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Robust tube-based MPC with smooth computation for dexterous robot manipulation

Science China(Information Sciences) 2024年第11期67卷 252-268页

作者： Yu LUO Tianying JI Fuchun SUN Qie SIMA Huaping LIU Mingxuan JING Jianwei ZHANG Department of Computer Science and Technology Tsinghua University Science & Technology on Integrated Information System Laboratory Institute of Software Chinese Academy of Sciences Department of Informatics University of Hamburg

Dexterous robot manipulation has shone in complex industrial scenarios, where multiple manipulators, or fingers, cooperate to grasp and manipulate objects. When encountering multi-objective optimization with system constraints in such scenarios, model predictive control(MPC) has demonstrated exceptional performance in complex multi-robot manipulation tasks involving multi-objective optimization with system constraints. However, in such scenarios, the substantial computational load required to solve the optimal control problem(OCP) at each triggering instant can lead to significant delays between state sampling and control application, hindering real-time performance. To address these challenges, this paper introduces a novel robust tube-based smooth MPC approach for two fundamental manipulation tasks: reaching a given target and tracking a reference trajectory. By predicting the successor state as the initial condition for imminent OCP solving, we can solve the forthcoming OCP ahead of time, alleviating delay effects. Additionally,we establish an upper bound for linearizing the original nonlinear system, reducing OCP complexity and enhancing response speed. Grounded in tube-based MPC theory, the recursive feasibility and closed-loop stability amidst constraints and disturbances are ensured. Empirical validation is provided through two numerical simulations and two real-world dexterous robot manipulation tasks, which shows that the seamless control input by our methods can effectively enhance the solving efficiency and control performance when compared to conventional time-triggered MPC strategies.

关键词： dexterous robot manipulation model predictive control smooth computation

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Committed-programming reductions: formalizations,implications and relations

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Science China(Information Sciences) 2024年第10期67卷 151-171页

作者： Jiang ZHANG Yu YU Dengguo FENG Shuqin FAN Zhenfeng ZHANG State Key Laboratory of Cryptology Department of Computer Science and Engineering Shanghai Jiao Tong University Trusted Computing and Information Assurance Laboratory Institute of SoftwareChinese Academy of Sciences

In this work, we introduce a class of black-box(BB) reductions called committed-programming reduction(CPRed) in the random oracle model(ROM) and obtain the following interesting results:(1) we demonstrate that some well-known schemes, including the full-domain hash(FDH) signature(Eurocrypt1996) and the Boneh-Franklin identity-based encryption(IBE) scheme(Crypto 2001), are provably secure under CPReds;(2) we prove that a CPRed associated with an instance-extraction algorithm implies a reduction in the quantum ROM(QROM). This unifies several recent results, including the security of the Gentry-Peikert-Vaikuntanathan IBE scheme by Zhandry(Crypto 2012) and the key encapsulation mechanism(KEM) variants using the Fujisaki-Okamoto transform by Jiang et al.(Crypto 2018) in the ***, we show that CPReds are incomparable to non-programming reductions(NPReds) and randomly-programming reductions(RPReds) formalized by Fischlin et al.(Asiacrypt 2010).

关键词： provable security random oracle model quantum random oracle model black-box reduction/separation programmability

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An Intelligent Privacy Protection Scheme for Efficient Edge Computation Offloading in IoV

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Chinese Journal of Electronics 2024年第4期33卷 910-919页

作者： Liang YAO Xiaolong XU Wanchun DOU Muhammad Bilal School of Software Nanjing University of Information Science and Technology State Key Laboratory for Novel Software Technology Nanjing University Department of Computer and Electronics Systems Engineering Hankuk University of Foreign Studies

As a pivotal enabler of intelligent transportation system(ITS), Internet of vehicles(Io V) has aroused extensive attention from academia and industry. The exponential growth of computation-intensive, latency-sensitive,and privacy-aware vehicular applications in Io V result in the transformation from cloud computing to edge computing,which enables tasks to be offloaded to edge nodes(ENs) closer to vehicles for efficient execution. In ITS environment,however, due to dynamic and stochastic computation offloading requests, it is challenging to efficiently orchestrate offloading decisions for application requirements. How to accomplish complex computation offloading of vehicles while ensuring data privacy remains challenging. In this paper, we propose an intelligent computation offloading with privacy protection scheme, named COPP. In particular, an Advanced Encryption Standard-based encryption method is utilized to implement privacy protection. Furthermore, an online offloading scheme is proposed to find optimal offloading policies. Finally, experimental results demonstrate that COPP significantly outperforms benchmark schemes in the performance of both delay and energy consumption.

关键词： Industries Privacy Energy consumption Transportation Computational efficiency Encryption Protection

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BGNN: Behavior-aware graph neural network for heterogeneous session-based recommendation

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Frontiers of computer Science 2023年第5期17卷 103-118页

作者： Jinwei LUO Mingkai HE Weike PAN Zhong MING College of Computer Science and Software Engineering Shenzhen UniversityShenzhen 518060China National Engineering Laboratory for Big Data System Computing Technology Shenzhen UniversityShenzhen 518060China

Session-based recommendation(SBR)and multibehavior recommendation(MBR)are both important problems and have attracted the attention of many researchers and *** from SBR that solely uses one single type of behavior sequences and MBR that neglects sequential dynamics,heterogeneous SBR(HSBR)that exploits different types of behavioral information(e.g.,examinations like clicks or browses,purchases,adds-to-carts and adds-to-favorites)in sequences is more consistent with real-world recommendation scenarios,but it is rarely *** efforts towards HSBR focus on distinguishing different types of behaviors or exploiting homogeneous behavior transitions in a sequence with the same type of ***,all the existing solutions for HSBR do not exploit the rich heterogeneous behavior transitions in an explicit way and thus may fail to capture the semantic relations between different types of ***,all the existing solutions for HSBR do not model the rich heterogeneous behavior transitions in the form of graphs and thus may fail to capture the semantic relations between different types of *** limitation hinders the development of HSBR and results in unsatisfactory *** a response,we propose a novel behavior-aware graph neural network(BGNN)for *** BGNN adopts a dual-channel learning strategy for differentiated modeling of two different types of behavior sequences in a ***,our BGNN integrates the information of both homogeneous behavior transitions and heterogeneous behavior transitions in a unified *** then conduct extensive empirical studies on three real-world datasets,and find that our BGNN outperforms the best baseline by 21.87%,18.49%,and 37.16%on average correspondingly.A series of further experiments and visualization studies demonstrate the rationality and effectiveness of our *** exploratory study on extending our BGNN to handle more than two types of behaviors show that our BGNN can e

关键词： session-based recommendation graph neural network heterogeneous behaviors

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Clustered Reinforcement Learning

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Frontiers of computer Science 2025年第4期19卷 43-57页

作者： Xiao MA Shen-Yi ZHAO Zhao-Heng YIN Wu-Jun LI National Key Laboratory for Novel Software Technology Department of Computer Science and TechnologyNanjing UniversityNanjing 210023China Department of Electrical Engineering and Computer Sciences University of CaliforniaBerkeleyCA 94720-1770USA

Exploration strategy design is a challenging problem in reinforcement learning(RL),especially when the environment contains a large state space or sparse *** exploration,the agent tries to discover unexplored(novel)areas or high reward(quality)*** existing methods perform exploration by only utilizing the novelty of *** novelty and quality in the neighboring area of the current state have not been well utilized to simultaneously guide the agent’s *** address this problem,this paper proposes a novel RL framework,called clustered reinforcement learning(CRL),for efficient exploration in *** adopts clustering to divide the collected states into several clusters,based on which a bonus reward reflecting both novelty and quality in the neighboring area(cluster)of the current state is given to the *** leverages these bonus rewards to guide the agent to perform efficient ***,CRL can be combined with existing exploration strategies to improve their performance,as the bonus rewards employed by these existing exploration strategies solely capture the novelty of *** on four continuous control tasks and six hard-exploration Atari-2600 games show that our method can outperform other state-of-the-art methods to achieve the best performance.

关键词： deep reinforcement learning exploration count-based method clustering K-means

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How far are we to GPT-4V?Closing the gap to commercial multimodal models with open-source suites

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Science China(Information Sciences) 2024年第12期67卷 5-22页

作者： Zhe CHEN Weiyun WANG Hao TIAN Shenglong YE Zhangwei GAO Erfei CUI Wenwen TONG Kongzhi HU Jiapeng LUO Zheng MA Ji MA Jiaqi WANG Xiaoyi DONG Hang YAN Hewei GUO Conghui HE Botian SHI Zhenjiang JIN Chao XU Bin WANG Xingjian WEI Wei LI Wenjian ZHANG Bo ZHANG Pinlong CAI Licheng WEN Xiangchao YAN Min DOU Lewei LU Xizhou ZHU Tong LU Dahua LIN Yu QIAO Jifeng DAI Wenhai WANG State Key Laboratory for Novel Software Technology Nanjing University Shanghai AI Laboratory School of Computer Science Fudan University SenseTime Research Department of Information Engineering The Chinese University of Hong Kong Department of Electronic Engineering Tsinghua University

In this paper, we introduce InternVL 1.5, an open-source multimodal large language model(MLLM) to bridge the capability gap between open-source and proprietary commercial models in multimodal understanding. We introduce three simple improvements.(1) Strong vision encoder: we explored a continuous learning strategy for the large-scale vision foundation model — InternViT-6B, boosting its visual understanding capabilities, and making it can be transferred and reused in different LLMs.(2) Dynamic high-resolution: we divide images into tiles ranging from 1 to 40 of 448×448 pixels according to the aspect ratio and resolution of the input images, which supports up to 4K resolution input.(3) High-quality bilingual dataset: we carefully collected a high-quality bilingual dataset that covers common scenes, document images,and annotated them with English and Chinese question-answer pairs, significantly enhancing performance in optical character recognition(OCR) and Chinese-related tasks. We evaluate InternVL 1.5 through a series of benchmarks and comparative studies. Compared to both open-source and proprietary commercial models, InternVL 1.5 shows competitive performance, achieving state-of-the-art results in 8 of 18 multimodal benchmarks. Code and models are available at https://***/OpenGVLab/InternVL.

关键词： multimodal model open-source vision encoder dynamic resolution bilingual dataset

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An infrastructure software perspective toward computation offloading between executable specifications and foundation models

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Science China(Information Sciences) 2025年第4期68卷 380-382页

作者： Dezhi RAN Mengzhou WU Yuan CAO Assaf MARRON David HAREL Tao XIE Key Laboratory of High Confidence Software Technologies (PKU) Ministry of Education School of Computer SciencePeking University School of Electronics Engineering and Computer Science Peking University Department of Computer Science and Applied Mathematics Weizmann Institute of Science

Foundation models(FMs) [1] have revolutionized software development and become the core components of large software systems. This paradigm shift, however, demands fundamental re-imagining of software engineering theories and methodologies [2]. Instead of replacing existing software modules implemented by symbolic logic, incorporating FMs' capabilities to build software systems requires entirely new modules that leverage the unique capabilities of ***, while FMs excel at handling uncertainty, recognizing patterns, and processing unstructured data, we need new engineering theories that support the paradigm shift from explicitly programming and maintaining user-defined symbolic logic to creating rich, expressive requirements that FMs can accurately perceive and implement.

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A survey on cross-user federated recommendation

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Science China(Information Sciences) 2025年第4期68卷 7-32页

作者： Enyue YANG Yudi XIONG Wei YUAN Weike PAN Qiang YANG Zhong MING College of Computer Science and Software Engineering Shenzhen University School of Electrical Engineering and Computer Science The University of Queensland WeBank AI Lab WeBank Department of Computer Science and Engineering Hong Kong University of Science and Technology College of Big Data and Internet Shenzhen Technology University Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ)

Recommender systems are effective in mitigating information overload, yet the centralized storage of user data raises significant privacy concerns. Cross-user federated recommendation(CUFR) provides a promising distributed paradigm to address these concerns by enabling privacy-preserving recommendations directly on user devices. In this survey, we review and categorize current progress in CUFR, focusing on four key aspects: privacy, security, accuracy, and efficiency. Firstly,we conduct an in-depth privacy analysis, discuss various cases of privacy leakage, and then review recent methods for privacy protection. Secondly, we analyze security concerns and review recent methods for untargeted and targeted *** untargeted attack methods, we categorize them into data poisoning attack methods and parameter poisoning attack methods. For targeted attack methods, we categorize them into user-based methods and item-based methods. Thirdly,we provide an overview of the federated variants of some representative methods, and then review the recent methods for improving accuracy from two categories: data heterogeneity and high-order information. Fourthly, we review recent methods for improving training efficiency from two categories: client sampling and model compression. Finally, we conclude this survey and explore some potential future research topics in CUFR.

关键词： cross-user federated recommendation federated recommendation federated learning recommender systems user privacy

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Towards optimized tensor code generation for deep learning on sunway many-core processor

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Frontiers of computer Science 2024年第2期18卷 1-15页

作者： Mingzhen LI Changxi LIU Jianjin LIAO Xuegui ZHENG Hailong YANG Rujun SUN Jun XU Lin GAN Guangwen YANG Zhongzhi LUAN Depei QIAN State Key Laboratory of Software Development Environment Beijing 100191China School of Computer Science and Engineering Beihang UniversityBeijing 100191China National University of Singapore Singapore 119077Singapore State Key Laboratory of Mathematical Engineering and Advanced Computing Wuxi 214000China Science and Technology on Special System Simulation Laboratory Beijing Simulation Center Beijing 100854China Department of Computer Science and Technology Tsinghua UniversityBeijing 100084China

The flourish of deep learning frameworks and hardware platforms has been demanding an efficient compiler that can shield the diversity in both software and hardware in order to provide application *** the existing deep learning compilers,TVM is well known for its efficiency in code generation and optimization across diverse hardware *** the meanwhile,the Sunway many-core processor renders itself as a competitive candidate for its attractive computational power in both scientific computing and deep learning *** paper combines the trends in these two ***,we propose swTVM that extends the original TVM to support ahead-of-time compilation for architecture requiring cross-compilation such as *** addition,we leverage the architecture features during the compilation such as core group for massive parallelism,DMA for high bandwidth memory transfer and local device memory for data locality,in order to generate efficient codes for deep learning workloads on *** experiment results show that the codes generated by swTVM achieve 1.79x improvement of inference latency on average compared to the state-of-the-art deep learning framework on Sunway,across eight representative *** work is the first attempt from the compiler perspective to bridge the gap of deep learning and Sunway processor particularly with productivity and efficiency in *** believe this work will encourage more people to embrace the power of deep learning and Sunwaymany-coreprocessor.

关键词： sunway processor deep learning compiler code generation performance optimization

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Capacity Allocation of Renewable Energy Sources Considering Complementarity

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CSEE Journal of Power and Energy systems 2024年第4期10卷 1415-1426页

作者： Yinzhe Hu Kaigui Xie Bo Hu Hengming Tai Changzheng Shao Chunyan Li Xueying Yu State Key Laboratory of Power Transmission Equipment and System Security at the Chongqing University Chongqing 400030China Department of Electrical and Computer Engineering University of TulsaTulsaOK 74104USA

The outputs of renewable energy sources(RESs)are inherently variable and uncertain,such as wind power(WP)and photovoltaic(PV).However,the outputs of various types of RESs in different regions are *** the capacity of RESs could be properly allocated during system planning,variability of the total output could be ***,system reliability and renewable energy(RE)consumption could be *** paper proposes an analytical model for optimal complementary capacity allocation of RESs to decrease variability of the total *** model considers the capacity ratio of RESs as decision variables and the coefficient of variation(CV)of the total output as the objective *** proposed approach transforms the single-level optimization model into a bilevel optimization model and derives an analytical equation that can directly calculate the optimal complementary capacity ratio(OCCR)of system *** studies on wind and solar farms in Xinjiang and Qinghai,China,are performed to verify the effectiveness of the proposed analytical allocation method.

关键词： Analytical equation capacity allocation complementary optimization renewable energy variability

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