检索结果-内蒙古大学图书馆

arXiv 2024年

作者： Memmesheimer, Raphael Lenz, Christian Schwarz, Max Schreiber, Michael Behnke, Sven The Autonomous Intelligent Systems group Computer Science Institute VI - Intelligent Systems and Robotics Lamarr Institute for Machine Learning and Artificial Intelligence Center for Robotics University of Bonn Germany

We present a novel seated feet controller for handling 3 Degree of Freedom (DoF) aimed to control locomotion for telepresence robotics and virtual reality environments. Tilting the feet on two axes yields in forward, backward and sideways motion. In addition, a separate rotary joint allows for rotation around the vertical axis. Attached springs on all joints self-center the controller. The HTC Vive tracker is used to translate the trackers' orientation into locomotion commands. The proposed self-centering feet controller was used successfully for the ANA Avatar XPRIZE competition, where a naive operator traversed the robot through a longer distance, surpassing obstacles while solving various interaction and manipulation tasks in between. We publicly provide the models of the mostly 3D-printed feet controller for reproduction. Copyright © 2024, The Authors. All rights reserved.

关键词： Biped locomotion

来源：评论

学校读者我要写书评

暂无评论

DiffSSC: Semantic LiDAR Scan Completion using Denoising Diffusion Probabilistic Models

arXiv

引用

arXiv 2024年

作者： Cao, Helin Behnke, Sven The Autonomous Intelligent Systems group Computer Science Institute VI – Intelligent Systems and Robotics The Center for Robotics The Lamarr Institute for Machine Learning and Artificial Intelligence University of Bonn Germany

Perception systems play a crucial role in autonomous driving, incorporating multiple sensors and corresponding computer vision algorithms. 3D LiDAR sensors are widely used to capture sparse point clouds of the vehicle’s surroundings. However, such systems struggle to perceive occluded areas and gaps in the scene due to the sparsity of these point clouds and their lack of semantics. To address these challenges, Semantic Scene Completion (SSC) jointly predicts unobserved geometry and semantics in the scene given raw LiDAR measurements, aiming for a more complete scene representation. Building on promising results of diffusion models in image generation and super-resolution tasks, we propose their extension to SSC by implementing the noising and denoising diffusion processes in the point and semantic spaces individually. To control the generation, we employ semantic LiDAR point clouds as conditional input and design local and global regularization losses to stabilize the denoising process. We evaluate our approach on autonomous driving datasets and our approach outperforms the state-of-the-art for SSC. © 2024, CC BY.

关键词： Semantics

来源：评论

学校读者我要写书评

暂无评论

Grasp Anything: Combining Teacher-Augmented Policy Gradient learning with Instance Segmentation to Grasp Arbitrary Objects

arXiv

引用

arXiv 2024年

作者： Mosbach, Malte Behnke, Sven The Autonomous Intelligent Systems group Computer Science Institute VI - Intelligent Systems and Robotics The Center for Robotics The Lamarr Institute for Machine Learning and Artificial Intelligence University of Bonn Germany

Interactive grasping from clutter, akin to human dexterity, is one of the longest-standing problems in robot learning. Challenges stem from the intricacies of visual perception, the demand for precise motor skills, and the complex interplay between the two. In this work, we present Teacher-Augmented Policy Gradient (TAPG), a novel two-stage learning framework that synergizes reinforcement learning and policy distillation. After training a teacher policy to master the motor control based on object pose information, TAPG facilitates guided, yet adaptive, learning of a sensorimotor policy, based on object segmentation. We zero-shot transfer from simulation to a real robot by using Segment Anything Model for promptable object segmentation. Our trained policies adeptly grasp a wide variety of objects from cluttered scenarios in simulation and the real world based on human-understandable prompts. Furthermore, we show robust zero-shot transfer to novel objects. Videos of our experiments are available at https://***/grasp_anything. Copyright © 2024, The Authors. All rights reserved.

关键词： Distillation

来源：评论

学校读者我要写书评

暂无评论

Graph Convolutional Network Combined with Semantic Feature Guidance for Deep Clustering

引用

Tsinghua science and Technology 2022年第5期27卷 855-868页

作者： Junfen Chen Jie Han Xiangjie Meng Yan Li Haifeng Li Key Laboratory of Machine Learning and Computational Intelligence of Hebei Province the College of Mathematics and Information ScienceHebei UniversityBaoding 071002China School of Applied Mathematics Beijing Normal University ZhuhaiZhuhai 519087China Department of Computer Teaching Hebei UniversityBaoding 071002China

The performances of semisupervised clustering for unlabeled data are often superior to those of unsupervised learning,which indicates that semantic information attached to clusters can significantly improve feature representation *** a graph convolutional network(GCN),each node contains information about itself and its neighbors that is beneficial to common and unique features among *** these findings,we propose a deep clustering method based on GCN and semantic feature guidance(GFDC) in which a deep convolutional network is used as a feature generator,and a GCN with a softmax layer performs clustering ***,the diversity and amount of input information are enhanced to generate highly useful representations for downstream ***,the topological graph is constructed to express the spatial relationship of *** a pair of datasets,feature correspondence constraints are used to regularize clustering loss,and clustering outputs are iteratively *** external evaluation indicators,i.e.,clustering accuracy,normalized mutual information,and the adjusted Rand index,and an internal indicator,i.e., the Davidson-Bouldin index(DBI),are employed to evaluate clustering *** results on eight public datasets show that the GFDC algorithm is significantly better than the majority of competitive clustering methods,i.e.,its clustering accuracy is20% higher than the best clustering method on the United States Postal Service *** GFDC algorithm also has the highest accuracy on the smaller Amazon and Caltech ***,DBI indicates the dispersion of cluster distribution and compactness within the cluster.

关键词： self-supervised clustering graph convolutional network feature correspondence semantic feature guidance confusion matrix evaluation indicator

来源：评论

学校读者我要写书评

暂无评论

Music Genre Classification with AST Models: A Path to Emotional Resilience in Bengaluru

Music Genre Classification with AST Models: A Path to Emotio...

引用

Augmented intelligence and Sustainable Systems (ICAISS), International Conference on

作者： Roen Vishal Rao Sujitha Juliet Division of Data Science and Cyber Security Karunya Institute of Technology and Sciences Division of Artificial Intelligence and Machine Learning Karunya Institute of Technology and Sciences

ISBN: (数字)9798331507244

ISBN: (纸本)9798331507251

The great rise and demand for digital music being consumed in today’s world has created an urgent need for efficient genre classification in order to improve music recommendation to satisfy users. The research explores a music classification model leveraging the Audio Spectrogram Transformer (AST) and mel-spectrogram based feature extraction for efficient and accurate genre classification. The model is designed to address issues such as depression, addictive habits, life’s challenges and societal expectations among the youth in Bengaluru by providing personalized music therapy to enhance emotional resilience of the individual.

关键词： Accuracy Medical treatment Mental health Transformers Feature extraction Depression Spectrogram Recommender systems Resilience

来源：评论

学校读者我要写书评

暂无评论

Grasp Anything: Combining Teacher-Augmented Policy Gradient learning with Instance Segmentation to Grasp Arbitrary Objects

Grasp Anything: Combining Teacher-Augmented Policy Gradient ...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Malte Mosbach Sven Behnke Autonomous Intelligent Systems Group Computer Science Institute VI – Intelligent Systems and Robotics – and the Center for Robotics and the Lamarr Institute for Machine Learning and Artificial Intelligence University of Bonn Germany

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

关键词： Training Instance segmentation Motor drives Object segmentation Reinforcement learning Robot sensing systems Motors

来源：评论

学校读者我要写书评

暂无评论

MOTPose: Multi-object 6D Pose Estimation for Dynamic Video Sequences using Attention-based Temporal Fusion

arXiv

引用

arXiv 2024年

作者： Periyasamy, Arul Selvam Behnke, Sven the Autonomous Intelligent Systems group Computer Science Institute VI – Intelligent Systems and Robotics the Center for Robotics the Lamarr Institute for Machine Learning and Artificial Intelligence University of Bonn Germany

Cluttered bin-picking environments are challenging for pose estimation models. Despite the impressive progress enabled by deep learning, single-view RGB pose estimation models perform poorly in cluttered dynamic environments. Imbuing the rich temporal information contained in the video of scenes has the potential to enhance models’ ability to deal with the adverse effects of occlusion and the dynamic nature of the environments. Moreover, joint object detection and pose estimation models are better suited to leverage the co-dependent nature of the tasks for improving the accuracy of both tasks. To this end, we propose attention-based temporal fusion for multi-object 6D pose estimation that accumulates information across multiple frames of a video sequence. Our MOTPose method takes a sequence of images as input and performs joint object detection and pose estimation for all objects in one forward pass. It learns to aggregate both object embeddings and object parameters over multiple time steps using cross-attention-based fusion modules. We evaluate our method on the physically-realistic cluttered bin-picking dataset SynPick and the YCB-Video dataset and demonstrate improved pose estimation accuracy as well as better object detection accuracy. © 2024, CC BY.

关键词： Object detection

来源：评论

学校读者我要写书评

暂无评论

Insect classification and detection in field crops using modern machine learning techniques

引用

Information Processing in Agriculture 2021年第3期8卷 446-457页

作者： Thenmozhi Kasinathan Dakshayani Singaraju Srinivasulu Reddy Uyyala Machine Learning and Data Analytics Lab Centre of Excellence in Artificial IntelligenceDepartment of Computer ApplicationsNational Institute of TechnologyTiruchirappalliTiruchirappalli 620015Tamil NaduIndia

The agriculture sector has an immense potential to improve the requirement of food and supplies healthy and nutritious *** insect detection is a challenging task for farmers as a significant portion of the crops are damaged,and the quality is degraded due to the pest *** insect identification has the drawback of requiring well-trained tax-onomists to identify insects based on morphological features *** were conducted for classification on nine and 24 insect classes of Wang and Xie dataset using the shape features and applying machine learning techniques such as artificial neural net-works(ANN),support vector machine(SVM),k-nearest neighbors(KNN),naive bayes(NB)and convolutional neural network(CNN)*** paper presents the insect pest detec-tion algorithm that consists of foreground extraction and contour identification to detect the insects for Wang,Xie,Deng,and IP102 datasets in a highly complex *** 9-fold cross-validation was applied to improve the performance of the classification *** highest classification rate of 91.5%and 90%was achieved for nine and 24 class insects using the CNN *** detection performance was accomplished with less com-putation time for Wang,Xie,Deng,and IP102 datasets using insect pest detection *** comparison results with the state-of-the-art classification algorithms exhibited considerable improvement in classification accuracy,computation time perfor-mance while apply more efficiently in field crops to recognize the *** results of classification accuracy are used to recognize the crop insects in the early stages and reduce the time to enhance the crop yield and crop quality in agriculture.

关键词： Crop pest classification Crop insect detection Image processing machine learning Image segmentation

来源：评论

学校读者我要写书评

暂无评论

Rice Leaves Disease Diagnose Empowered with Transfer learning

引用

computer Systems science & Engineering 2022年第9期42卷 1001-1014页

作者： Nouh Sabri Elmitwally Maria Tariq Muhammad Adnan Khan Munir Ahmad Sagheer Abbas Fahad Mazaed Alotaibi College of Computer and Information Sciences Jouf UniversitySakaka72341Saudi Arabia Department of Computer Science Faculty of Computers and Artificial IntelligenceCairo University12613Egypt School of Computer Science National College of Business Administration and EconomicsLahore54000Pakistan Department of Computer Science Lahore Garrison UniversityLahore54000Pakistan Pattern Recognition and Machine Learning Lab Department of SoftwareGachon UniversitySeongnam13557Korea Department of Information System Faculty of Computing and Information TechnologyKing Abdulaziz UniversityJeddah21589Saudi Arabia

In the agricultural industry,rice infections have resulted in significant productivity and economic *** infections must be recognized early on to regulate and mitigate the effects of the *** diagnosis of disease severity effects or incidence can preserve production from quantitative and qualitative losses,reduce pesticide use,and boost ta country’s *** the health of a rice plant through its leaves is usually done as a manual ocular *** this manuscript,three rice plant diseases:Bacterial leaf blight,Brown spot,and Leaf smut,were identified using the Alexnet *** research shows that any reduction in rice plants will have a significant beneficial impact on alleviating global food hunger by increasing supply,lowering prices,and reducing production's environmental impact that affects the economy of any *** would be able to get more exact and faster results with this technology,allowing them to administer the most acceptable treatment *** Using Alex Net,the proposed approach achieved a 99.0%accuracy rate for diagnosing rice leaves disease.

关键词： Rice bacterial leaf blight brown spot leaf smut machine learning alexnet

来源：评论

学校读者我要写书评

暂无评论

AI-based sensor layout for predicting thermal deformations of CFRP machine tools

引用

CIRP Annals 2025年

作者： Finkeldey, Felix Kato, Makoto Wiederkehr, Petra Kakinuma, Yasuhiro Virtual Machining Department of Computer Science TU Dortmund University Dortmund Germany Lamarr Institute for Machine Learning and Artificial Intelligence Dortmund Germany Department of System Design Engineering Faculty of Science & Technology Keio University Yokohama Kohoku-ku Japan

Using data-based approaches, accurate predictions of thermal deformations, which can significantly affect the quality of manufactured components, can be enabled. However, a sufficient amount of data with maximised information content is necessary for efficient training. In this paper, an approach for optimising sensor configurations for predicting thermal deformations is presented. From initially 300 temperature sensors, the number of required sensors was significantly reduced while maintaining predictive accuracy. Furthermore, a pattern for sensor placement was identified, providing the potential for an efficient sensor layout that enables cost-effective data acquisition and improved monitoring of machining and wear progression of machine tool components. © 2025 The Authors

关键词： Metal working tools

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：