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RGB-Based Category-Level Object Pose Estimation via Depth Recovery and Adaptive Refinement

IEEE Robotics and Automation Letters 2025年第6期10卷 5377-5384页

作者： Yang, Hui Sun, Wei Liu, Jian Zheng, Jin Zeng, Zhiwen Mian, Ajmal Hunan University National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering Changsha410082 China Hunan University State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Changsha410082 China Central South University School of Architecture and Art Changsha410082 China University of Western Australia Department of Computer Science and Software Engineering CrawleyWA6009 Australia

Category-level pose estimation methods have received widespread attention as they can be generalized to intra-class unseen objects. Although RGB-D-based category-level methods have made significant progress, reliance on depth image limits practical application. RGB-based methods offer a more practical and cost-effective solution. However, current RGB-based methods struggle with object geometry perception, leading to inaccurate pose estimation. We propose depth recovery and adaptive refinement for category-level object pose estimation from a single RGB image. We leverage DINOv2 to reconstruct the coarse scene-level depth from the input RGB image and propose an adaptive refinement network based on an encoder-decoder architecture to dynamically improve the predicted coarse depth and reduce its gap from the ground truth. We introduce a 2D–3D consistency loss to ensure correspondence between the point cloud obtained from depth projection and the objects in the 2D image. This consistency supervision enables the model to maintain alignment between the depth image and the point cloud. Finally, we extract features from the refined point cloud and feed them into two confidence-aware rotation regression branches and a translation and size prediction residual branch for end-to-end training. Decoupling the rotation matrix provides a more direct representation, which facilitates parameter optimization and gradient propagation. Extensive experiments on the REAL275 and CAMERA25 datasets demonstrate the superior performance of our method. Real-world estimation and robotic grasping experiments demonstrate our model robustness to occlusion, clutter environments, and low-textured objects. Our code and robotic grasping video are available at DA-Pose. © 2016 IEEE.

关键词： Depth perception

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HPC Application Parameter Autotuning on Edge Devices: A Bandit Learning Approach

arXiv

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arXiv 2025年

作者： Hossain, Abrar Badawy, Abdel-Hameed A. Islam, Mohammad A. Patki, Tapasya Ahmed, Kishwar Department of Electrical Engineering and Computer Science The University of Toledo United States Department of Electrical and Computer Engineering New Mexico State University United States Department of Computer Science and Engineering The University of Texas Arlington United States Center for Applied Scientific Computing Lawrence Livermore National Laboratory

The growing necessity for enhanced processing capabilities in edge devices with limited resources has led us to develop effective methods for improving high-performance computing (HPC) applications. In this paper, we introduce LASP (Lightweight Autotuning of Scientific Application Parameters), a novel strategy designed to address the parameter search space challenge in edge devices. Our strategy employs a multi-armed bandit (MAB) technique focused on online exploration and exploitation. Notably, LASP takes a dynamic approach, adapting seamlessly to changing environments. We tested LASP with four HPC applications: Lulesh, Kripke, Clomp, and Hypre. Its lightweight nature makes it particularly well-suited for resource-constrained edge devices. By employing the MAB framework to efficiently navigate the search space, we achieved significant performance improvements while adhering to the stringent computational limits of edge devices. Our experimental results demonstrate the effectiveness of LASP in optimizing parameter search on edge devices. © 2025, CC BY-NC-ND.

关键词： Edge computing

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Prophet: Conflict-Free Sharding Blockchain via Byzantine-Tolerant Deterministic Ordering 42

Prophet: Conflict-Free Sharding Blockchain via Byzantine-Tol...

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42nd IEEE International Conference on computer Communications, INFOCOM 2023

作者： Hong, Zicong Guo, Song Zhou, Enyuan Zhang, Jianting Chen, Wuhui Liang, Jinwen Zhang, Jie Zomaya, Albert The Hong Kong Polytechnic University Department of Computing Hong Kong The Hong Kong Polytechnic University Shenzhen Research Institute Hong Kong Purdue University Computer Science Department United States Sun Yat-sen University Pengcheng Laboratory School of Computer Science and Engineering Shenzhen China The University of Sydney School of Computer Science Australia

ISBN: (纸本)9798350334142

Sharding scales throughput by splitting blockchain nodes into parallel groups. However, different shards' independent and random scheduling for cross-shard transactions results in numerous conflicts and aborts, since cross-shard transactions from different shards may access the same account. A deterministic ordering can eliminate conflicts by determining a global order for transactions before processing, as proved in the database field. Unfortunately, due to the intertwining of the Byzantine environment and information isolation among shards, there is no trusted party able to predetermine such an order for cross-shard transactions. To tackle this challenge, this paper proposes Prophet, a conflict-free sharding blockchain based on Byzantine-tolerant deterministic ordering. It first depends on untrusted self-organizing coalitions of nodes from different shards to pre-execute cross-shard transactions for prerequisite information about ordering. It then determines a trusted global order based on stateless ordering and post-verification for pre-executed results, through shard cooperation. Following the order, the shards thus orderly execute and commit transactions without conflicts. Prophet orchestrates the pre-execution, ordering, and execution processes in the sharding consensus for minimal overhead. We rigorously prove the determinism and serializability of transactions under the Byzantine and sharded environment. An evaluation of our prototype shows that Prophet improves the throughput by 3.11× and achieves nearly no aborts on 1 million Ethereum transactions compared with state-of-the-art sharding. © 2023 IEEE.

关键词： Blockchain

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Optical polarized orthogonal matrix

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Photonics research 2025年第2期13卷 373-381页

作者： SHUJUN ZHENG JIAREN TAN XIANMIAO XU HONGJIE LIU YI YANG XIAO LIN XIAODI TAN Information Photonics Research Center College of Photonic and Electronic EngineeringFujian Normal University Department of Electrical and Computer Engineering Duke University College of Photonic and Electronic Engineering Key Laboratory of Opto-Electronic Science and for Medicine of Ministry of EducationFujian Provincial Key Laboratory of Photonics TechnologyFujian Provincial Engineering Technology Research Center of Photoelectric Sensing ApplicationFujian Normal University

Multiplexing technology serves as an effective approach to increase both information storage and transmission capability. However, when exploring multiplexing methods across various dimensions, the polarization dimension encounters limitations stemming from the finite orthogonal combinations. Given that only two mutually orthogonal polarizations are identifiable on the basic Poincaré sphere, this poses a hindrance to polarization modulation. To overcome this challenge, we propose a construction method for the optical polarized orthogonal matrix(OPOM), which is not constrained by the number of orthogonal combinations. Furthermore, we experimentally validate its application in high-dimensional multiplexing of polarization holography. We explore polarization holography technology, capable of recording amplitude, phase, and polarization, for the purpose of recording and selective reconstruction of polarization multi-channels. Our research reveals that, despite identical polarization states, multiple images can be independently manipulated within distinct polarization channels through orthogonal polarization combinations, owing to the orthogonal selectivity among information.

关键词： Multiplex holography Optical data storage Optical encryption Orbital angular momentum multiplexing Signal transmission Three dimensional displays

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Dynamics of self-hybridized exciton–polaritons in 2D halide perovskites

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Light(science & Applications) 2024年第1期13卷 13-22页

作者： Surendra B.Anantharaman Jason Lynch Christopher E.Stevens Christopher Munley Chentao Li Jin Hou Hao Zhang Andrew Torma Thomas Darlington Francis Coen Kevin Li Arka Majumdar PJames Schuck Aditya Mohite Hayk Harutyunyan Joshua R.Hendrickson Deep Jariwala Department of Electrical and Systems Engineering University of PennsylvaniaPhiladelphiaPA19104USA KBR Inc. BeavercreekOH45431USA Air Force Research Laboratory Sensors DirectorateWright-Patterson Air Force BaseOH45433USA Department of Physics University of WashingtonSeattleWA98195USA Department of Physics Emory UniversityAtlantaGA30322USA Department of Chemical and Biomolecular Engineering Rice UniversityHoustonTX77005USA Department of Materials Science and Nanoengineering Rice UniversityHoustonTX77005USA Applied Physics Program Smalley‐Curl InstituteRice UniversityHoustonTX77005USA Department of Mechanical Engineering Columbia UniversityNew YorkNY10027USA Department of Electrical and Computer Engineering University of WashingtonSeattleWA98195USA

Excitons,bound electron–hole pairs,in two-dimensional hybrid organic inorganic perovskites(2D HOIPs)are capable of forming hybrid light-matter states known as exciton-polaritons(E–Ps)when the excitonic medium is confined in an optical *** the case of 2D HOIPs,they can self-hybridize into E–Ps at specific thicknesses of the HOIP crystals that form a resonant optical cavity with the ***,the fundamental properties of these self-hybridized E–Ps in 2D HOIPs,including their role in ultrafast energy and/or charge transfer at interfaces,remain ***,we demonstrate that>0.5µm thick 2D HOIP crystals on Au substrates are capable of supporting multiple-orders of self-hybridized E–P *** E–Ps have high Q factors(>100)and modulate the optical dispersion for the crystal to enhance sub-gap absorption and *** varying excitation energy and ultrafast measurements,we also confirm energy transfer from higher energy E–Ps to lower energy E–***,we also demonstrate that E–Ps are capable of charge transport and transfer at *** findings provide new insights into charge and energy transfer in E–Ps opening new opportunities towards their manipulation for polaritonic devices.

关键词： charge polar excitation

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Encrypted Finite-Horizon Energy-to-Peak State Estimation for Time-Varying Systems Under Eavesdropping Attacks: Tackling Secrecy Capacity

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 985-996页

作者： Lei Zou Zidong Wang Bo Shen Hongli Dong Guoping Lu College of Information Science and Technology Donghua UniversityShanghai 201620 Engineering Research Center of Digitalized Textile and Fashion Technology Ministry of EducationShanghai 201620China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China Department of Computer Science Brunel University LondonUxbridgeMiddlesex UB83PHUK Intelligence Energy Research Institute Northeast Petroleum UniversityDaqing 163318 Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum UniversityDaqing 163318 Sanya Offshore Oil&Gas Research Institute Northeast Petroleum UniversitySanya 572024China School of Electrical Engineering Nantong UniversityNantong 226019China

This paper is concerned with the problem of finitehorizon energy-to-peak state estimation for a class of networked linear time-varying *** to the inherent vulnerability of network-based communication,the measurement signals transmitted over a communication network might be intercepted by potential *** avoid information leakage,by resorting to an artificial-noise-assisted method,we develop a novel encryption-decryption scheme to ensure that the transmitted signal is composed of the raw measurement and an artificial-noise term.A special evaluation index named secrecy capacity is employed to assess the information security of signal transmissions under the developed encryption-decryption *** purpose of the addressed problem is to design an encryptiondecryption scheme and a state estimator such that:1)the desired secrecy capacity is ensured;and 2)the required finite-horizon–l_(2)-l_(∞)performance is *** conditions are established on the existence of the encryption-decryption mechanism and the finite-horizon state ***,simulation results are proposed to show the effectiveness of our proposed encryption-decryption-based state estimation scheme.

关键词： Artificial-noise-assisted technique eavesdropping encryption-decryption scheme energy-to-peak state estimation finitehorizon state estimation

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Mechanism of Threshold Voltage Instability in Double Gate α-IGZO Nanosheet TFT under Bias and Temperature Stress

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IEEE Journal of the Electron Devices Society 2024年 12卷 464-471页

作者： Aslam, Muhammad Chang, Shu-Wei Chen, Yi-Ho Lee, Yao-Jen Li, Yiming Lee, Wen-Hsi Parallel and Scientific Computing Laboratory National Yang Ming Chiao Tung University Hsinchu300093 Taiwan Electrical Engineering and Computer Science International Graduate Program National Yang Ming Chiao Tung University Hsinchu300093 Taiwan Department of Electrical Engineering National Cheng Kung University Tainan City701401 Taiwan Institute of Pioneer Semiconductor Innovation Industry Academic Innovation School National Yang Ming Chiao Tung University Hsinchu300093 Taiwan Department of Electronics and Electrical Engineering National Yang Ming Chiao Tung University Hsinchu300093 Taiwan Institute of Communications Engineering National Yang Ming Chiao Tung University Hsinchu300093 Taiwan

Amorphous indium gallium zinc oxide (a-IGZO)-based thin film transistors (TFTs) are increasingly becoming popular because of their potential in futuristic applications, including CMOS technology. Given the demand for CMOS-compatible, ultra-scaled, reliable, and high-performing devices, we fabricate and analyze scaled-channel a-IGZO-TFTs with an optimal double-gate structure, a thin nanosheet-based channel, and an effective high- κ dielectric namely HfO2. The reliably reported double gate IGZO nanosheet TFTs (DG-IGZO-NS-TFTs) are tested under positive and negative bias stress at variant temperatures, and the resulting modulations are analyzed critically. The reported DG-IGZO-NSTFTs exhibit a negative side threshold voltage shift (Δ Vth) accompanied by an increase in Ion/Ion(0) under negative bias temperature stress (NBTS) at elevated temperatures, which indicates the presence of additional charges. An anomalous negative side shifting of the Vth is observed under positive bias temperature stress (PBTS), where diffused hydrogen atoms are identified as introducing excess n-type carriers into the channel and causing the observed Δ Vth. The spectroscopic analysis is performed to establish evidence for the assumed mechanisms, and the role of individual gates is investigated in the context of performance variance under temperature-bias stress. Moreover, the partial reversibility of the stress-induced degradation is experimentally established and methodically discussed. Overall, the reported results offer a comprehensive understanding of scaled-channel DG-NS-IGZO-TFTs, which help shape performance-enhancement strategies, control degradation mechanisms, and define appropriate application scenarios. © 2013 IEEE.

关键词： Thin film transistors

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Construction and optimization of a computational holographic lithography system 8

Construction and optimization of a computational holographic...

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8th International Conference on Speckle Metrology, Speckle 2023

作者： Chen, Rui Lin, Angyi You, Jianfeng Lin, Huixiang Zhao, Wenqing Zhang, Fucai School of Control and Computer Engineering North China Electric Power University Baoding071003 China The Department of Electrical and Electronic Engineering Southern University of Science and Technology Shenzhen518055 China Engineering Research Center of Intelligent Computing for Complex Energy Systems Ministry of Education North China Electric Power University China

ISBN: (数字)9781510674592

ISBN: (纸本)9781510674585

Traditional lithography techniques are currently facing challenges, including high costs and the susceptibility of mask plates to damage. This research aims to elucidate the feasibility and technical constraints of a novel diffraction lithography approach. This method can reduce the size and cost of lithography machines, break through existing technological barriers, and offer new possibilities for the future development of lithography machines. We have built a basic computational holographic lithography system utilizing a 405nm laser and validated the system using holograms obtained with both classical GS algorithm and a newly proposed method. With the GS holograms, patterns with 700nm features have been successfully exposed on the photoresist. With our new algorithms, multiple holograms for the same target pattern can be generated with different settings in the algorithm. Sequential exposure of those holograms resulted in continuous lines 500 nm wide with reduced speckle artifacts, which was about a 1.4-time improvement over the result from the GS algorithm. Future research will focus on optimizing and enhancing the experimental system and the hologram calculation methods to reduce the line widths further and improve the exposure pattern quality. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Holograms

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Focused Bidirectional Search Trees: A Bidirectional Optimal Fast Matching Method for Robot Path Planning

Focused Bidirectional Search Trees: A Bidirectional Optimal ...

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2023 IEEE International Conference on Real-Time computing and Robotics, RCAR 2023

作者： Li, Chenming Wang, Jiankun Meng, Max Q.-H. The Chinese University of Hong Kong Department of Electronic Engineering Hong Kong Hong Kong Southern University of Science and Technology Shenzhen Key Laboratory of Robotics Perception and Intelligence Department of Electronic and Electrical Engineering Shenzhen China Southern University of Science and Technology Jiaxing Research Institute Jiaxing China University of Alberta Department of Electrical and Computer Engineering Canada

ISBN: (纸本)9798350327182

Robot path planning in high-dimensional continuous space is of great significance in robotics. The conventional bidirectional fast marching method utilizes brute-force search to explore the space, which is computationally expensive. Though improving the planning efficiency, heuristic-based bidirectional fast marching search results in a suboptimal path under a predetermined number of random samples. To address these issues, we propose Focused Bidirectional Fast Marching Trees (FBFMT*), developing a novel vertex exploring sequence to constrain the forward and backward searches within the brute-force searched regions. It enables the search trees to meet in the middle of the solution path, which guarantees the optimality under the current set of samples and searches faster than the bidirectional brute-force strategy. Extensive simulations in different scenarios validate the superiority of the proposed method, showing that FBFMT∗ can speed up the planning process and find a better solution. We also extend the proposed method to general conditions so that the forward and backward searches of FBFMT∗ can meet at any portion of the path. FBFMT∗ reveals that the heuristic-based bidirectional fast marching search strategy can be a general and efficient technique for robot path planning in high-dimensional continuous spaces. © 2023 IEEE.

关键词： Robot programming

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JARVIS-Leaderboard:a large scale benchmark of materials design methods

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npj Computational Materials 2024年第1期10卷 2280-2296页

作者： Kamal Choudhary Daniel Wines Kangming Li Kevin F.Garrity Vishu Gupta Aldo H.Romero Jaron T.Krogel Kayahan Saritas Addis Fuhr Panchapakesan Ganesh Paul R.C.Kent Keqiang Yan Yuchao Lin Shuiwang Ji Ben Blaiszik Patrick Reiser Pascal Friederich Ankit Agrawal Pratyush Tiwary Eric Beyerle Peter Minch Trevor David Rhone Ichiro Takeuchi Robert B.Wexler Arun Mannodi-Kanakkithodi Elif Ertekin Avanish Mishra Nithin Mathew Mitchell Wood Andrew Dale Rohskopf Jason Hattrick-Simpers Shih-Han Wang Luke E.K.Achenie Hongliang Xin Maureen Williams Adam J.Biacchi Francesca Tavazza Material Measurement Laboratory National Institute of Standards and TechnologyGaithersburgMD20899USA Department of Materials Science and Engineering University of Toronto27 King’s College CirTorontoONCanada Department of Electrical and Computer Engineering Northwestern UniversityEvanstonIL 60208USA Lewis-Sigler Institute for Integrative Genomics Princeton UniversityPrincetonNJ 08544USA Ludwig Institute for Cancer Research Princeton UniversityPrincetonNJ 08544USA Department of Physics and Astronomy West Virginia UniversityMorgantownWV 26506USA Materials Science and Technology Division Oak Ridge National LaboratoryOak RidgeTN 37831USA Center for Nanophase Materials Science Oak Ridge National LaboratoryOak RidgeTN 37831USA Computational Sciences and Engineering Division Oak Ridge National LaboratoryOak RidgeTN 37831USA Department of Computer Science and Engineering Texas A&M UniversityCollege StationTX 77843USA Globus University of ChicagoChicagoIL 60637USA Data Science and Learning Division Argonne National LabLemontIL 60439USA Institute of Nanotechnology Karlsruhe Institute of TechnologyKaiserstraße 1276131 KarlsruheGermany Institute of Theoretical Informatics Karlsruhe Institute of TechnologyKaiserstraße 1276131 KarlsruheGermany Department of Chemistry and Biochemistry and Institute for Physical Science and Technology University of MarylandCollege ParkMD 20742USA Department of Physics Applied Physics and AstronomyRensselaer Polytechnic InstituteTroyNY12180USA Department of Materials Science and Engineering University of MarylandCollege ParkMD20742USA Department of Chemistry and Institute of Materials Science and Engineering Washington University in St.LouisSt.LouisMO63130USA School of Materials Engineering Purdue UniversityWest LafayetteIN47907USA Department of Mechanical Science and Engineering University of Illinois Urbana-ChampaignUrbanaIllinois 61801USA Materials Research Laboratory University of Illinois Urbana-ChampaignUrbanaIL 61801USA Theore

Lack of rigorous reproducibility and validation are significant hurdles for scientific development across many *** science,in particular,encompasses a variety of experimental and theoretical approaches that require careful *** efforts have been developed previously to mitigate these ***,a comprehensive comparison and benchmarking on an integrated platform with multiple data modalities with perfect and defect materials data is still *** work introduces JARVIS-Leaderboard,an open-source and community-driven platform that facilitates benchmarking and enhances *** platform allows users to set up benchmarks with customtasks and enables contributions in the form of dataset,code,and meta-data *** cover the following materials design categories:Artificial Intelligence(AI),Electronic Structure(ES).

关键词： rigorous perfect enable

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