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Policy Evaluation in Distributional LQR

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arXiv 2023年

作者： Wang, Zifan Gao, Yulong Wang, Siyi Zavlanos, Michael M. Abate, Alessandro Johansson, Karl H. Division of Decision and Control Systems KTH Royal Institute of Technology Sweden Department of Computer Science University of Oxford United Kingdom Information-oriented Control Technical University of Munich Germany Department of Mechanical Engineering and Materials Science Duke University United States

Distributional reinforcement learning (DRL) enhances the understanding of the effects of the randomness in the environment by letting agents learn the distribution of a random return, rather than its expected value as in standard RL. At the same time, a main challenge in DRL is that policy evaluation in DRL typically relies on the representation of the return distribution, which needs to be carefully designed. In this paper, we address this challenge for a special class of DRL problems that rely on discounted linear quadratic regulator (LQR) for control, advocating for a new distributional approach to LQR, which we call distributional LQR. Specifically, we provide a closed-form expression of the distribution of the random return which, remarkably, is applicable to all exogenous disturbances on the dynamics, as long as they are independent and identically distributed (i.i.d.). While the proposed exact return distribution consists of infinitely many random variables, we show that this distribution can be approximated by a finite number of random variables, and the associated approximation error can be analytically bounded under mild assumptions. Using the approximate return distribution, we propose a zeroth-order policy gradient algorithm for risk-averse LQR using the Conditional Value at Risk (CVaR) as a measure of risk. Numerical experiments are provided to illustrate our theoretical results. © 2023, CC BY.

关键词： Reinforcement learning

Handwritten Signature Recognition using Parallel CNNs and Transfer Learning for Forensics

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Handwritten Signature Recognition using Parallel CNNs and Tr...

International Conference on control, Decision and Information Technologies (CoDIT)

作者： Jaouhar Fattahi Feriel Sghaier Mohamed Mejri Ridha Ghayoula Emil Pricop Baha Eddine Lakdher Department of Computer Science and Software Engineering Laval University Quebec Canada Carthage National Engineering School Carthage University Tunis Tunisia Faculty of Engineering University of Moncton Canada Computers & Electronics Department Automatic Control Petroleum-Gas University of Ploieşti Ploieşti Romania Faculty of Science University of Monastir Monastir Tunisia

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

Handwritten signatures hold paramount importance in legal, financial, and administrative domains, necessitating the development of robust signature recognition tools for forensic applications. This paper introduces a handwritten signature recognition (HSR) model employing Parallel Convolutional Neural Networks (CNN) tailored for forensic endeavors. Utilizing the parallel processing capabilities of CNN, our proposed approach adeptly analyzes and extracts discriminative features from handwritten signature images to facilitate precise recognition. In addition, we leverage several transfer learning techniques by parallelizing proven pre-trained CNNs. Extensive experimentation validates the efficacy of our approach on a standard dataset, demonstrating high accuracy and resilience in signature recognition tasks. The proposed approach exhibits substantial promise in augmenting forensic investigations by automating signature verification processes, thereby bolstering fraud detection efforts and upholding the integrity of legal documentation.

关键词： Deep learning Handwriting recognition Forensics Face recognition Transfer learning Feature extraction Fraud Convolutional neural networks Standards Resilience

Generative Artificial Intelligence Assisted Wireless Sensing: Human Flow Detection in Practical Communication Environments

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arXiv 2024年

作者： Wang, Jiacheng Du, Hongyang Niyato, Dusit Xiong, Zehui Kang, Jiawen Ai, Bo Han, Zhu Kim, Dong In School of Computer Science and Engineering Nanyang Technological University Singapore639798 Singapore Pillar of Information Systems Technology and Design Singapore University of Technology and Design Singapore China Ministry of Education Guangzhou510006 China State Key Laboratory of Rail Traffic Control and Safety Beijing Engineering Research Center of High-Speed Railway Broadband Mobile Communications Beijing Jiaotong University Beijing100044 China Department of Electrical and Computer Engineering University of Houston HoustonTX77004 United States Department of Electrical and Computer Engineering Sungkyunkwan University Suwon16419 Korea Republic of

Groundbreaking applications such as ChatGPT have heightened research interest in generative artificial intelligence (GAI). Essentially, GAI excels not only in content generation but also signal processing, offering support for wireless sensing. Hence, we introduce a novel GAI-assisted human flow detection system (G-HFD). Rigorously, G-HFD first uses the channel state information (CSI) to estimate the velocity and acceleration of propagation path length change of the human induced reflection (HIR). Then, given the strong inference ability of the diffusion model, we propose a unified weighted conditional diffusion model (UW-CDM) to denoise the estimation results, enabling detection of the number of targets. Next, we use the CSI obtained by a uniform linear array with wavelength spacing to estimate the HIR’s time of flight and direction of arrival (DoA). In this process, UW-CDM solves the problem of ambiguous DoA spectrum, ensuring accurate DoA estimation. Finally, through clustering, G-HFD determines the number of subflows and the number of targets in each subflow, i.e., the subflow size. The evaluation based on practical downlink communication signals shows G-HFD’s accuracy of subflow size detection can reach 91%. This validates its effectiveness and underscores the significant potential of GAI in the context of wireless sensing. © 2024, CC BY.

关键词： Artificial intelligence

Improved WPT system using a conical coil for charging a Smart device that controls patients with Alzheimer's disease 21

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Improved WPT system using a conical coil for charging a Smar...

21st International Multi-Conference on Systems, Signals and Devices, SSD 2024

作者： Fadhel, Yosra Ben Derbel, Achraf Garrab, Hatem Trabelsi, Hadi Deriche, Mohamed Derbel, Nabil High Institute of Medical Technologies University of Tunis El-Manar Lab. of Biophysics and Medical Technology Tunis Tunisia Mediterranean Institute of Technology South Mediterranean University Departement of Computer Systems Engineering Tunisia University of Sousse Institut SupÃ©rieur des Sciences AppliquÃ©es et de Technologie de Sousse Tunisia King Fahd University King Fahd University of Petroleum Minerals KFUPM Saudi Arabia National School of Engineering of Sfax University of Sfax Control & Energy Management Laboratory Sfax Tunisia

ISBN: (纸本)9798350374131

controlling patients with Alzheimer's disease is very challenging. This paper presents a novel approach for enhancing the efficiency of wireless power transfer systems in smart devices used for managing patients with Alzheimer's disease. The pro-posed system contains a conical coil as a transmitter instead of the conventional circular coil shape to maximize coupling and ensure reliable power transfer. Through this paper, we have modeled a conical coil for the proposed system to reach its maximum coil quality factor. For certain frequencies, the proper inductance and resistance of the primary coil value are deduced by a mathematical expression from its length expression. This method has the potential to significantly enhance the effectiveness of technological solutions aimed at assisting individuals affected by this disease. This paper demonstrates that the quality factor of the system using a conical coil as a transmitter can be maximized, resulting in improved performance compared to traditional circular coil shapes. The findings suggest that this innovative coil design has promising implications for advancing WPT systems in healthcare applications for Alzheimer's patients. © 2024 IEEE.

关键词： Transmitters

One-Dimensional EEG Artifact Removal Network Based on Convolutional Neural Networks

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Journal of Network Intelligence

Journal of Network Intelligence 2024年第1期9卷 142-159页

作者： Xiong, Jun Meng, Xiang-Long Chen, Zhao-Qi Wang, Chuan-Sheng Zhang, Fu-Quan Grau, Antoni Chen, Yang Huang, Jing-Wei School of Computer and Data Science Minjiang University Fuzhou University Town No. 200 Xiyuangong Road Fuzhou China College of Electronic Engineering Shandong University of Science and Technology No. 579 Qianwangang Road Huangdao District Qingdao China College of Computer and Big Data Fuzhou University Fuzhou University Town No. 2 Wulongjiang North Road Fuzhou China Department of Automatic Control Technical Polytechnic University of Catalonia Autonomous Region of Catalonia Barcelona Spain Digital Media Art Key Laboratory of Sichuan Province Sichuan Conservatory of Music Fuzhou Technology Innovation Center of intelligent Manufacturing information System Minjiang University Fuzhou University Town No. 200 Xiyuangong Road Fuzhou China Fujian Province University No. 1 Campus New Village Longjiang Street Fuqing China School of Mechanical and Automotive Engineering Fujian University of Technology No. 33 Xuefu South Road University New District Fuzhou China

The electroencephalogram (EEG) serves as a significant tool in the realms of clinical medicine, cerebral investigation, and neurological disorders research. However, the EEG records we obtain are often easily contaminated by various artifacts, which can blur or distort the underlying EEG signals and make data interpretation difficult. Generally speaking, removing EEG artifacts is considered an essential step in brain signal analysis. Therefore, removing artifacts is crucial for obtaining accurate and reliable EEG signals for subsequent analysis. Recently, deep learning techniques have found widespread application across various domains for denoising tasks, including image denoising and EEG denoising. Many advanced algorithms have been developed in image denoising, which has achieved good results in enhancing low-quality images. Moreover, it has shown superior performance in EEG denoising. In contrast, few people have devoted themselves to studying EEG denoising, and existing convolutional neural network EEG denoising methods still have problems of overfitting and poor denoising effect in Electromyograph(EMG) and ElectroOculoGram(EOG) artifact removal. Therefore, this paper proposes a method called DWINet (De-artifacting with Image-based Network for EEG Signals) based on an image dehazing network DRHNet for removing artifacts from EEG signals. Specifically, our approach DWINet, addresses the de-artifacting issue in EEG signals by converting it as an image dehazing problem and utilizes the image dehazing capability of DRHNet to enhance the denoising performance of EEG signals. Experimental results demonstrate that the proposed method outperforms the compared algorithms in removing the ocular artifact in EEG signals and exhibits higher accuracy and robustness. © 2024, J. Network Intell. All rights reserved.

关键词： Image enhancement

An Efficient GPU-based Implementation for Noise Robust Sound Source Localization

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arXiv 2025年

作者： Lin, Zirui Takigahira, Masayuki Terakado, Naoya Gulzar, Haris Busto, Monikka Roslianna Eda, Takeharu Itoyama, Katsutoshi Nakadai, Kazuhiro Amano, Hideharu Dept. of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan Honda Research Institute Japan Co. Ltd. Saitama Japan NTT Software Innovation Center Tokyo Japan Dept. of Information and Computer Science Keio University Kanagawa Japan

Robot audition, encompassing Sound Source Localization (SSL), Sound Source Separation (SSS), and Automatic Speech Recognition (ASR), enables robots and smart devices to acquire auditory capabilities similar to human hearing. Despite their wide applicability, processing multi-channel audio signals from microphone arrays in SSL involves computationally intensive matrix operations, which can hinder efficient deployment on Central Processing Units (CPUs), particularly in embedded systems with limited CPU resources. This paper introduces a GPU-based implementation of SSL for robot audition, utilizing the Generalized Singular Value Decomposition-based Multiple Signal Classification (GSVD-MUSIC), a noise-robust algorithm, within the HARK platform, an open-source software suite. For a 60-channel microphone array, the proposed implementation achieves significant performance improvements. On the Jetson AGX Orin, an embedded device powered by an NVIDIA GPU and ARM®Cortex™-A78AE v8.2 64-bit CPUs, we observe speedups of 4645.1× for GSVD calculations and 8.8× for the SSL module, while speedups of 2223.4× for GSVD calculation and 8.95× for the entire SSL module on a server configured with an NVIDIA A100 GPU and AMD EPYC™ 7352 CPUs, making real-time processing feasible for large-scale microphone arrays and providing ample capacity for real-time processing of potential subsequent machine learning or deep learning tasks. © 2025, CC BY-NC-ND.

关键词： Acoustic generators

TS-CGNet: Temporal-Spatial Fusion Meets Centerline-Guided Diffusion for BEV Mapping

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arXiv 2025年

作者： Hong, Xinying Li, Siyu Zeng, Kang Shi, Hao Peng, Bomin Yang, Kailun Li, Zhiyong The College of Computer Science and Electronic Engineering Hunan University Changsha410082 China The School of Robotics The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China The State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University Hangzhou310027 China

Bird’s Eye View (BEV) perception technology is crucial for autonomous driving, as it generates top-down 2D maps for environment perception, navigation, and decision-making. Nevertheless, the majority of current BEV map generation studies focusing on visual map generation lack depth-aware reasoning capabilities. They exhibit limited efficacy in managing occlusions and handling complex environments, with a notable decline in perceptual performance under adverse weather conditions or low-light scenarios. Therefore, this paper proposes TS-CGNet, which leverages Temporal-Spatial fusion with Centerline-Guided diffusion. This visual framework, grounded in prior knowledge, is designed for integration into any existing network for building BEV maps. Specifically, this framework is decoupled into three parts: Local mapping system involves the initial generation of semantic maps using purely visual information;The Temporal-Spatial Aligner Module (TSAM) integrates historical information into mapping generation by applying transformation matrices;The Centerline-Guided Diffusion Model (CGDM) is a prediction module based on the diffusion model. CGDM incorporates centerline information through spatial-attention mechanisms to enhance semantic segmentation reconstruction. We construct BEV semantic segmentation maps by our methods on the public nuScenes and the robustness benchmarks under various corruptions. Our method improves 1.90%, 1.73%, and 2.87% for perceived ranges of 60×30m, 120×60m, and 240×60m in the task of BEV HD mapping. TS-CGNet attains an improvement of 1.92% for perceived ranges of 100×100m in the task of BEV semantic mapping. Moreover, TS-CGNet achieves an average improvement of 2.92% in detection accuracy under varying weather conditions and sensor interferences in the perception range of 240×60m. The source code will be publicly available at https://***/krabs-H/TS-CGNet. Copyright © 2025, The Authors. All rights reserved.

关键词： Decision making

Enhancing HBIM-to-VR workflows: Semi-automatic generation of virtual heritage experiences using enriched IFC files

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Digital Applications in Archaeology and Cultural Heritage 2025年 36卷

作者： Fiorenza, Jacopo Rimella, Nicola Calandra, Davide Osello, Anna Lamberti, Fabrizio Department of Control and Computer Engineering Politecnico di Torino Corso Duca degli Abruzzi 24 Turin 10129 Italy Department of Structural Geotechnical and Building Engineering Politecnico di Torino Corso Duca degli Abruzzi 24 Turin 10129 Italy

In recent years, the digitization of Cultural Heritage (CH) has gained momentum, with Historical Building Information Modeling (HBIM) playing a vital role in developing services that enhance the understanding of built heritage. However, current HBIM-to-VR workflows, crucial for Virtual Heritage Experiences (VHEs), often rely on proprietary tools that may limit interoperability. To address this issue, some studies have used the Industry Foundation Classes (IFC) file format which, unfortunately, lacks functionalities for VHE creation, complicating the process for non-IT users. This paper introduces a semi-automated HBIM-to-VR workflow using an enriched IFC file. The process includes a manual phase for preparing the IFC file with metadata and a subsequent automated phase where a VR platform generates a virtual visit. A use case involving the “Hall of Seasons” in Palazzo Carignano, Turin, demonstrates the workflow's potential to improve accessibility and scalability in creating VHEs. © 2024 The Authors

关键词： Cultural heritage Historical building information modeling Industry foundation classes Virtual reality Virtual visits

CorPN: Corner Prediction Network for Visual Tracking

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IEEE Transactions on Consumer Electronics 2025年

作者： Li, Qun Zhang, Haijun Yang, Kai Dai, Wei Ma, Jianghong Liu, Yuping the Department of Computer Science Harbin Institute of Technology Shenzhen Xili University Town Shenzhen518055 China the School of Computer Science and Artificial Intelligence WuHan Textile University Wuhan430200 China the School of Information and Control Engineering Artificial Intelligence Research Institute China University of Mining and Technology Xuzhou221116 China the School of Microelectronics Fudan University Shanghai200433 China

Object tracking is a well-established task in the field of computer vision. Despite numerous efforts over the last few decades, object tracking remains a formidable challenge, largely due to the complexity of the scenes encountered in video sequences. In line with the powerful capabilities of Transformers for object feature extraction and fusion, as well as drawing inspiration from CornerNet, this paper introduces a new Transformer-based anchor-free method designed for object tracking called CorPN (i.e., Corner Prediction Network). Specifically, a Transformer-based backbone is proposed to extract and fuse deep features in a Siamese network architecture. Furthermore, our methodology aims to emulate the intuitive cognitive process by which humans identify the bounding-box corners of objects. CorPN turns out to be a more effective and robust tracking method because it jointly leverages multi-level feature aggregation, corner prediction, and probabilistic prediction incorporated in the tracking head. In extensive evaluations on public datasets, our method achieves a state-of-the-art performance. In particular, our approach achieves an area-under-the-curve (AUC) of 85.2%, a precision score (P) of 84.5%, and a normalized precision score (Pnorm) of 89.6%, outperforming extant state-of-the-art trackers on these metrics. © 2025 IEEE. All rights reserved,

关键词： Object detection