The perception in most existing vision-based reinforcement learning(RL) models for robotic manipulation relies heavily on static third-person or hand-mounted first-person cameras. In scenarios with occlusions and limi...
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The perception in most existing vision-based reinforcement learning(RL) models for robotic manipulation relies heavily on static third-person or hand-mounted first-person cameras. In scenarios with occlusions and limited maneuvering space, these carefully positioned cameras often struggle to provide effective visual observations during manipulation. Taking inspiration from human capabilities, we introduce a novel RL-based dual-arm active visual-guided manipulation model(DAVMM), which simultaneously infers “eye” actions and “hand” actions for two separate robotic arms(referred to as the vision-arm and the worker-arm) based on current observations, empowering the robot with the ability to actively perceive and interact with its environment. To handle the extensive redundant observation-action space, we propose a decouplable target-centric reward paradigm to offer stable guidance for the training process. For making fine-grained manipulation action decisions, alongside a global scene image encoder, we utilize an independent encoder to extract local target texture features,enabling the simultaneous acquisition of both global and detailed local information. Additionally, we employ residual-RL and curriculum learning techniques to further enhance our model's sample efficiency and training stability. We conducted comparative experiments and analyses of DAVMM against a set of strong baselines on three occluded and narrow-space manipulation tasks. DAVMM notably improves the success rates across all manipulation tasks and showcases rapid learning capabilities.
Brain tumors are ranked highly among the leading causes of cancer-related fatalities. Precise segmentation and quantitative assessment of brain tumors are crucial for effective diagnosis and treatment planning. Howeve...
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During the early stages of software development, monolithic architectures predominated within software systems. However, their limitations in effectively accommodating dynamic user demands prompted the widespread adop...
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In this paper,a robust and consistent COVID-19 emergency decision-making approach is proposed based on q-rung linear diophantine fuzzy set(q-RLDFS),differential evolutionary(DE)optimization principles,and evidential r...
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In this paper,a robust and consistent COVID-19 emergency decision-making approach is proposed based on q-rung linear diophantine fuzzy set(q-RLDFS),differential evolutionary(DE)optimization principles,and evidential reasoning(ER)*** proposed approach uses q-RLDFS in order to represent the evaluating values of the alternatives corresponding to the *** optimization is used to obtain the optimal weights of the attributes,and ER methodology is used to compute the aggregated q-rung linear diophantine fuzzy values(q-RLDFVs)of each *** the score values of alternatives are computed based on the aggregated *** alternative with the maximum score value is selected as a better *** applicability of the proposed approach has been illustrated in COVID-19 emergency decision-making system and sustainable energy planning ***,we have validated the proposed approach with a numerical ***,a comparative study is provided with the existing models,where the proposed approach is found to be robust to perform better and consistent in uncertain environments.
Drug-target interactions(DTIs) prediction plays an important role in the process of drug *** computational methods treat it as a binary prediction problem, determining whether there are connections between drugs and t...
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Drug-target interactions(DTIs) prediction plays an important role in the process of drug *** computational methods treat it as a binary prediction problem, determining whether there are connections between drugs and targets while ignoring relational types information. Considering the positive or negative effects of DTIs will facilitate the study on comprehensive mechanisms of multiple drugs on a common target, in this work, we model DTIs on signed heterogeneous networks, through categorizing interaction patterns of DTIs and additionally extracting interactions within drug pairs and target protein pairs. We propose signed heterogeneous graph neural networks(SHGNNs), further put forward an end-to-end framework for signed DTIs prediction, called SHGNN-DTI,which not only adapts to signed bipartite networks, but also could naturally incorporate auxiliary information from drug-drug interactions(DDIs) and protein-protein interactions(PPIs). For the framework, we solve the message passing and aggregation problem on signed DTI networks, and consider different training modes on the whole networks consisting of DTIs, DDIs and PPIs. Experiments are conducted on two datasets extracted from Drug Bank and related databases, under different settings of initial inputs, embedding dimensions and training modes. The prediction results show excellent performance in terms of metric indicators, and the feasibility is further verified by the case study with two drugs on breast cancer.
In recent times, the system's mathematical expression and operation have gained greater reach in engineering and mathematics. It is vital to solving more complex expressions and equations in a short time. The most...
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Parkinson’s disease is one of the most prevalent and harmful neurodegenerative conditions (PD). Even today, PD diagnosis and monitoring remain pricy and inconvenient processes. With the unprecedented progress of arti...
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Cyberbullying,a critical concern for digital safety,necessitates effective linguistic analysis tools that can navigate the complexities of language use in online *** tackle this challenge,our study introduces a new ap...
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Cyberbullying,a critical concern for digital safety,necessitates effective linguistic analysis tools that can navigate the complexities of language use in online *** tackle this challenge,our study introduces a new approach employing Bidirectional Encoder Representations from the Transformers(BERT)base model(cased),originally pretrained in *** model is uniquely adapted to recognize the intricate nuances of Arabic online communication,a key aspect often overlooked in conventional cyberbullying detection *** model is an end-to-end solution that has been fine-tuned on a diverse dataset of Arabic social media(SM)tweets showing a notable increase in detection accuracy and sensitivity compared to existing *** results on a diverse Arabic dataset collected from the‘X platform’demonstrate a notable increase in detection accuracy and sensitivity compared to existing methods.E-BERT shows a substantial improvement in performance,evidenced by an accuracy of 98.45%,precision of 99.17%,recall of 99.10%,and an F1 score of 99.14%.The proposed E-BERT not only addresses a critical gap in cyberbullying detection in Arabic online forums but also sets a precedent for applying cross-lingual pretrained models in regional language applications,offering a scalable and effective framework for enhancing online safety across Arabic-speaking communities.
Human activity recognition (HAR) techniques pick out and interpret human behaviors and actions by analyzing data gathered from various sensor devices. HAR aims to recognize and automatically categorize human activitie...
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Heart disease includes a multiplicity of medical conditions that affect the structure,blood vessels,and general operation of the *** researchers have made progress in correcting and predicting early heart disease,but ...
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Heart disease includes a multiplicity of medical conditions that affect the structure,blood vessels,and general operation of the *** researchers have made progress in correcting and predicting early heart disease,but more remains to be *** diagnostic accuracy of many current studies is inadequate due to the attempt to predict patients with heart disease using traditional *** using data fusion from several regions of the country,we intend to increase the accuracy of heart disease prediction.A statistical approach that promotes insights triggered by feature interactions to reveal the intricate pattern in the data,which cannot be adequately captured by a single *** processed the data using techniques including feature scaling,outlier detection and replacement,null and missing value imputation,and more to improve the data ***,the proposed feature engineering method uses the correlation test for numerical features and the chi-square test for categorical features to interact with the *** reduce the dimensionality,we subsequently used PCA with 95%*** identify patients with heart disease,hyperparameter-based machine learning algorithms like RF,XGBoost,Gradient Boosting,LightGBM,CatBoost,SVM,and MLP are utilized,along with ensemble *** model’s overall prediction performance ranges from 88%to 92%.In order to attain cutting-edge results,we then used a 1D CNN model,which significantly enhanced the prediction with an accuracy score of 96.36%,precision of 96.45%,recall of 96.36%,specificity score of 99.51%and F1 score of 96.34%.The RF model produces the best results among all the classifiers in the evaluation matrix without feature interaction,with accuracy of 90.21%,precision of 90.40%,recall of 90.86%,specificity of 90.91%,and F1 score of 90.63%.Our proposed 1D CNN model is 7%superior to the one without feature engineering when compared to the suggested *** illustrates how interaction-focu
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