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LanCOPE: Language-Guided Category-Level Object Pose Estimation from a Single RGB Image

IEEE Robotics and Automation Letters 2025年第7期10卷 7555-7562页

作者： Yang, Hui Sun, Wei Liu, Jian Zheng, Jin Dai, Zhenqi Mian, Ajmal Hunan University National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Changsha 410082 China Central South University School of Architecture and Art Changsha 410082 China The University of Western Australia Department of Computer Science and Software Engineering 6009 WA Australia

Monocular RGB-based category-level object pose estimation is more practical and cost-effective for robotics. However, existing methods do not fully exploit the rich semantic and contextual information in multimodal data (e.g. language) that provides additional object attributes to guide the model in extracting category features more reliably. We propose a language-guided category-level object pose estimation method (LanCOPE), taking a single RGB image as input. Our method uses DINOv2 to recover depth from a single RGB image and converts it into point cloud to perceive the object's geometry. We then introduce language descriptions for the RGB image, estimated point cloud and overall scene to better guide the point cloud encoder and image encoder in learning category features. We develop a cross-modal differential perception feature fusion network to fuse multimodal features. This network employs a differential perception module to eliminate redundant information across different modalities, highlighting signifcant semantic differences and similarities. Furthermore, it uses a cross-attention mechanism to fuse the semantic information of the language and vision features, improving the overall perception. Finally, we design a denoising network based on the skip fusion transformer to recover the object pose accurately. Extensive experiments on REAL275 and Wild6D datasets show that LanCOPE achieves state-of-the-art performance. Our code is available at LanCOPE. © 2016 IEEE.

关键词： category-level object pose estimation languag RGB image

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Downstream-agnostic Adversarial Examples

Downstream-agnostic Adversarial Examples

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International Conference on computer Vision (ICCV)

作者： Ziqi Zhou Shengshan Hu Ruizhi Zhao Qian Wang Leo Yu Zhang Junhui Hou Hai Jin School of Cyber Science and Engineering Huazhong University of Science and Technology National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Hubei Key Laboratory of Distributed System Security Hubei Engineering Research Center on Big Data Security School of Cyber Science and Engineering Wuhan University School of Information and Communication Technology Griffith University Department of Computer Science City University of Hong Kong School of Computer Science and Technology Huazhong University of Science and Technology Cluster and Grid Computing Lab

Self-supervised learning usually uses a large amount of unlabeled data to pre-train an encoder which can be used as a general-purpose feature extractor, such that downstream users only need to perform fine-tuning operations to enjoy the benefit of "large model". Despite this promising prospect, the security of pre-trained encoder has not been thoroughly investigated yet, especially when the pre-trained encoder is publicly available for commercial *** this paper, we propose AdvEncoder, the first framework for generating downstream-agnostic universal adversarial examples based on the pre-trained encoder. AdvEncoder aims to construct a universal adversarial perturbation or patch for a set of natural images that can fool all the downstream tasks inheriting the victim pre-trained encoder. Unlike traditional adversarial example works, the pre-trained encoder only outputs feature vectors rather than classification labels. Therefore, we first exploit the high frequency component information of the image to guide the generation of adversarial examples. Then we design a generative attack framework to construct adversarial perturbations/patches by learning the distribution of the attack surrogate dataset to improve their attack success rates and transferability. Our results show that an attacker can successfully attack downstream tasks without knowing either the pre-training dataset or the downstream dataset. We also tailor four defenses for pre-trained encoders, the results of which further prove the attack ability of AdvEncoder. Our codes are available at: https://***/CGCL-codes/AdvEncoder.

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Optimal Routing and Link Configuration for Covert Heterogeneous Wireless Networks

arXiv

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arXiv 2024年

作者： Gillani, Amna Lorenzo, Beatriz Ghaderi, Majid Dagefu, Fikadu Goeckel, Dennis Department of Electrical and Computer Engineering University of Massachusetts Amherst AmherstMA01003 United States Department of Computer Science University of Calgary CalgaryABT2N 1N4 Canada Army Research Laboratory AdelphiMD20783 United States

Nodes in contemporary radio networks often have multiple interfaces available for communication: WiFi, cellular, LoRa, Zigbee, etc. This motivates understanding both link and network configuration when multiple communication modalities with vastly different capabilities are available to each node. In conjunction, covertness or the hiding of radio communications is often a significant concern in both commercial and military wireless networks. We consider the optimal routing problem in wireless networks when nodes have multiple interfaces available and intend to hide the presence of the transmission from attentive and capable adversaries. We first consider the maximization of the route capacity given an end-to-end covertness constraint against a single adversary, and we find a polynomial-time algorithm for optimal route selection and link configuration. We further provide optimal polynomial-time algorithms for two important extensions: (i) statistical uncertainty during optimization about the channel state information for channels from system nodes to the adversary;and, (ii) maintaining covertness against multiple adversaries. Numerical results are included to demonstrate the gains of employing heterogeneous radio resources and to compare the performance of the proposed approach versus alternatives. Copyright © 2024, The Authors. All rights reserved.

关键词： Zigbee

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The growing memristor industry

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Nature 2025年第8059期640卷 613-622页

作者： Lanza, Mario Pazos, Sebastian Aguirre, Fernando Sebastian, Abu Le Gallo, Manuel Alam, Syed M. Ikegawa, Sumio Yang, J. Joshua Vianello, Elisa Chang, Meng-Fan Molas, Gabriel Naveh, Ishai Ielmini, Daniele Liu, Ming Roldan, Juan B. Department of Materials Science and Engineering National University of Singapore Singapore Singapore Institute for Functional Intelligent Materials National University of Singapore Singapore Singapore Centre for Advanced 2D Materials (CA2DM) National University of Singapore Singapore Singapore Materials Science and Engineering Program Physical Science and Engineering Division King Abdullah University of Science and Technology (KAUST) Thuwal Saudi Arabia Intrinsic Semiconductor Technologies London United Kingdom IBM Research – Zurich Rüschlikon Switzerland Everspin Technologies Chandler AZ United States Department of Electrical and Computer Engineering University of Southern California Los Angeles CA United States CEA-Leti Université Grenoble Alpes Grenoble France Department of Electrical Engineering National Tsing Hua University Hsinchu Taiwan Weebit Nano Hod Hasharon Israel Dipartimento di Elettronica Informazione e Bioingegneria (DEIB) Politecnico di Milano and *** Milano Italy Key Laboratory of Microelectronic Devices and Integrated Technology Institute of Microelectronics Chinese Academy of Sciences Beijing China Departamento de Electrónica y Tecnología de Computadores Universidad de Granada Facultad de Ciencias Granada Spain

The semiconductor industry is experiencing an accelerated transformation to overcome the scaling limits of the transistor and to adapt to new requirements in terms of data storage and computation, especially driven by artificial intelligence applications and the Internet of Things. In this process, new materials, devices, integration strategies and system architectures are being developed and optimized. Among them, memristive devices and circuits—memristors are two-terminal memory devices that can also mimic some basic bioelectronic functions—offer a potential approach to create more compact, energy-efficient or better-performing systems. The memristor industry is growing quickly, raising abundant capital investment, creating new jobs and placing advanced products in the market. Here we analyse the status and prospects of the memristor industry, focusing on memristor-based products that are already commercially available, prototypes with a high technological readiness level that might affect the market in the near future, and discuss obstacles and pathways to their implementation. © Springer Nature Limited 2025.

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Robin: A Novel Method to Produce Robust Interpreters for Deep Learning-Based Code Classifiers

arXiv

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arXiv 2023年

作者： Li, Zhen Zhang, Ruqian Zou, Deqing Wang, Ning Li, Yating Xu, Shouhuai Chen, Chen Jin, Hai National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Hubei Key Laboratory of Distributed System Security Hubei Engineering Research Center on Big Data Security Cluster and Grid Computing Lab China School of Cyber Science and Engineering Huazhong University of Science and Technology Wuhan430074 China Department of Computer Science University of Colorado Colorado Springs United States Center for Research in Computer Vision University of Central Florida United States School of Computer Science and Technology Huazhong University of Science and Technology Wuhan430074 China

Deep learning has been widely used in source code classification tasks, such as code classification according to their functionalities, code authorship attribution, and vulnerability detection. Unfortunately, the black-box nature of deep learning makes it hard to interpret and understand why a classifier (i.e., classification model) makes a particular prediction on a given example. This lack of interpretability (or explainability) might have hindered their adoption by practitioners because it is not clear when they should or should not trust a classifier's prediction. The lack of interpretability has motivated a number of studies in recent years. However, existing methods are neither robust nor able to cope with out-of-distribution examples. In this paper, we propose a novel method to produce Robust interpreters for a given deep learning-based code classifier;the method is dubbed Robin. The key idea behind Robin is a novel hybrid structure combining an interpreter and two approximators, while leveraging the ideas of adversarial training and data augmentation. Experimental results show that on average the interpreter produced by Robin achieves a 6.11% higher fidelity (evaluated on the classifier), 67.22% higher fidelity (evaluated on the approximator), and 15.87x higher robustness than that of the three existing interpreters we evaluated. Moreover, the interpreter is 47.31% less affected by out-of-distribution examples than that of LEMNA. Copyright © 2023, The Authors. All rights reserved.

关键词： Deep learning

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Communication-Efficient Large-Scale Distributed Deep Learning: A Comprehensive Survey

arXiv

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arXiv 2024年

作者： Liang, Feng Zhang, Zhen Lu, Haifeng Leung, Victor C.M. Guo, Yanyi Hu, Xiping Artificial Intelligence Research Institute Shenzhen MSU-BIT University Shenzhen518000 China Guangdong-Hong Kong-Macao Joint Laboratory for Emotional Intelligence and Pervasive Computing Shenzhen MSU-BIT University Shenzhen518107 China Gansu Provincial Key Laboratory of Wearable Computing School of information Science and Engineering Lanzhou University Gansu730000 China The Department of Electrical and Computer Engineering The University of British Columbia Vancouver Canada Frontier Cross Disciplinary Research Institute Shenzhen MSU-BIT University Shenzhen518000 China The School of Mechanical and Electrical Engineering Beijing Institute of Technology Beijing10081 China

With the rapid growth in the volume of data sets, models, and devices in the domain of deep learning, there is increasing attention on large-scale distributed deep learning. In contrast to traditional distributed deep learning, the large-scale scenario poses new challenges that include fault tolerance, scalability of algorithms and infrastructures, and heterogeneity in data sets, models, and resources. Due to intensive synchronization of models and sharing of data across GPUs and computing nodes during distributed training and inference processes, communication efficiency becomes the bottleneck for achieving high performance at a large scale. This article surveys the literature over the period of 2018-2023 on algorithms and technologies aimed at achieving efficient communication in large-scale distributed DL at various levels, including algorithms, frameworks, and infrastructures. Specifically, we first introduce efficient algorithms for model synchronization and communication data compression in the context of large-scale distributed training. Next, we introduce efficient strategies related to resource allocation and task scheduling for use in distributed training and inference. After that, we present the latest technologies pertaining to modern communication infrastructures used in distributed deep learning, including GPU interconnects, programmable network devices, collective communication protocols, and communication topologies. We focus our discussion of these topics on examining the impact of the communication overhead in a large-scale and heterogeneous setting. Finally, we conduct a case study on the distributed training of large language models at a large scale to illustrate how to apply these technologies in real cases. This article aims to offer researchers a comprehensive understanding of the current landscape of large-scale distributed deep learning and to reveal promising future research directions toward communication-efficient solutions in this scope.

关键词： Scalability

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Wavenumber Domain Sparse Channel Estimation in Holographic MIMO

Wavenumber Domain Sparse Channel Estimation in Holographic M...

引用

IEEE International Conference on Communications (ICC)

作者： Xufeng Guo Yuanbin Chen Ying Wang Zhaocheng Wang Zhu Han State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications Beijing China Department of Electronic Engineering Beijing National Research Center for Information Science and Technology Tsinghua University Beijing China Department of Electrical and Computer Engineering University of Houston Houston TX USA

ISBN: (数字)9781728190549

ISBN: (纸本)9781728190556

In this paper, we investigate the sparse channel estimation in holographic multiple-input multiple-output (HMIMO) systems. The conventional angular-domain representation fails to capture the continuous angular power spectrum characterized by the spatially -stationary electromagnetic random field, thus leading to the ambiguous detection of the significant angular power, which is referred to as the power leakage. To tackle this challenge, the HMIMO channel is represented in the wavenumber domain for exploring its cluster-dominated sparsity. Specifically, a finite set of Fourier harmonics acts as a series of sampling probes to encapsulate the integral of the power spectrum over specific angular regions. This technique effectively eliminates power leakage resulting from power mismatches induced by the use of discrete angular-domain probes. Next, the channel estimation problem is recast as a sparse recovery of the significant angular power spectrum over the continuous integration region. We then propose an accompanying graph-cut-based swap expansion (GCSE) algorithm to extract beneficial sparsity inherent in HMIMO channels. Numerical results demonstrate that this wavenumber-domain-based GCSE approach achieves robust performance with rapid convergence.

关键词： Computational modeling Simulation Channel estimation Clustering algorithms Power system harmonics Reflector antennas Sensors

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Correction to: A comprehensive performance evaluation of container migration strategies

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computing 2025年第4期107卷 1-2页

作者： Feitosa, Leonel Barbosa, Vandirleya Sabino, Arthur Lima, Luiz Nelson Fé, Iure Silva, Luis Guilherme Callou, Gustavo Carvalho, Juliana Leão, Erico Nguyen, Tuan Anh Rego, Paulo Silva, Francisco Airton Laboratory of Applied Research to Distributed Systems (PASID) Federal University of Piauí (UFPI) Picos Brazil Department of Computing Federal Rural University of Pernambuco (UFRPE) Recife Brazil Department of Software Engineering Faculty of Information Technology University of Industry and Trade (HUIT) Ho Chi Minh City Vietnam Department of Computer Science Federal University of Ceará (UFC) Fortaleza Brazil

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Dual-View Interaction-Aware Lane Change Prediction for Autonomous Driving 39

Dual-View Interaction-Aware Lane Change Prediction for Auton...

引用

39th Annual AAAI Conference on Artificial Intelligence, AAAI 2025

作者： Lu, Yuhuan Zhang, Zhen Bai, Rufan Liu, Han Wang, Wei Guangdong-Hong Kong-Macao Joint Laboratory for Emotional Intelligence and Pervasive Computing Artificial Intelligence Research Institute Shenzhen MSU-BIT University China Department of Computer and Information Science University of Macau Macao Department of Computer Science and Engineering Southeast University China School of Software Dalian University of Technology China School of Medical Technology Beijing Institute of Technology China

ISBN: (纸本)157735897X

As artificial intelligence techniques evolve, we are approaching a critical moment for the widespread deployment of autonomous vehicles. Subsequently, the emergence of mixed-autonomy traffic environments presents formidable challenges to autonomous vehicles, especially for the accurate prediction of lane change intentions of their surrounding human-driven vehicles, which is crucial for ensuring the safety of autonomous vehicles. Existing lane change prediction models mainly focus on capturing the temporal variations in the movement dynamics of individual vehicles. However, the neglect to consider inter-vehicle interactions hinders their capability in complex lane change scenarios, resulting in suboptimal prediction performance. Moreover, current interaction-aware approaches for autonomous driving fail to explicitly model future interactions between vehicles, leading to unreasonable prediction results that can cause collisions between vehicles. To address the above issues, we propose to incorporate the concept of perceived safety into future interaction modeling and design a dual-view interaction-aware lane change prediction model. We evaluate the proposed model on two real-world datasets and experimental results show that the proposed model achieves average improvements of 11.7-12.4% in classification ability and 75.6-95.7% in forecast ability over the best-performing baselines across the two datasets. The ablation study and investigation into future interaction modeling demonstrate that our model has advantages in interpreting lane change scenarios from a driving safety perspective. Copyright © 2025, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

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Speech Emotion Recognition: A Brief Review of Multi-modal Multi-task Learning Approaches

Speech Emotion Recognition: A Brief Review of Multi-modal Mu...

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International Conference on Advanced engineering Theory and Applications, AETA 2022

作者： Pham, Nhat Truong Tran, Anh-Tuan Pham, Bich Ngoc Hong Dang-Ngoc, Hanh Nguyen, Sy Dzung Dang, Duc Ngoc Minh Division of Computational Mechatronics Institute for Computational Science Ton Duc Thang University Ho Chi Minh City Viet Nam Faculty of Electrical and Electronics Engineering Ton Duc Thang University Ho Chi Minh City Viet Nam Faculty of Information Technology Ho Chi Minh City Open University Ho Chi Minh City Viet Nam Department of Telecommunications Engineering Ho Chi Minh City University of Technology Ho Chi Minh City Viet Nam Laboratory for Computational Mechatronics Institute for Computational Science and Artificial Intelligence Van Lang University Ho Chi Minh City Viet Nam Faculty of Mechanical–Electrical and Computer Engineering Van Lang University Ho Chi Minh City Viet Nam Computing Fundamental Department FPT University Ho Chi Minh Viet Nam

ISBN: (纸本)9789819987023

Speech emotion recognition (SER) has become an attention-grabbing topic in recent years thanks to the development of deep learning in the field of speech processing. However, it is difficult to recognize an accurate emotional state from only speech signals. Therefore, researchers have investigated multi-modalities such as speech, visual, and text inputs to improve the emotional recognition rate of speech. In addition, to enhance the generalized deep learning models for SER, multi-task learning (MTL) strategies have also been applied in the past decade. In this paper, a brief and comprehensive review of multi-modal multi-task learning (3MTL) approaches for recognizing emotional states from speech signals is presented, including multi-modal SER, multi-task learning SER, and multi-modal multi-task learning SER. This paper also discusses about some problems that still need to be solved in 3MTL SER and gives some suggestions for the future. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Emotion Recognition

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