology Ministry of Education Anhui University Hefei230031 China Haomo Technology Co. Ltd. Beijing100192 China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Qingdao Academy of Intelligent Industries Qingdao266114 China The School of Computer and Communication Engineering University of Science and Technology Beijing Beijing100083 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China

In public roads, autonomous vehicles (AVs) face the challenge of frequent interactions with human-driven vehicles (HDVs), which render uncertain driving behavior due to varying social characteristics among humans. To effectively assess the risks prevailing in the vicinity of AVs in social interactive traffic scenarios and achieve safe autonomous driving, this article proposes a social-suitable and safety-sensitive trajectory planning (S4TP) framework. Specifically, S4TP integrates the Social-Aware Trajectory Prediction (SATP) and Social-Aware Driving Risk Field (SADRF) modules. SATP utilizes Transformers to effectively encode the driving scene and incorporates an AV’s planned trajectory during the prediction decoding process. SADRF assesses the expected surrounding risk degrees during AVs-HDVs interactions, each with different social characteristics, visualized as two-dimensional heat maps centered on the AV. SADRF models the driving intentions of the surrounding HDVs and predicts trajectories based on the representation of vehicular interactions. S4TP employs an optimization-based approach for motion planning, utilizing the predicted HDVs’ trajectories as input. With the integration of SADRF, S4TP executes real-time online optimization of the planned trajectory of AV within low-risk regions, thus improving the safety and the interpretability of the planned trajectory. We have conducted comprehensive tests of the proposed method using the SMARTS simulator. Experimental results in complex social scenarios, such as unprotected left-turn intersections, merging, cruising, and overtaking, validate the superiority of our proposed S4TP in terms of safety and rationality. S4TP achieves a pass rate of 100% across all scenarios, surpassing the current state-of-the-art methods Fanta of 98.25% and Predictive-Decision of 94.75%. Copyright © 2024, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Controllable Electrical Characteristic of Ti3c2t2/Mos2 (T=Oh, F, O) Interfaces for High Performance Electronics: Insights from First-Principles

SSRN

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SSRN 2023年

作者： Zhang, Qiang Liu, Yan Zhang, Riguang Lv, Bohan Hao, Runfang Sang, Shengbo Shanxi Key Laboratory of Micro Nano Sensors & Artificial Intelligence Perception College of Electronic Information and Optical Engineering Taiyuan University of Technology Shanxi Taiyuan030024 China Key Lab of Advanced Transducers and Intelligent Control System of The Ministry of Education Taiyuan University of Technology Shanxi Taiyuan030024 China School of Software Taiyuan University of Technology Shanxi Taiyuan030024 China State Key Laboratory of Clean and Efficient Coal Utilization China Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls Beijing100000 China

Two-dimensional (2D) semiconductors have shown competitive potential for applications into beyond-silicon electronics. However, the controllable electrical characteristic of metal-semiconductor interfaces is still a challenge for high performance electronics due to Fermi level pinning. To explore Ti3C2T2/MoS2 (T= OH, F, O) for high performance electronics, the vertical electric field and interlayer distance are adopted here to regulate the electrical characteristic of interfaces based on the first-principles calculations. Though this, the electrical characteristic of Ti3C2O2/MoS2 and Ti3C2F2/MoS2 are more sensitive to electric field or interlayer distance than that of Ti3C2(OH)2/MoS2. Especially, the negative electric field with larger than -0.2 V/Å makes Ti3C2O2/MoS2 interface change from p-type Schottky to n-type Schottky contact. Furthermore, the Ti3C2O2/MoS2 interface can not only switch from p-type Schottky to n-type Schottky contact, but also from p-type Schottky to n-type Ohmic contact by varying interlayer distance. Moreover, the tunneling barriers of all interfaces are more sensitive to interlayer distance than to electric field. This work provides vital insights for high-performance electronics of Ti3C2T2/MoS2 (T=OH, F, O) in experiments. © 2023, The Authors. All rights reserved.

关键词： Electric fields

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A framework of cooperative UAV-UGV system for target tracking

A framework of cooperative UAV-UGV system for target trackin...

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2021 IEEE International Conference on Real-Time computing and Robotics, RCAR 2021

作者： Su, Zhilong Wang, Can Wu, Xinyu Dong, Yao Ni, Jiangpeng He, Bailin Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Beijing100049 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen518055 China

ISBN: (纸本)9781665436786

This paper proposed a framework of cooperative UAV-UGV system. This system consists of three modules: UAV, UGV, and ground station console. It has the characteristics of high cohesion, low coupling, cross platform, and cross language. Compared with the prior methods which UAV-UGV cooperation system that only uses UAV to track UGV, our method is more effective and can give full play to the advantages of UAV and UGV. We use UAV visual tracking algorithm and coordinate transformation to get the target location, and use UGV to navigate to the target location to keep up with the target. The high mobility of UAV makes the target tracking range of the whole system larger, the robustness of UGV is good, and the tasks can be performed more precisely. © 2021 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Algebraic analysis and control of networked opacity with bounded communication delays

Algebraic analysis and control of networked opacity with bou...

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第40届中国控制会议

作者： Qian Xu Zhipeng Zhang Chengyi Xia Zengqiang Chen Tianjin Key Laboratory of Intelligence Computing and Novel Software Technology Tianjin University of Technology Engineering Research Center of Learning-Based Intelligent System Ministry of Education College of Artificial Intelligence Nankai University

Networked finite state machine takes the delay factor into consideration, and its security has become an significant research topic. In this paper, we explore the impact of bounded communication delays on networked opacity of finite state machine from an algebraic point. Firstly, by making use of Boolean semi-tensor product（Boolean STP）, we propose an algebraic equation to characterize the current dynamics with bounded observation delays. Subsequently, we give the verification criterion for networked opacity, and calculate the delayed dynamics by introducing the state reachability matrix. Meanwhile, we investigate the effect of bound number on the opacity-enforcement problem, and compute the minimum bound of communication delay to ensure the state opacity property. Finally, a numerical example is provided to demonstrate the results.

关键词： Semi-tensor product（STP） of matrices finite state machine state opacity observation delays

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Pigeon-inspired Formation Control for Multi-UAVs under Obstacle Environments

Pigeon-inspired Formation Control for Multi-UAVs under Obsta...

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Chinese Automation Congress (CAC)

作者： Tian Zhang XiangYin Zhang Xia Shuang Faculty of Information Technology Beijing University of Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing China Engineering Research Center of Digital Community Ministry of Education Beijing China

ISBN: (纸本)9781665426480

In the real world, neighboring individuals with communication links determine the state and the weight of different individuals in the group. There are closer relations between the status of neighboring individuals in a collective system. To imitate this situation, a strategic model of collective system coordination and control was proposed by imitating the decision- making mechanism of pigeon flocks. Each individual changes its situation based on the weighting and distance to the neighboring individuals in the collective system. This paper mainly studies the problem of formation control inspired by the decision-making mechanism of pigeon flocks under obstacle environments. By designing the control law of fixed relative position and speed consistency and integrating it with the decision-making mechanism of pigeon flocks, formation control of the unmanned aerial vehicle (UAV) swarm is realized. A judging mechanism is proposed to determine whether it is necessary for UAVs to avoid obstacles. The simulation results show that the UAVs can generate, maintain and reconstruct the desired formation in a real-time manner under consideration of avoiding obstacles.

关键词： Costs Simulation Decision making Maintenance engineering Autonomous aerial vehicles Control systems Real-time systems

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Variable Rate Syndrome-Trellis Codes for Steganography on Bursty Channels 19th

Variable Rate Syndrome-Trellis Codes for Steganography on Bu...

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19th International Workshop on Digital Forensics and Watermarking, IWDW 2020

作者： Feng, Bingwen Liu, Zhiquan Wei, Kaimin Lu, Wei Lin, Yuchun College of Information Science and Technology Jinan University Guangzhou510632 China State Key Laboratory of Information Security Institute of Information Engineering Chinese Academy of Sciences Beijing100093 China Guangdong Key Laboratory of Intelligent Information Processing and Shenzhen Key Laboratory of Media Security Shenzhen518060 China School of Computer Science and Engineering Guangdong Province Key Laboratory of Information Security Technology Ministry of Education Key Laboratory of Machine Intelligence and Advanced Computing Sun Yat-sen University Guangzhou510006 China Guangzhou Institute of Science and Technology Guangzhou510006 China

ISBN: (纸本)9783030694487

This paper presents a type of variable rate syndrome-trellis codes (VR-STC) for bursty channels. It can embed message bits with two different embedding rates. In the embedding, a cover vector is sliced into segments, and the embedding rates for each segment depend on the local channel distribution. The parities of stego segments are exploited to indicate the selected embedding rates according to a mapping function between parities and embedding rates. The core of the VR-STC is the parity-aware encoder, which can simultaneously output two candidate stego segments with different embedding rates and opposite parities, either of which can be used to constitute the final stego vector. A Viterbi algorithm is also suggested to find the closed stego segments. Besides, the mapping function between parities and embedding rates is designed by minimizing the embedding costs on a down sampled version of the cover vector. It can further improve the undetectability of the VR-STC. Experimental results on artificial signals and binary images suggest that the proposed VR-STC can provide high success rate of embedding and reduce the embedding cost on bursty channels. © 2021, Springer Nature Switzerland AG.

关键词： Steganography

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Evaluation of Continual Learning Methods for Object Hardness Recognition

Evaluation of Continual Learning Methods for Object Hardness...

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IEEE International Conference on Real-time computing and Robotics (RCAR)

作者： Yiwen Liu Senlin Fang Chengliang Liu Jingnan Wang Ke Mai Yupo Zhang Zhengkun Yi Xinyu Wu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China University of Chinese Academy of Sciences Beijing China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen Faculty of Data Science City University of Macau Macua China PR

How to solve the problem of continual learning of robotic tactile perception in an open, dynamic environment is a pressing task. Although continual learning has been extensively studied in computer vision, the evaluation of those algorithms does not provide insights on whether their solutions may help continual learning in the context of tactile robotics. In this paper, we propose a continual learning scenario in the robotic tactile domain, and design experiments with tactile hardness dataset that allow us to compare the performance of many continual learning algorithms in the tactile domain. We examine the performance of regularization-based and replay methods in the tactile domain and discuss the effect of replay number on model performance. We show that regularization-based methods do not perform well on the tactile dataset. On the contrary, replay methods can maintain better anti-forgetting performance, but the number of model parameters will be larger, and the training time will be longer. We also found that the replay ratio should be higher than 0.2 to maintain the performance of the replay method on the tactile hardness dataset.

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