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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Qingtao Liu Yu Cui Qi Ye Zhengnan Sun Haoming Li Gaofeng Li Lin Shao Jiming Chen College of Control Science and Engineering Zhejiang University Hangzhou China Key Lab of CS&AUS Zhejiang Province College of Control Science and Engineering and the State Key Laboratory of Industrial Control Technology Zhejiang University Department of Computer Science National University of Singapore Singapore

Robotic dexterous grasping is a challenging problem due to the high degree of freedom (DoF) and complex contacts of multi-fingered robotic hands. Existing deep re-inforcement learning (DRL) based methods leverage human demonstrations to reduce sample complexity due to the high dimensional action space with dexterous grasping. However, less attention has been paid to hand-object interaction representations for high-level generalization. In this paper, we propose a novel geometric and spatial hand-object interaction representation, named DexRep, to capture object surface features and the spatial relations between hands and objects during grasping. DexRep comprises Occupancy Feature for rough shapes within sensing range by moving hands, Surface Feature for changing hand-object surface distances, and LocalGeo Feature for local geometric surface features most related to potential contacts. Based on the new representation, we propose a dexterous deep reinforcement learning method DexRepNet to learn a generalizable grasping policy. Experimental results show that our method outperforms baselines using existing representations for robotic grasping dramatically both in grasp success rate and convergence speed. It achieves a 93% grasping success rate on seen objects and higher than 80% grasping success rates on diverse objects of unseen categories in both simulation and real-world experiments.

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A Study on Impact-Aware Aerial Robots Colliding with the Environment at Non-Vanishing Speed

A Study on Impact-Aware Aerial Robots Colliding with the Env...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Gayatri Indukumar Alessandro Saccon Antonio Franchi Chiara Gabellieri Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede The Netherlands Department of Mechanical Engineering Eindhoven University of Technology Eindhoven The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

Enabling aerial robots to handle dynamic contacts happening at non-vanishing speeds can enlarge the range of their applications. In this work, we propose an impactaware strategy to allow aerial multirotor robots to recover from impacts. The method leverages a reactive strategy not requiring low-level changes to the motion controller commonly implemented onboard quadrotors, which might be not viable or not desirable for most users. Extensive simulation tests show that the proposed strategy considerably increases the tolerated velocity at impact in tasks in which the robot either picks an object up or collides against an object to clear its way. Preliminary experimental results using Crazyflie UAVs are also presented.

关键词： Trajectory tracking Dynamics Lead Autonomous aerial vehicles Stability analysis Robustness computer crashes Trajectory Robots Quadrotors

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A Survey of fMRI to Image Reconstruction

arXiv

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arXiv 2025年

作者： Guo, Weiyu Sun, Guoying He, Jianxiang Shao, Tong Wang, Shaoguang Chen, Ziyang Hong, Meisheng Sun, Ying Xiong, Hui Thrust of Artificial Intelligence The Hong Kong University of Science and Technology Guangzhou China College of Computer Science and Technology Harbin Institute of Technology Shenzhen China School of Control Science and Engineering Shandong University China

Functional magnetic resonance imaging (fMRI)based image reconstruction plays a pivotal role in decoding human perception, with applications in neuroscience and brain-computer interfaces. While recent advancements in deep learning and large-scale datasets have driven progress, challenges such as data scarcity, cross-subject variability, and low semantic consistency persist. To address these issues, we introduce the concept of fMRI-to-Image Learning (fMRI2Image) and present the first systematic review in this field. This review highlights key challenges, categorizes methodologies such as fMRI signal encoding, feature mapping, and image generator. Finally, promising research directions are proposed to advance this emerging frontier, providing a reference for future studies. © 2025, CC BY.

关键词： Image reconstruction

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Optimal Sensor Placement for Full-Set TDOA Localization Accounting for Sensor Location Errors

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Zhang, Chengjie Han, Xinyang Kong, He Ho, K.C. Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China University of Missouri Electrical Engineering and Computer Science Department ColumbiaMO65211 United States

The positioning accuracy of a signal source is influenced by where the sensors are deployed. Studies in the literature for the optimal sensor placement (OSP) of localization often ignore the presence of sensor position errors. In practice, however, it is impossible to place the sensors precisely at the desired locations. This work designs OSP by accounting for the presence of Gaussian sensor position errors that are independent and identically distributed (IID), with the full set of Time Difference of Arrival measurements corrupted by Gaussian IID noise. The criterion is the A-optimality equal to the trace of the source position Cramer-Rao Bound (CRB). We show that the presence of sensor position errors introduces a multiplication factor to the same criterion for the case without sensor position errors. The latter factor is dependent on the ratio of the sensor position error power to the range difference noise power but independent of the sensor positions, implying that the A-optimality OSP in the presence of sensor position errors is the same as in the absence. To our knowledge, this is the first time such results have been derived. Simulation studies validate the derived OSP, show the minimal OSP performance gap with sensor positioning error and without, and illustrate the better source localization accuracy by OSP. © 1965-2011 IEEE.

关键词： Cramer-Rao bounds

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Direct data-driven state-feedback control of general nonlinear systems

arXiv

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arXiv 2023年

作者： Verhoek, Chris Koelewijn, Patrick J.W. Haesaert, Sofie Tóth, Roland The Dept. of Electrical Engineering The Eindhoven University of Technology Netherlands The Institute for Computer Science and Control Budapest Hungary

Through the use of the Fundamental Lemma for linear systems, a direct data-driven state-feedback control synthesis method is presented for a rather general class of nonlinear (NL) systems. The core idea is to develop a data-driven representation of the so-called velocity-form, i.e., the time-difference dynamics, of the NL system, which is shown to admit a direct linear parameter-varying (LPV) representation. By applying the LPV extension of the Fundamental Lemma in this velocity domain, a state-feedback controller is directly synthesized to provide asymptotic stability and dissipativity of the velocity-form. By using realization theory, the synthesized controller is realized as a NL state-feedback law for the original unknown NL system with guarantees of universal shifted stability and dissipativity, i.e., stability and dissipativity w.r.t. any (forced) equilibrium point, of the closed-loop behavior. This is achieved by the use of a single sequence of data from the system and a predefined basis function set to span the scheduling map. The applicability of the results is demonstrated on a simulation example of an unbalanced disc. © 2023, CC BY-NC-SA.

关键词： Linear systems

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GCFAgg: Global and Cross-View Feature Aggregation for Multi-View Clustering

GCFAgg: Global and Cross-View Feature Aggregation for Multi-...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Weiqing Yan Yuanyang Zhang Chenlei Lv Chang Tang Guanghui Yue Liang Liao Weisi Lin School of Computer and Control Engineering Yantai University Yantai China School of Computer Science and Engineering Nanyang Technological University Singapore College of Computer Science and Software Engineering Shenzhen University Shenzhen China School of Computer China University of Geosciences Wuhan China School of Biomedical Engineering Health Science Center Shenzhen University Shenzhen China

Multi-view clustering can partition data samples into their categories by learning a consensus representation in unsupervised way and has received more and more attention in recent years. However, most existing deep clustering methods learn consensus representation or view-specific representations from multiple views via view-wise aggregation way, where they ignore structure relationship of all samples. In this paper, we propose a novel multi-view clustering network to address these problems, called Global and Cross-view Feature Aggregation for Multi-View Clustering (GCFAggMVC). Specifically, the consensus data presentation from multiple views is obtained via cross-sample and cross-view feature aggregation, which fully explores the complementary of similar samples. Moreover, we align the consensus representation and the view-specific representation by the structure-guided contrastive learning module, which makes the view-specific representations from different samples with high structure relationship similar. The proposed module is a flexible multi-view data representation module, which can be also embedded to the incomplete multi-view data clustering task via plugging our module into other frameworks. Extensive experiments show that the proposed method achieves excellent performance in both complete multi-view data clustering tasks and incomplete multi-view data clustering tasks.

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Integrating V2X solutions in intelligent green cities: an AI-driven point exchange system approach

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Neural Computing and Applications 2025年

作者： Talaat, Fatma M. Shaban, Warda M. ZainEldin, Hanaa Badawy, Mahmoud Elhosseini, Mostafa Faculty of Artificial Intelligence Kafrelsheikh University Kafrelsheikh Egypt Faculty of Computer Science & Engineering New Mansoura University Gamasa35712 Egypt Department of Communication and Electronics Engineering Nile Higher Institute for Engineering and Technology Mansoura Egypt Faculty of Artificial Intelligence and informatics Horus University New Damietta Egypt Computers and Control Systems Engineering Department Faculty of Engineering Mansoura University Mansoura35516 Egypt Computer Science and Information Department Applied College Taibah University Madinah42353 Saudi Arabia College of Computer Science and Engineering Taibah University Yanbu46421 Saudi Arabia

With rapid urbanization, smart cities have become essential for enhancing urban management and sustainability by integrating technological, social, and institutional innovations. Among these innovations, vehicle-to-everything (V2X) communications and electric vehicles (EVs) play a critical role in reducing carbon emissions and optimizing urban mobility. To address the existing gaps in holistic V2X integration, this paper presents a novel eco-assistive fog-based traffic management system (EAFTMS) that leverages a four-tier architecture (IoT, fog, cloud, and application) for scalable, real-time traffic optimization. A key innovation of this system is the AI-driven point exchange system (PES), designed to incentivize sustainable behaviors such as reducing unnecessary vehicle usage and promoting green lifestyle choices. Unlike conventional models, the proposed framework incorporates real-time behavioral monitoring, rewards-based sustainability programs, and V2X-enabled dynamic traffic control. Empirical validation demonstrates that EAFTMS outperforms existing models, including support vector regression (SVR), achieving a 30% reduction in latency, a 40% improvement in response time, a 25% increase in traffic flow efficiency, and a 35% reduction in CO2 emissions. These results highlight the framework’s potential to set new standards in intelligent green cities by offering scalable, practical, and environmentally impactful solutions to urban transportation challenges. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Urban transportation

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Detecting PLC Intrusions Using control Invariants

Detecting PLC Intrusions Using Control Invariants

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作者： Yang, Zeyu He, Liang Yu, Hua Zhao, Chengcheng Cheng, Peng Chen, Jiming Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China University of Colorado Department of Computer Science and Engineering DenverCO80204 United States

Programmable logic controllers (PLCs), i.e., the core of control systems, are well-known to be vulnerable to a variety of cyber attacks. To mitigate this issue, we design PLC-Sleuth, a novel noninvasive intrusion detection/localization system for PLCs, which is built on a set of control invariants - i.e., the correlations between sensor readings and the concomitantly triggered PLC commands - that exist pervasively in all control systems. Specifically, taking the system's supervisory control and data acquisition log as input, PLC-Sleuth abstracts/identifies the system's control invariants as a control graph using data-driven structure learning, and then monitors the weights of graph edges to detect anomalies thereof, which is in turn, a sign of intrusion. We have implemented and evaluated PLC-Sleuth using both a platform of ethanol distillation system (EDS) and a realistically simulated Tennessee Eastman (TE) process. The results show that PLC-Sleuth can: 1) identify control invariants with 100%/98.11% accuracy for EDS/TE;2) detect PLC intrusions with 98.33%/0.85 ‰ true/false positives (TPs/FPs) for EDS and 100%/0% TP/FP for TE;and 3) localize intrusions with 93.22%/96.76% accuracy for EDS/TE. © 2014 IEEE.

关键词： Ethanol

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Alzheimer’s Disease Diagnosis Based on Collaborative Learning Augmented Algorithms 18th

Alzheimer’s Disease Diagnosis Based on Collaborative Learn...

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18th Chinese Intelligent Systems Conference, CISC 2022

作者： Gao, Libin Hu, Zhongyi Li, Zuoyong Lu, Xingjin Li, Rui Tong, Yinsheng Lin, Dehou College of Computer Science and Aritificial Intelligence Wenzhou University Wenzhou325035 China Key Laboratory of Intelligent Image Processing and Analysis Wenzhou325035 China College of Computer and Control Engineering Minjiang University Fuzhou350108 China

ISBN: (纸本)9789811962028

In this study, a novel training method is innovatively proposed to address the problem of poor generalisation of trained models due to imbalance in Alzheimer’s disease (AD) data. The method alternates AD image data with dog and cat data from natural images for collaborative learning training across datasets, enhancing the generalisation ability of the models. At the same time, inspired by current work related to attention mechanisms under the field of computer vision, the model is reconstructed and an attention module is added to the model to further improve the accuracy of the model. The experimental results show that the method has good classification performance and provides new ideas for the diagnosis of other brain diseases. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Convolutional neural networks

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UPB at IberLEF-2023 AuTexTification: Detection of Machine-Generated Text using Transformer Ensembles

arXiv

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arXiv 2023年

作者： Preda, Andrei-Alexandru Cercel, Dumitru-Clementin Rebedea, Traian Chiru, Costin-Gabriel Computer Science and Engineering Department Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest060042 Romania

This paper describes the solutions submitted by the UPB team to the AuTexTification shared task, featured as part of IberLEF-2023. Our team participated in the first subtask, identifying text documents produced by large language models instead of humans. The organizers provided a bilingual dataset for this subtask, comprising English and Spanish texts covering multiple domains, such as legal texts, social media posts, and how-to articles. We experimented mostly with deep learning models based on Transformers, as well as training techniques such as multi-task learning and virtual adversarial training to obtain better results. We submitted three runs, two of which consisted of ensemble models. Our best-performing model achieved macro F1-scores of 66.63% on the English dataset and 67.10% on the Spanish dataset. © 2023, CC BY.

关键词： Deep learning

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