The perception in most existing vision-based reinforcement learning(RL) models for robotic manipulation relies heavily on static third-person or hand-mounted first-person cameras. In scenarios with occlusions and limi...
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The perception in most existing vision-based reinforcement learning(RL) models for robotic manipulation relies heavily on static third-person or hand-mounted first-person cameras. In scenarios with occlusions and limited maneuvering space, these carefully positioned cameras often struggle to provide effective visual observations during manipulation. Taking inspiration from human capabilities, we introduce a novel RL-based dual-arm active visual-guided manipulation model(DAVMM), which simultaneously infers “eye” actions and “hand” actions for two separate robotic arms(referred to as the vision-arm and the worker-arm) based on current observations, empowering the robot with the ability to actively perceive and interact with its environment. To handle the extensive redundant observation-action space, we propose a decouplable target-centric reward paradigm to offer stable guidance for the training process. For making fine-grained manipulation action decisions, alongside a global scene image encoder, we utilize an independent encoder to extract local target texture features,enabling the simultaneous acquisition of both global and detailed local information. Additionally, we employ residual-RL and curriculum learning techniques to further enhance our model's sample efficiency and training stability. We conducted comparative experiments and analyses of DAVMM against a set of strong baselines on three occluded and narrow-space manipulation tasks. DAVMM notably improves the success rates across all manipulation tasks and showcases rapid learning capabilities.
Brain tumors are ranked highly among the leading causes of cancer-related fatalities. Precise segmentation and quantitative assessment of brain tumors are crucial for effective diagnosis and treatment planning. Howeve...
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Domain Name System (DNS) protocol is highly targeted nowadays for creating tunnels and extracting information from the intended machines. The reason for such exploitation is that DNS is passed unchecked by most firewa...
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This paper presents Secure Orchestration, a novel framework meticulously planned to uphold rigorous security measures over the profound security concerns that lie within the container orchestration platforms, especial...
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During the early stages of software development, monolithic architectures predominated within software systems. However, their limitations in effectively accommodating dynamic user demands prompted the widespread adop...
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In this paper,a robust and consistent COVID-19 emergency decision-making approach is proposed based on q-rung linear diophantine fuzzy set(q-RLDFS),differential evolutionary(DE)optimization principles,and evidential r...
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In this paper,a robust and consistent COVID-19 emergency decision-making approach is proposed based on q-rung linear diophantine fuzzy set(q-RLDFS),differential evolutionary(DE)optimization principles,and evidential reasoning(ER)*** proposed approach uses q-RLDFS in order to represent the evaluating values of the alternatives corresponding to the *** optimization is used to obtain the optimal weights of the attributes,and ER methodology is used to compute the aggregated q-rung linear diophantine fuzzy values(q-RLDFVs)of each *** the score values of alternatives are computed based on the aggregated *** alternative with the maximum score value is selected as a better *** applicability of the proposed approach has been illustrated in COVID-19 emergency decision-making system and sustainable energy planning ***,we have validated the proposed approach with a numerical ***,a comparative study is provided with the existing models,where the proposed approach is found to be robust to perform better and consistent in uncertain environments.
The integration of technologies like artificial intelligence,6G,and vehicular ad-hoc networks holds great potential to meet the communication demands of the Internet of Vehicles and drive the advancement of vehicle **...
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The integration of technologies like artificial intelligence,6G,and vehicular ad-hoc networks holds great potential to meet the communication demands of the Internet of Vehicles and drive the advancement of vehicle ***,these advancements also generate a surge in data processing requirements,necessitating the offloading of vehicular tasks to edge servers due to the limited computational capacity of *** recent advancements,the robustness and scalability of the existing approaches with respect to the number of vehicles and edge servers and their resources,as well as privacy,remain a *** this paper,a lightweight offloading strategy that leverages ubiquitous connectivity through the Space Air Ground Integrated Vehicular Network architecture while ensuring privacy preservation is *** Internet of Vehicles(IoV)environment is first modeled as a graph,with vehicles and base stations as nodes,and their communication links as ***,vehicular applications are offloaded to suitable servers based on latency using an attention-based heterogeneous graph neural network(HetGNN)***,a differential privacy stochastic gradient descent trainingmechanism is employed for privacypreserving of vehicles and offloading ***,the simulation results demonstrated that the proposedHetGNN method shows good performance with 0.321 s of inference time,which is 42.68%,63.93%,30.22%,and 76.04% less than baseline methods such as Deep Deterministic Policy Gradient,Deep Q Learning,Deep Neural Network,and Genetic Algorithm,respectively.
Small UAVs pose security risks to sensitive areas and individuals due to their rapid movement and wide coverage capabilities. Effective monitoring necessitates the deployment of lightweight and energy-efficient survei...
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Recent progress made in the prediction,characterisation,and mitigation of multipactor discharge is reviewed for single‐and two‐surface ***,an overview of basic concepts including secondary electron emission,electron...
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Recent progress made in the prediction,characterisation,and mitigation of multipactor discharge is reviewed for single‐and two‐surface ***,an overview of basic concepts including secondary electron emission,electron kinetics under the force law,multipactor susceptibility,and saturation mechanisms is provided,followed by a discus-sion on multipactor mitigation *** strategies are categorised into two broad areas–mitigation by engineered devices and engineered radio frequency(rf)*** approach is useful in different *** advances in multipactor physics and engineering during the past decade,such as novel multipactor prediction methods,un-derstanding space charge effects,schemes for controlling multipacting particle trajec-tories,frequency domain analysis,high frequency effects,and impact on rf signal quality are *** addition to vacuum electron multipaction,multipactor‐induced ioni-zation breakdown is also reviewed,and the recent advances are summarised.
The Nong Han Chaloem Phrakiat Lotus Park is a tourist attraction and a source of learning regarding lotus ***,as a training area,it lacks appeal and learning motivation due to its conventional presentation of informat...
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The Nong Han Chaloem Phrakiat Lotus Park is a tourist attraction and a source of learning regarding lotus ***,as a training area,it lacks appeal and learning motivation due to its conventional presentation of information regarding lotus *** current study introduced the concept of smart learning in this setting to increase interest and motivation for *** neural networks(CNNs)were used for the classification of lotus plant species,for use in the development of a mobile application to display details about each *** scope of the study was to classify 11 species of lotus plants using the proposed CNN model based on different techniques(augmentation,dropout,and L2)and hyper parameters(dropout and epoch number).The expected outcome was to obtain a high-performance CNN model with reduced total parameters compared to using three different pre-trained CNN models(Inception V3,VGG16,and VGG19)as *** performance of the model was presented in terms of accuracy,F1-score,precision,and recall *** results showed that the CNN model with the augmentation,dropout,and L2 techniques at a dropout value of 0.4 and an epoch number of 30 provided the highest testing accuracy of *** best proposed model was more accurate than the pre-trained CNN models,especially compared to Inception *** addition,the number of total parameters was reduced by approximately 1.80–2.19 *** findings demonstrated that the proposed model with a small number of total parameters had a satisfactory degree of classification accuracy.
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