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10th SIGHAN Workshop on Chinese Language Processing, SIGHAN 2024

作者： Ji, Lu Chen, Lei Li, Jing Wei, Zhongyu Zhang, Qi Huang, Xuanjing School of Computer Science Fudan University China School of Data Science Fudan University China Department of Computing The Hong Kong Polytechnic University Hong Kong Research Institute of Intelligent and Complex Systems Fudan University China

ISBN: (纸本)9798891761551

Vast amount of online conversations are produced on a daily basis, resulting in a pressing need to automatic conversation understanding. As a basis to structure a discussion, we identify the responding relations in the conversation discourse, which link response utterances to their initiations. To figure out who responded to whom, here we explore how the consistency of topic contents and dependency of discourse roles indicate such interactions, whereas most prior work ignore the effects of latent factors underlying word occurrences. We propose a neural model to learn latent topics and discourse in word distributions, and predict pairwise initiation-response links via exploiting topic consistency and discourse dependency. Experimental results on both English and Chinese conversations show that our model significantly outperforms the previous state of the arts. © 2024 Association for Computational Linguistics

关键词： Computational linguistics

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A Multi-stage Single-Point Incremental Sheet Forming for Enhanced Homogeneous Thickness Distribution

A Multi-stage Single-Point Incremental Sheet Forming for Enh...

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International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Ghadeer Issa Karam Almaghout Alexander Maloletov Alexandr Klimchik Intelligent Robotics Systems Laboratory Institute of Robotics and Computer Vision Innopolis University Innopolis Russia Lincoln Centre for Autonomous Systems (L-CAS) School of Computer Science University of Lincoln Lincoln United Kingdom

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

This paper introduces a multi-stage approach to enhance homogeneous thickness distribution in single-point incremental sheet forming. Traditional methods often struggle with achieving uniform material thickness, compromising the final part’s structural integrity and performance. Our proposed methodology leverages a V-shape starting stage, systematically designed to address these challenges by improving material flow and distribution throughout the forming process. We employ finite element analysis to validate the efficiency of the proposed approach and compare it with conventional single-stage forming processes. The simulations demonstrate significant improvements in achieving a more uniform thickness distribution across the formed parts. The comparative analysis highlights the potential of the proposed multi-stage approach for industrial applications and enhances material homogeneity. This methodology advances the precision and reliability of formed parts and opens new avenues for research and development in sheet metal forming technologies.

关键词： Geometry Accuracy Shape Simulation Metals Production Manufacturing Reliability Information technology Research and development

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MCDS-VSS: Moving Camera Dynamic Scene Video Semantic Segmentation by Filtering with Self-Supervised Geometry and Motion

arXiv

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arXiv 2024年

作者： Villar-Corrales, Angel Austermann, Moritz Behnke, Sven Autonomous Intelligent Systems Computer Science Institute VI Center for Robotics Lamarr Institute for Machine Learning and Artificial Intelligence University of Bonn Germany

Autonomous systems, such as self-driving cars, rely on reliable semantic environment perception for decision making. Despite great advances in video semantic segmentation, existing approaches ignore important inductive biases and lack structured and interpretable internal representations. In this work, we propose MCDS-VSS, a structured filter model that learns in a self-supervised manner to estimate scene geometry and ego-motion of the camera, while also estimating the motion of external objects. Our model leverages these representations to improve the temporal consistency of semantic segmentation without sacrificing segmentation accuracy. MCDS-VSS follows a prediction-fusion approach in which scene geometry and camera motion are first used to compensate for ego-motion, then residual flow is used to compensate motion of dynamic objects, and finally the predicted scene features are fused with the current features to obtain a temporally consistent scene segmentation. Our model parses automotive scenes into multiple decoupled interpretable representations such as scene geometry, ego-motion, and object motion. Quantitative evaluation shows that MCDS-VSS achieves superior temporal consistency on video sequences while retaining competitive segmentation performance. Code and pretrained models are available in the project website. © 2024, CC BY.

关键词： Semantic Segmentation

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Higher-Order DeepTrails: Unified Approach to *Trails

Higher-Order DeepTrails: Unified Approach to *Trails

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2023 Learning. Knowledge. Data. Analytics, LWDA 2023

作者： Koopmann, Tobias Pfister, Jan Markus, André Carolus, Astrid Wienrich, Carolin Hotho, Andreas University of Würzburg Department of Computer Science CAIDAS Germany University of Würzburg Institute Human-Computer-Media Media Psychology Germany University of Würzburg Institute Human-Computer-Media Psychology of Intelligent Interactive Systems Germany

Analyzing, understanding, and describing human behavior is advantageous in different settings, such as web browsing or traffic navigation. Understanding human behavior naturally helps to improve and optimize the underlying infrastructure or user interfaces. Typically, human navigation is represented by sequences of transitions between states. Previous work suggests to use hypotheses, representing different intuitions about the navigation to analyze these transitions. To mathematically grasp this setting, first-order Markov chains are used to capture the behavior, consequently allowing to apply different kinds of graph comparisons, but comes with the inherent drawback of losing information about higher-order dependencies within the sequences. To this end, we propose to analyze entire sequences using autoregressive language models, as they are traditionally used to model higher-order dependencies in sequences. We show that our approach can be easily adapted to model different settings introduced in previous work, namely HypTrails, MixedTrails and even SubTrails, while at the same time bringing unique advantages: 1. Modeling higher-order dependencies between state transitions, while 2. being able to identify short comings in proposed hypotheses, and 3. naturally introducing a unified approach to model all settings. To show the expressiveness of our approach, we evaluate our approach on different synthetic datasets and conclude with an exemplary analysis of a real-world dataset, examining the behavior of users who interact with voice assistants. © 2023 CEUR-WS. All rights reserved.

关键词： User interfaces

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Tolerant Tracking Control Protocol for PMSM Based on Policy Iteration Algorithm and Fault Compensation 16th

Tolerant Tracking Control Protocol for PMSM Based on Polic...

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16th International Conference on Social robotics, ICSR + InnoBiz 2024

作者： Yan, Shuya Li, Xiaocong Qian, Huaming Ma, Jun Al Mamun, Abdullah College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin150001 China Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore Guangzhou China Information Science and Technology Eastern Institute of Technology Ningbo China

ISBN: (纸本)9789819611508

In robotics applications, ensuring reliable performance in the presence of actuator faults is essential for maintaining system safety and reliability. This paper presents a tolerant tracking control method for permanent magnet synchronous motors (PMSMs) based on adaptive dynamic programming and fault compensation. The method simultaneously considers tracking accuracy and energy consumption through a policy iteration algorithm. In the optimality analysis of the algorithm, more relaxed conditions are provided to demonstrate that the performance function can converge to a near-optimal value within a finite number of iterations. In practical implementation, an actor-critic network is used to approximate the performance function and control protocol, alongside a fault detection mechanism based on an expanded time horizon, which achieves fault detection from arbitrary initial values. The effectiveness of the proposed algorithm is verified using a high-fidelity PMSM model in Simulink. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Permanent magnets

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RoboCup@Home 2024 OPL Winner NimbRo: Anthropomorphic Service Robots using Foundation Models for Perception and Planning

arXiv

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arXiv 2024年

作者： Memmesheimer, Raphael Nogga, Jan Pätzold, Bastian Kruzhkov, Evgenii Bultmann, Simon Schreiber, Michael Bode, Jonas Karacora, Bertan Park, Juhui Savinykh, Alena Behnke, Sven Autonomous Intelligent Systems Computer Science Institute VI Lamarr Institute for Machine Learning and Artificial Intelligence Center for Robotics University of Bonn Germany

We present the approaches and contributions of the winning team NimbRo@Home at the RoboCup@Home 2024 competition in the Open Platform League held in Eindhoven, NL. Further, we describe our hardware setup and give an overview of the results for the task stages and the final demonstration. For this year's competition, we put a special emphasis on open-vocabulary object segmentation and grasping approaches that overcome the labeling overhead of supervised vision approaches, commonly used in RoboCup@Home. We successfully demonstrated that we can segment and grasp non-labeled objects by text descriptions. Further, we extensively employed Large Language Models (LLMs) for natural language understanding and task planning. Throughout the competition, our approaches showed robustness and generalization capabilities. A video of our performance can be found online. Copyright © 2024, The Authors. All rights reserved.

关键词： Anthropomorphic robots

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XMeta-OS: A Conceptual Framework for Unified Resource Management in Distributed Edge-Cloud Environments 3rd

XMeta-OS: A Conceptual Framework for Unified Resource Manag...

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3rd International Conference on Advances in Computing Research, ACR 2025

作者： Zacharioudakis, Eleftherios Kakoulli, Elena Evripidou, Salomi Intelligent Systems Laboratory Department of Computer Science Neapolis University Pafos Pafos Cyprus National Technical University of Ukraine Igor Sikorsky Kyiv Polytechnic Institute Kyiv Ukraine Electrical Engineering and Computer Engineering and Informatics Cyprus University of Technology Limassol Cyprus

ISBN: (纸本)9783031876462

This paper introduces XMeta-OS, a meta-operating system specially designed with Linux as its foundation to unify and optimize resource management for the distributed edge-cloud when dynamic use of GPU resources is possible. This approach offer a new GPU abstraction layer and dynamic edge-cloud allocation model that offer enhanced flexibility and resource utilization over existing systems like Kubernetes and OpenStack. By using likely sensitive data, the model applied cloud-pushed deployment model. XMeta-OS manages computer resources in real-time. Therefore, fulfilling high performance various needs. It allocates CPU and GPU in real-time to workloads requiring massive parallel processing, such as machine learning, scientific simulations, real-time data analytics, and transportation tasks. Fabrication in the laboratory of an edge-cloud environment can help to assess the scalability, fault tolerance and efficiency of the system. It showcases the overall architectural design of XMeta-OS. Changes to the kernel and security solutions for safe and effective distribution are suggested. This article presents the design of the XMeta-OS. The future of XMeta-OS entails usage and testing with which we see latency, energy, computation and other such measurements in labs. XMeta-OS is a solution to cost performance, emerging application, large-scale edge-cloud deployments, and distributed GPU-enabled infrastructures. Meta-Operating System in Edge-Cloud Continuum for dynamic resource management of GPU. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Cluster computing

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One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion 8

One Policy to Run Them All: an End-to-end Learning Approach ...

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8th Conference on Robot Learning, CoRL 2024

作者： Bohlinger, Nico Czechmanowski, Grzegorz Krupka, Maciej Kicki, Piotr Walas, Krzysztof Peters, Jan Tateo, Davide Department of Computer Science Technical University of Darmstadt Germany Institute of Robotics and Machine Intelligence Poznan University of Technology Poland Research Department: Systems AI for Robot Learning Germany IDEAS NCBR Warsaw Poland Hessian.AI Germany Centre for Cognitive Science Germany

Deep Reinforcement Learning techniques are achieving state-of-the-art results in robust legged locomotion. While there exists a wide variety of legged platforms such as quadruped, humanoids, and hexapods, the field is still missing a single learning framework that can control all these different embodiments easily and effectively and possibly transfer, zero or few-shot, to unseen robot embodiments. We introduce URMA, the Unified Robot Morphology Architecture, to close this gap. Our framework brings the end-to-end Multi-Task Reinforcement Learning approach to the realm of legged robots, enabling the learned policy to control any type of robot morphology. The key idea of our method is to allow the network to learn an abstract locomotion controller that can be seamlessly shared between embodiments thanks to our morphology-agnostic encoders and decoders. This flexible architecture can be seen as a potential first step in building a foundation model for legged robot locomotion. Our experiments show that URMA can learn a locomotion policy on multiple embodiments that can be easily transferred to unseen robot platforms in simulation and the real world. © 2024 Proceedings of Machine Learning Research.

关键词： Deep reinforcement learning

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Nonlinear Model Predictive Control for Optimal Dose Administration in Radiotherapy 15th

Nonlinear Model Predictive Control for Optimal Dose Administ...

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15th Advanced Doctoral Conference on Computing, Electrical and Industrial systems, DoCEIS 2024

作者： Araújo, João C. G. Guerreiro, Bruno J. Oliveira, Luis B. da Silva, Filipe Ferreira CTS-UNINOVA and LASI Department of Electrical and Computer Engineering NOVA School of Science and Technology Caparica2829-516 Portugal Institute for Systems and Robotics LARSyS Lisbon1049-001 Portugal CEFITEC Department of Physics NOVA School of Science and Technology Caparica2829-516 Portugal

ISBN: (纸本)9783031638503

This work discusses the nonlinear modeling of healthy and cancer cell population growth under the influence of radiotherapy, and proposes predictive control techniques to determine the optimal dose for tumor control, while sparing surrounding healthy tissue. Radiation effects are modelled by a linear-quadratic formalism, coupled with a novel population-specific delayed dose response. Numerical simulations of the open- and closed-loop system are conducted, and robustness against model uncertainty is studied. Results illustrate the controller’s performance when dealing with imperfect information and unexpected system behavior, and how it can be tuned to produce the desired treatment outcome. However, optimal operation is conditioned by a limited prediction horizon, as well as strict adherence to treatment schedules and dose restrictions. © IFIP International Federation for Information Processing 2024.

关键词： Nonlinear systems

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Fault Diagnostic Opportunities for Robot Servo Motors Using the Physics of Failure Analysis 14

Fault Diagnostic Opportunities for Robot Servo Motors Using ...

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14th International Conference on Reliability, Maintainability and Safety, ICRMS 2023

作者： Zhang, Bo Liang, Shan Wang, Kai Key Laboratory of Networked Control Systems Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China College of Computer Science and Technology University of Chemical Technology Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350329988

Joint robots are widely used in various industries, such as aviation, aerospace, and automotive manufacturing. The performance degradation of servo motors can significantly affect the overall performance of the robots because of the core component of joint robots, and therefore, it is critical to detect and address servo motor failures promptly. In this study, we analyze some common causes and mechanisms of performance degradation in robot servo motors using the physics of failure analysis. We also discuss strategies for detecting and diagnosing faults using these mechanisms before the servo motors fail completely. © 2023 IEEE.

关键词： Servomotors

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