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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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Re-quantization based binary graph neural networks

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science China(Information sciences) 2024年第7期67卷 160-171页

作者： Kai-Lang YAO Wu-Jun LI National Key Laboratory for Novel Software Technology Department of Computer Science and TechnologyNanjing University

Binary neural networks have become a promising research topic due to their advantages of fast inference speed and low energy consumption. However, most existing studies focus on binary convolutional neural networks, while less attention has been paid to binary graph neural networks. A common drawback of existing studies on binary graph neural networks is that they still include lots of inefficient full-precision operations in multiplying three matrices and are therefore not efficient enough. In this paper, we propose a novel method, called re-quantization-based binary graph neural networks(RQBGN), for binarizing graph neural networks. Specifically, re-quantization, a necessary procedure contributing to the further reduction of superfluous inefficient full-precision operations, quantizes the results of multiplication between any two matrices during the process of multiplying three matrices. To address the challenges introduced by requantization, in RQBGN we first study the impact of different computation orders to find an effective one and then introduce a mixture of experts to increase the model capacity. Experiments on five benchmark datasets show that performing re-quantization in different computation orders significantly impacts the performance of binary graph neural network models, and RQBGN can outperform other baselines to achieve state-of-the-art performance.

关键词： graph neural networks binary neural networks mixture of experts computation-efficient algorithms

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Stochastic normalized gradient descent with momentum for large-batch training

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science China(Information sciences) 2024年第11期67卷 77-91页

作者： Shen-Yi ZHAO Chang-Wei SHI Yin-Peng XIE Wu-Jun LI National Key Laboratory for Novel Software Technology Department of Computer Science and TechnologyNanjing University

Stochastic gradient descent(SGD) and its variants have been the dominating optimization methods in machine learning. Compared with SGD with small-batch training, SGD with large-batch training can better utilize the computational power of current multi-core systems such as graphics processing units(GPUs)and can reduce the number of communication rounds in distributed training settings. Thus, SGD with large-batch training has attracted considerable attention. However, existing empirical results showed that large-batch training typically leads to a drop in generalization accuracy. Hence, how to guarantee the generalization ability in large-batch training becomes a challenging task. In this paper, we propose a simple yet effective method, called stochastic normalized gradient descent with momentum(SNGM), for large-batch training. We prove that with the same number of gradient computations, SNGM can adopt a larger batch size than momentum SGD(MSGD), which is one of the most widely used variants of SGD, to converge to an?-stationary point. Empirical results on deep learning verify that when adopting the same large batch size,SNGM can achieve better test accuracy than MSGD and other state-of-the-art large-batch training methods.

关键词： non-convex problems large-batch training stochastic normalized gradient descent momentum

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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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Heuristic Search with Cut Point Based Strategy for Critical Node Problem

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Journal of computer science & Technology 2024年第6期39卷 1328-1340页

作者： Zhi-Han Chen Shao-Wei Cai Jian Gao Shi-Ke Ge Chan-Juan Liu Jin-Kun Lin School of Computer Science and Technology University of Chinese Academy of SciencesBeijing 101408China Key Laboratory of System Software(Chinese Academy of Sciences)and State Key Laboratory of Computer Science Institute of SoftwareChinese Academy of SciencesBeijing 100190China College of Information Science and Technology Northeast Normal UniversityChangchun 130024China School of Computer Science and Technology Dalian University of TechnologyDalian 116024China SeedMath Technology Limited Beijing 100086China

The critical node problem(CNP)aims to deal with critical node identification in a graph,which has extensive applications in many *** CNP is a challenging task due to its computational complexity,and it attracts much attention from both academia and *** this paper,we propose a population-based heuristic search algorithm called CPHS(Cut Point Based Heuristic Search)to solve CNP,which integrates two main *** first one is a cut point based greedy strategy in the local search,and the second one involves the functions used to update the solution pool of the ***,a mutation strategy is applied to solutions with probability based on the overall average similarity to maintain the diversity of the solution *** are performed on a synthetic benchmark,a real-world benchmark,and a large-scale network benchmark to evaluate our *** with state-of-the-art algorithms,our algorithm has better performance in terms of both solution quality and run time on all the three benchmarks.

关键词： local search cut point heuristic search critical node problem

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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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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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Unsupervised Meteorological Downscaling Based on Dual Learning and Subgrid-scale Auxiliary Information

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Advances in Atmospheric sciences 2025年第1期42卷 53-66页

作者： Jing HU Jialing MU Xiaomeng HUANG Xi WU Department of Computer Science Chengdu University of Information TechnologyChengdu 610225China Department of Earth System Science Ministry of Education Key Laboratory for Earth System ModelingInstitute for Global Change StudiesTsinghua UniversityBeijing 100084China

Climate downscaling is used to transform large-scale meteorological data into small-scale data with enhanced detail,which finds wide applications in climate modeling,numerical weather forecasting,and renewable *** deeplearning-based downscaling methods effectively capture the complex nonlinear mapping between meteorological data of varying scales,the supervised deep-learning-based downscaling methods suffer from insufficient high-resolution data in practice,and unsupervised methods struggle with accurately inferring small-scale specifics from limited large-scale inputs due to small-scale *** article presents DualDS,a dual-learning framework utilizing a Generative Adversarial Network–based neural network and subgrid-scale auxiliary information for climate *** a learning method is unified in a two-stream framework through up-and downsamplers,where the downsampler is used to simulate the information loss process during the upscaling,and the upsampler is used to reconstruct lost details and correct errors incurred during the *** dual learning strategy can eliminate the dependence on high-resolution ground truth data in the training process and refine the downscaling results by constraining the mapping *** findings demonstrate that DualDS is comparable to several state-of-the-art deep learning downscaling approaches,both qualitatively and ***,for a single surface-temperature data downscaling task,our method is comparable with other unsupervised algorithms with the same dataset,and we can achieve a 0.469 dB higher peak signal-to-noise ratio,0.017 higher structural similarity,0.08 lower RMSE,and the best correlation *** summary,this paper presents a novel approach to addressing small-scale uncertainty issues in unsupervised downscaling processes.

关键词： downscaling unsupervised deep learning dual learning auxiliary information

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Understanding and Detecting Inefficient Image Displaying Issues in Android Apps

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Journal of computer science & Technology 2024年第2期39卷 434-459页

作者：李文杰马骏蒋炎岩许畅马晓星 State Key Laboratory of Novel Software Technology Nanjing UniversityNanjing 210023China Department of Computer Science and Technology Nanjing UniversityNanjing 210023China

Mobile applications(apps for short)often need to display ***,inefficient image displaying(IID)issues are pervasive in mobile apps,and can severely impact app performance and user *** paper first establishes a descriptive framework for the image displaying procedures of IID *** on the descriptive framework,we conduct an empirical study of 216 real-world IID issues collected from 243 popular open-source Android apps to validate the presence and severity of IID issues,and then shed light on these issues’characteristics to support research on effective issue *** the findings of this study,we propose a static IID issue detection tool TAPIR and evaluate it with 243 real-world Android ***,49 and 64 previously-unknown IID issues in two different versions of 16 apps reported by TAPIR are manually confirmed as true positives,respectively,and 16 previously-unknown IID issues reported by TAPIR have been confirmed by developers and 13 have been ***,we further evaluate the performance impact of these detected IID issues and the performance improvement if they are *** results demonstrate that the IID issues detected by TAPIR indeed cause significant performance degradation,which further show the effectiveness and efficiency of TAPIR.

关键词： Android application(app) inefficient image displaying(IID) performance empirical study static analysis

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