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Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning

IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 47-63页

作者： Yongliang Yang Zihao Ding Rui Wang Hamidreza Modares Donald C.Wunsch Key Laboratory of Knowledge Automation for Industrial Processes Ministry of Education School of Automation&Electrical EngineeringUniversity of Science and Technology BeijingBeijing 100083China School of Automation Beijng Institute TechnologyBeijing 100081China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Mechanical Engineering Department Michigan State UniversityEast LansingMI 48824 USA Department of Electrical&Computer Engineering Missouri University of Science&TechnologyRollaMO 65401 USA

In this paper,we present a novel data-driven design method for the human-robot interaction(HRI)system,where a given task is achieved by cooperation between the human and the *** presented HRI controller design is a two-level control design approach consisting of a task-oriented performance optimization design and a plant-oriented impedance controller *** task-oriented design minimizes the human effort and guarantees the perfect task tracking in the outer-loop,while the plant-oriented achieves the desired impedance from the human to the robot manipulator end-effector in the ***-driven reinforcement learning techniques are used for performance optimization in the outer-loop to assign the optimal impedance *** the inner-loop,a velocity-free filter is designed to avoid the requirement of end-effector velocity *** this basis,an adaptive controller is designed to achieve the desired impedance of the robot manipulator in the task *** simulation and experiment of a robot manipulator are conducted to verify the efficacy of the presented HRI design framework.

关键词： Adaptive impedance control data-driven method human-robot interaction(HRI) reinforcement learning velocity-free

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Fixed-Time Convergent control Barrier Functions for Coupled Multi-Agent Systems under STL Tasks

Fixed-Time Convergent Control Barrier Functions for Coupled ...

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2021 European control Conference, ECC 2021

作者： Sharifi, Maryam Dimarogonas, Dimos V. KTH Royal Institute of Technology School of Electrical Engineering and Computer Science Department of Automatic Control Stockholm Sweden

ISBN: (纸本)9789463842365

This paper presents a control strategy based on a new notion of time-varying fixed-time convergent control barrier functions (TFCBFs) for a class of coupled multi-agent systems under signal temporal logic (STL) tasks. In this framework, each agent is assigned a local STL task regradless of the tasks of other agents. Each task may be dependent on the behavior of other agents which may cause conflicts on the satisfaction of all tasks. Our approach finds a robust solution to guarantee the fixed-time satisfaction of STL tasks in a least violating way and independent of the agents' initial condition in the presence of undesired violation effects of the neighbor agents. Particularly, the robust performance of the task satisfactions can be adjusted in a user-specified way. © 2021 EUCA.

关键词： Multi agent systems

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Kernel-Guided Texture-Aware Blind Super-Resolution via Uncertainty Learning

Kernel-Guided Texture-Aware Blind Super-Resolution via Uncer...

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IEEE International Symposium on Information (IT) in Medicine and Education, ITME

作者： Tingting Zhao Zuoyong Li Li Quan Kun Zeng Shenghua Teng College of Electronic and Information Engineering Shandong University of Science and Technology Qingdao China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control College of Computer and Control Engineering Minjiang University Fuzhou China College of Computer Science and Big Data Fuzhou University Fuzhou China

The accuracy of kernel estimation is critical to the performance of blind super-resolution (SR). Traditional kernel estimation methods usually use L1 or L2 loss function to minimize the difference between the estimated kernel and the ground-truth kernel. This tends to make the estimated kernel converge towards the average of all possible kernels, deviating from the ground-truth kernel. To improve the performance of kernel estimation, this paper proposes an uncertainty loss for training a kernel estimation network, focusing on regions with high uncertainty (variance) in the kernel. In addition, a texture-aware SR network is proposed that utilizes the Gumbel Softmax trick to pay more attention to the complex regions of the image texture, thus improving the SR performance. Extensive experiments on synthetic datasets show that our approach achieves promising performance.

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Exploiting Inductive Bias in Transformer for Point Cloud Classification and Segmentation

Exploiting Inductive Bias in Transformer for Point Cloud Cla...

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IEEE International Conference on Multimedia and Expo Workshops (ICMEW)

作者： Zihao Li Pan Gao Hui Yuan Ran Wei Manoranjan Paul College of Computer Science and Technology Nanjing University of Aeronautics and Astronautics Nanjing School of Control Science and Engineering Shandong University Jinan Science and Technology on Electro-optic Control Laboratory Luoyang Charles Sturt University Bathurst

Discovering inter-point connection for efficient high-dimensional feature extraction from point coordinate is a key challenge in processing point cloud. Most existing methods focus on designing efficient local feature extractors while ignoring global connection, or vice versa. In this paper, we design a new Inductive Bias-aided Transformer (IBT) method to learn 3D inter-point relations, which considers both local and global attentions. Specifically, considering local spatial coherence, local feature learning is performed through Relative Position Encoding and Attentive Feature Pooling. We incorporate the learned locality into the Transformer module. The local feature affects value component in Transformer to modulate the relationship between channels of each point, which can enhance self-attention mechanism with locality based channel interaction. We demonstrate its superiority experimentally on classification and segmentation tasks. The code is available at: https://***/jiamang/IBT

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DialogNTM: Context Reconstruction in Multi-Turn Dialogue Generation using Neural Turing Machines

DialogNTM: Context Reconstruction in Multi-Turn Dialogue Gen...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Haohao Zhao Meiling Liu Jiyun Zhou Kaiquan Fu College of Computer and Control Engineering Northeast Forestry University Harbin China Lieber Institute Johns Hopkins University Baltimore USA Department of Electrical Engineering and Computer Science South Dakota State University Brookings South Dakota USA

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

In actual conversational scenarios, we can often determine which parts of the previous dialogue are more critical based on the current inquiry. However, the existing contextual modeling methods often encode the query sentence and the dialogue history in a unified manner, which fails to effectively highlight the inference effect of the query sentence. Moreover, these methods typically process the dialogue history only at the information extraction level, neglecting the treatment of the context itself. In this paper, we propose a novel conversational context modeling technique called DialogNTM. Based on the guidance of the query sentence, the technology can effectively eliminate redundant information by reconstructing the representation of the context. Specifically, we have tweaked the memory and input flow of the Neural Turing Machine (NTM) to encode contextual information in memory and guide the read, write, and erase operations of memory through query sentence. This design simulates the human brain's dynamic retrieval and renewal mechanism of previous memories when dealing with current problems. We have conducted extensive experiments on three publicly available datasets to verify the effectiveness of the DialogNTM model. Compared to the benchmark model, DialogNTM showed significant performance improvements ranging from 11% to 73% across multiple automated evaluation metrics (3.52% to 8.68% in absolute terms).

关键词： Adaptation models Turing machines Text summarization Benchmark testing Brain modeling Information retrieval Distance measurement History Cybernetics Context modeling

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Analyses of cell-to-cell communication combining a heterogeneous deep ensemble framework and scoring approaches from single-cell RNA sequencing data

Analyses of cell-to-cell communication combining a heterogen...

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2022 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2022

作者： Peng, Lihong Yuan, Ruya Han, Chendi Tan, Jingwei Wang, Zhao Chen, Min Chen, Xing Hunan University of Technology School of Computer Science Zhuzhou China China University of Mining and Technology School of Information and Control Engineering Xuzhou China Hunan Institute of Technology School of Computer Science Hengyang China Artificial Intelligence Research Institute China University of Mining and Technology Xuzhou China

ISBN: (纸本)9781665468190

Cell-to-cell communication (CCC) plays essential roles in multicellular organisms. the identification of CCC between cancer cells themselves and one between cancer cells and normal cells in tumor microenvironment contributes to the understanding of carcinogenesis, cancer development and metastasis. CCC is usually mediated by Ligand-Receptor Interactions (LRIs). In this manuscript, we developed an LRI-mediated CCC estimation framework (LRI-EnABCLG) by incorporating LRI collection, prediction and filtering, CCC inference and visualization. First, four LRI datasets were collected. Second, LRIs were predicted by a heterogeneous deep ensemble model. Third, LRIs were filtered by combining single-cell sequencing (scRNA-seq) data. Fourth, CCC was inferred by combining the filtered LRIs and scRNA-seq data. Finally, the proposed CCC prediction framework was applied to CCC analysis in colorectal tumor tissues. Our proposed LRI-EnABCLG model obtained better LRI prediction performance. Case study demonstrated that fibroblasts was more likely to communicate with colorectal cancer cells, which was in accord with the results from iTALK (a classical CCC analysis pipeline). We anticipate that this work can contribute to diagnosis and treatment of cancers. © 2022 IEEE.

关键词： Cancer cells

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You Can Mask More For Extremely Low-Bitrate Image Compression

arXiv

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arXiv 2023年

作者： Li, Anqi Li, Feng Han, Jiaxin Bai, Huihui Cong, Runmin Zhang, Chunjie Wang, Meng Lin, Weisi Zhao, Yao Institute of Information Science Beijing Jiaotong University China Beijing Key Laboratory of Advanced Information Science and Network Technology China School of Computer Science and Engineering Hefei University of Technology China School of Control Science and Engineering Shandong University China School of Computer Science and Engineering Nanyang Technological University Singapore

Learned image compression (LIC) methods have experienced significant progress during recent years. However, these methods are primarily dedicated to optimizing the rate-distortion (R-D) performance at medium and high bitrates (> 0.1 bits per pixel (bpp)), while research on extremely low bitrates is limited. Besides, existing methods fail to explicitly explore the image structure and texture components crucial for image compression, treating them equally alongside uninformative components in networks. This can cause severe perceptual quality degradation, especially under low-bitrate scenarios. In this work, inspired by the success of pre-trained masked autoencoders (MAE) in many downstream tasks, we propose to rethink its mask sampling strategy from structure and texture perspectives for high redundancy reduction and discriminative feature representation, further unleashing the potential of LIC methods. Therefore, we present a dual-adaptive masking approach (DA-Mask) that samples visible patches based on the structure and texture distributions of original images. We combine DA-Mask and pre-trained MAE in masked image modeling (MIM) as an initial compressor that abstracts informative semantic context and texture representations. Such a pipeline can well cooperate with LIC networks to achieve further secondary compression while preserving promising reconstruction quality. Consequently, we propose a simple yet effective masked compression model (MCM), the first framework that unifies MIM and LIC end-to-end for extremely low-bitrate image compression. Extensive experiments have demonstrated that our approach outperforms recent state-of-the-art methods in R-D performance, visual quality, and downstream applications, at very low bitrates. Our code is available at https://***/lianqi1008/***. Copyright © 2023, The Authors. All rights reserved.

关键词： Image compression

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MEST: Multi-plane Embedding and Spatial-temporal Transformer for Parkinson's disease diagnosis

MEST: Multi-plane Embedding and Spatial-temporal Transformer...

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2022 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2022

作者： Liu, Jin Du, Hao Bi, Qian Liao, Haiyan Pan, Yi Central South University School of Computer Science and Engineering Changsha China Hunan Frist Normal University School of Mathematics and Statistics Changsha China Central South University Department of Radiology The Second Xiangya Hospital Changsha China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Faculty of Computer Science and Control Engineering Shenzhen China

ISBN: (纸本)9781665468190

Parkinson's disease (PD) is a common neurodegenerative disorder that impairs the patient's quality of life. Medical imaging technology has provided a variety of neuroimages for PD diagnosis studies. However, how to effectively integrate the rich representations from multi-modality data is still a challenging task. To address this challenging task, we propose a multiplane embedding and spatial-temporal Transformer (MEST) framework for PD diagnosis. Firstly, we project structural magnetic resonance imaging (sMRI) into 2D images from coronal, sagittal and axial directions, respectively. Then, the multi-plane dynamic images are learned by pre-trained VGG11 and attention mechanism for representation learning. Afterwards, time series information of functional magnetic resonance imaging (fMRI) is used to construct dynamic functional connection images. To capture information changes in brain, spatial-temporal connectivity Transformer (SCTransformer) is utilized to address spatial-temporal redundancy and dependencies. To integrate multimodality data, ensemble learning is designed based on majority voting strategy to perform PD diagnosis. We evaluate the proposed method on 279 subjects from an in-house and Parkinsons Progression Markers Initiative (PPMI) dataset. Experimental results show that the MEST achieves promising performance with accuracies of 0.856 and 0.885, and outperforms some state-of-the-art methods. © 2022 IEEE.

关键词： Embeddings

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RBP-Former: Joint Prediction of RNA-protein Binding Sites on Full-length RNA Transcripts for Multiple RBPs

RBP-Former: Joint Prediction of RNA-protein Binding Sites on...

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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Li, Yichong Liu, Xiaojian Cheng, Fan Pan, Xiaoyong Yang, Yang Shanghai Jiao Tong University Department of Computer Science and Engineering Shanghai200240 China Shanghai Jiao Tong University Institute of Image Processing and Pattern Recognition Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering Shanghai200240 China

ISBN: (纸本)9798350386226

RNA-binding proteins (RBPs) are essential for gene expression, and the complex RNA-protein interaction mechanisms require analysis of global RNA information. Therefore, accurate prediction of RBP binding sites on full-length RNA transcripts is crucial for understanding these mechanisms and their roles in diseases. While machine learning methods can predict RBP binding to RNA fragments, extending this to full-length transcripts presents challenges due to sequence length and data imbalance. In this paper, we introduce RBP-Former, a binding site joint prediction model designed specifically for full-length RNA transcripts that can be used for multiple RBPs. This model processes information at both coarse and fine-grained levels to fully exploit sequence data and its interactions with multiple RBPs. We develop multi-level imbalance learning strategies, achieving favorable results on imbalanced data. Our method outperforms existing methods in predicting binding sites on full-length RNA transcripts for multiple RBPs, demonstrating its effectiveness in handling imbalanced label and sample distributions. © 2024 IEEE.

关键词： Binding sites

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Identifiability and Solvability in Inverse Linear Quadratic Optimal control Problems

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Journal of Systems science & Complexity 2021年第5期34卷 1840-1857页

作者： LI Yibei WAHLBERG Bo HU Xiaoming Optimization and Systems Theory Department of MathematicsKTH Royal Institute of TechnologySE-10044StockholmSweden Division of Decision and Control School of Electrical Engineering and Computer ScienceKTH Royal Institute of TechnologySE-10044StockholmSweden

In this paper, the inverse linear quadratic(LQ) problem over finite time-horizon is *** the output observations of a dynamic process, the goal is to recover the corresponding LQ cost function. Firstly, by considering the inverse problem as an identification problem, its model structure is shown to be strictly globally identifiable under the assumption of system invertibility. Next, in the noiseless case a necessary and sufficient condition is proposed for the solvability of a positive semidefinite weighting matrix and its unique solution is obtained with two proposed algorithms under the condition of persistent excitation. Furthermore, a residual optimization problem is also formulated to solve a best-fit approximate cost function from sub-optimal observations. Finally, numerical simulations are used to demonstrate the effectiveness of the proposed methods.

关键词： Inverse optimal control linear quadratic regulators model identifiability

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