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2023 IEEE International Conference on systems, Man, and Cybernetics, SMC 2023

作者： Xu, Ruijie Chen, Shichao Sun, Wenqiao Lv, Yisheng Luo, Jialiang Tang, Ying Institute of Automation Chinese Academy of Sciences College of Information Science & Technology Beijing University of Chemical Technology The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Transportation and Economics Research Institute The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited Beijing China Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences China University of Geosciences Beijing School of Information Engineering The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Rowan University Department of Electrical and Computer Engineering Glassboro United States

ISBN: (纸本)9798350337020

Global Navigation Satellite systems (GNSS) can provide real-time positioning information for outdoor users, but cannot for indoor scenarios or heavily occluded outdoor scenarios. Strap-down Inertial Navigation system (SINS) are widely used to locate people in complex interior or heavily occluded outdoor scenarios due to its light weight and low power consumption. However, IMU of SINS are noisy, and the sampling data error is large, which is a divergence of the error with time. Therefore, it will generate a positioning accumulation error, which affects the final positioning accuracy. The problem of cumulative IMU errors is usually dealt with by Zero-Velocity Update (ZUPT). The zero-velocity detection part of basic ZUPT method usually uses a single threshold to determine the gait of pedestrian, which often has the problem of gait misjudgment and omission. To address these problems, this paper proposes a composite conditional detection method to solve the problem of misjudgment in the zero-velocity interval. In addition, we redesign the zero-velocity update algorithm and uses the Cubature Kalman filter (CKF) for pedestrian positioning error correction. The experimental results demonstrate that the proposed ZUPT method based on dual-threshold detection can better detect the interval between pedestrian motion and stationery than ones with single threshold. The zero-velocity update algorithm based on CKF has higher performance than conventional EKF and UKF methods, which constrains the cumulative error of SINS to about 0.2% of the whole walking distance. © 2023 IEEE.

关键词： Cubature Kalman Filter Inertial Pedestrian Navigation Zero-Velocity Update

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A Stackelberg Game Approach for Signal Temporal Logic control Synthesis with Uncontrollable Agents

arXiv

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arXiv 2025年

作者： Cui, Bohan Yu, Xinyi Giua, Alessandro Yin, Xiang Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai200240 China Thomas Lord Department of Computer Science University of Southern California Los AngelesCA90089 United States Department of Electrical and Electronic Engineering University of Cagliari Cagliari09123 Italy

In this paper, we investigate the control synthesis problem for Signal Temporal Logic (STL) specifications in the presence of uncontrollable agents. Existing works mainly address this problem in a robust control setting by assuming the uncontrollable agents are adversarial and accounting for the worst-case scenario. While this approach ensures safety, it can be overly conservative in scenarios where uncontrollable agents have their own objectives that are not entirely opposed to the system’s goals. Motivated by this limitation, we propose a new framework for STL control synthesis within the Stackelberg game setting. Specifically, we assume that the system controller, acting as the leader, first commits to a plan, after which the uncontrollable agents, acting as followers, take a best response based on the committed plan and their own objectives. Our goal is to synthesize a control sequence for the leader such that, for any rational followers producing a best response, the leader’s STL task is guaranteed to be satisfied. We present an effective solution to this problem by transforming it into a single-stage optimization problem and leveraging counterexample guided synthesis techniques. We demonstrate that the proposed approach is sound and identify conditions under which it is optimal. Simulation results are also provided to illustrate the effectiveness of the proposed framework. © 2025, CC BY.

关键词： control system synthesis

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Pyramid Pooling-based Local Profiles for Graph Classification

Pyramid Pooling-based Local Profiles for Graph Classificatio...

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IEEE International Conference on systems, Man and Cybernetics

作者： Chengpei Wu Yang Lou Junli Li College of Computer Science Sichuan Normal University Chengdu China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Department of Computer Science National Yang Ming Chiao Tung University Hsinchu Taiwan Graduate School of Information Science and Technology Osaka University Osaka Japan

Many natural and engineering systems can be modeled and represented in the forms of graph data, and then studied using graph theory and network analysis tools. Graph representation learning aims at generating lower-dimensional representations from higher-dimensional graph data, which is a crucial step that facilitates the follow-up tasks, such as node and graph classifications. In this paper, we present a simple but effective graph representation learning method, namely the pyramid pooling-based local profile (PPLP), which enables local nodal profiles to be transformed into a graph representation, with multi-scale features extracted. PPLP can be either embedded into a graph neural network as the readout layer, or perform independently as a graph embedding algorithm. The resultant representations of PPLP are for graph-level tasks. PPLP is experimentally tested by performing graph classification tasks on ten representative datasets, either as the readout layer of different graph neural networks, or as an independent graph embedding algorithm. Experimental results demonstrate that: 1) when embedded into graph neural networks, PPLP outperforms the widely-used global pooling-based readout methods; 2) as an independent graph embedding algorithm, PPLP performs fairly good, especially on the social network datasets. The investigation confirms PPLP as a simple but promising method for graph-level tasks.

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Video2Reward: Generating Reward Function from Videos for Legged Robot Behavior Learning

arXiv

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arXiv 2024年

作者： Zeng, Runhao Zhou, Dingjie Liang, Qiwei Liu, Junlin Li, Hui Huang, Changxin Li, Jianqiang Hu, Xiping Sun, Fuchun Artificial Intelligence Research Institute Shenzhen MSU-BIT University China College of Mechatronics and Control Engineering Shenzhen University China College of Computer Science and Software Engineering Shenzhen University China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Department of Computer Science and Technology Tsinghua University China

Learning behavior in legged robots presents a significant challenge due to its inherent instability and complex constraints. Recent research has proposed the use of a large language model (LLM) to generate reward functions in reinforcement learning, thereby replacing the need for manually designed rewards by experts. However, this approach, which relies on textual descriptions to define learning objectives, fails to achieve controllable and precise behavior learning with clear directionality. In this paper, we introduce a new video2reward method, which directly generates reward functions from videos depicting the behaviors to be mimicked and learned. Specifically, we first process videos containing the target behaviors, converting the motion information of individuals in the videos into keypoint trajectories represented as coordinates through a video2text transforming module. These trajectories are then fed into an LLM to generate the reward function, which in turn is used to train the policy. To enhance the quality of the reward function, we develop a video-assisted iterative reward refinement scheme that visually assesses the learned behaviors and provides textual feedback to the LLM. This feedback guides the LLM to continually refine the reward function, ultimately facilitating more efficient behavior learning. Experimental results on tasks involving bipedal and quadrupedal robot motion control demonstrate that our method surpasses the performance of state-of-the-art LLM-based reward generation methods by over 37.6% in terms of human normalized score. More importantly, by switching video inputs, we find our method can rapidly learn diverse motion behaviors such as walking and running. Copyright © 2024, The Authors. All rights reserved.

关键词： Robots

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Robust Phase Retrieval from Quantized and Noisy Measurements

Robust Phase Retrieval from Quantized and Noisy Measurements

引用

Acoustics, Speech, and Signal Processing Workshops (ICASSPW), IEEE International Conference on

作者： Yihong Gao Luteng Zhu Zhuoyang An Mingjie Shao Department of Electrical and Electronic Engineering The University of Hong Kong Hong Kong SAR China School of Information Science and Engineering Shandong University Qingdao China Computer School Beijing Information Science and Technology University Beijing China Key Laboratory of System and Control AMSS Chinese Academy of Sciences Beijing China

ISBN: (数字)9798331519315

ISBN: (纸本)9798331519322

The phase retrieval (PR) problem involves recovering a signal from amplitude-only measurements and has been extensively studied in various physical measurement and signal processing systems. Recently, there has been increasing interest in the quantized phase retrieval (QPR) problem, where the observed amplitude is quantized to binary values. The existing studies have focused on the noiseless case. In this paper, we address a robust QPR problem that accounts for both quantization and noise. We formulate the robust QPR problem using maximum-likelihood estimation (MLE), which results in a non-convex and challenging optimization problem due to the complexity of its likelihood function. To obtain a high-quality solution, we develop an expectation-maximization (EM) algorithm combined with the Wirtinger flow, allowing us to convert the problem into a more manageable form at each iteration. Our method is implemented on both randomly generated synthetic data and image reconstruction tasks. The results demonstrate that our approach significantly enhances signal recovery performance under the combined effects of quantization and noise. Additionally, the proposed method exhibits better runtime efficiency compared to existing approaches.

关键词： Maximum likelihood estimation Phase measurement Quantization (signal) Runtime Noise Signal processing algorithms Noise measurement Speech processing Optimization Synthetic data

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HiCRISP: An LLM-based Hierarchical Closed-Loop Robotic Intelligent Self-Correction Planner

arXiv

引用

arXiv 2023年

作者： Ming, Chenlin Lin, Jiacheng Fong, Pangkit Wang, Han Duan, Xiaoming He, Jianping The Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China The Department of Computer Science University of Illinois Urbana-Champaign IL United States The Department of Engineering Science University of Oxford Oxford United Kingdom

The integration of Large Language Models (LLMs) into robotics has revolutionized human-robot interactions and autonomous task planning. However, these systems are often unable to self-correct during the task execution, which hinders their adaptability in dynamic real-world environments. To address this issue, we present an LLM-based Hierarchical Closed-loop Robotic Intelligent Self-correction Planner (HiCRISP), an innovative framework that enables robots to correct errors within individual steps during the task execution. HiCRISP actively monitors and adapts the task execution process, addressing both high-level planning and low-level action errors. Extensive benchmark experiments, encompassing virtual and real-world scenarios, showcase HiCRISP’s exceptional performance, positioning it as a promising solution for robotic task planning with LLMs. Copyright © 2023, The Authors. All rights reserved.

关键词： Benchmarking

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Asynchronous Distributed Optimization with Delay-free Parameters

arXiv

引用

arXiv 2023年

作者： Wu, Xuyang Liu, Changxin Magnússon, Sindri Johansson, Mikael Division of Decision and Control Systems School of EECS KTH Royal Institute of Technology StockholmSE-100 44 Sweden Department of Computer and System Science Stockholm University StockholmSE-164 07 Sweden

Existing asynchronous distributed optimization algorithms often use diminishing step-sizes that cause slow practical convergence, or use fixed step-sizes that depend on and decrease with an upper bound of the delays. Not only are such delay bounds hard to obtain in advance, but they also tend to be large and rarely attained, resulting in unnecessarily slow convergence. This paper develops asynchronous versions of two distributed algorithms, Prox-DGD and DGD-ATC, for solving consensus optimization problems over undirected networks. In contrast to alternatives, our algorithms can converge to the fixed point set of their synchronous counterparts using step-sizes that are independent of the delays. We establish convergence guarantees for convex and strongly convex problems under both partial and total asynchrony. We also show that the convergence speed of the two asynchronous methods adjusts to the actual level of asynchrony rather than being constrained by the worst-case. Numerical experiments demonstrate a strong practical performance of our asynchronous algorithms. © 2023, CC BY.

关键词： Consensus algorithm

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Safety-Driven AMR End-to-End Navigation Framework Based on Sparse Sensor Human Behavior Prediction

Safety-Driven AMR End-to-End Navigation Framework Based on S...

引用

Computational Intelligence on Engineering/Cyber Physical systems (CIES), IEEE Symposium on

作者： Fuhua Jia Kai Yang Junlin Xiao Tuo Hu Xiaoying Yang Adam Rushworth Heng Yu Tianxiang Cui Department of Mechanical Materials and Manufacturing University of Nottingham Ningbo China Ningbo China Control System Laboratory University of Nottingham Ningbo China Ningbo China Ningbo Innovation Center Zhejiang University School of Computer Science University of Nottingham Ningbo China Ningbo China

ISBN: (数字)9798331508272

ISBN: (纸本)9798331508289

Autonomous Mobile Robots (AMRs) have garnered significant attention and widespread application due to their operational efficiency. However, in human-centered environments, such as warehouses, manufacturing facilities, and public spaces, AMRs face the dual challenge of navigating autonomously while perceiving and adapting to human movements to ensure safety. This work proposes a novel safety-driven end-to-end navigation framework for AMRs that processes navigation commands and sparse data collected by onboard 2D LiDAR and IMU sensors to directly control the robot's velocity. The framework comprises two key modules: a human estimation module and a trajectory generation module. The human estimation module employs an LSTM-based architecture to estimate human positions and movement trends from sparse sensor data, generating a dynamic obstacle map. Based on these predictions, a genetic algorithm -based trajectory generation module creates safe-driven dynamic trajectories subject to dynamic constraints. This approach enables accurate forecasting of pedestrian movements, allowing the AMR to effectively avoid dynamic human obstacles, thereby enhancing its safety and practicality in real-world environments. Our contributions are threefold: dynamic human detection and prediction from sparse onboard sensor data, safety-driven dynamic trajectory planning, and extensive real-world experiments demonstrating feasibility and robustness of the proposed framework.

关键词： Navigation Market research Robustness Real-time systems Trajectory Sensors Safety Mobile robots Long short term memory Genetic algorithms

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Efficient Hybrid Multi-Population Genetic Algorithm for Multi-UAV Task Assignment in Consumer Electronics Applications

引用

IEEE Transactions on Consumer Electronics 2025年

作者： Bai, Xiaoshan Jiang, Haoyu Li, Chao Ullah, Inam Dabel, Maryam M. Al Bashir, Ali Kashif Wu, Zongze Sam, Shuzhi Shenzhen University College of Mechatronics and Control Engineering National Engineering Laboratory for Big Data System Computing Technology Shenzhen518060 China Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China Shenzhen University Shenzhen City Joint Laboratory of Autonomous Unmanned Systems and Intelligent Manipulation Shenzhen518060 China Tashkent State University of Economics Department of Artificial Intelligence Tashkent100066 Uzbekistan University of Hafr Al Batin Department of Computer Science and Engineering College of Computer Science and Engineering Saudi Arabia Manchester Metropolitan University Manchester United Kingdom Shenzhen518060 China National University of Singapore Department of Electrical and Computer Engineering Singapore117576 Singapore

In recent years, as people’s living standards have improved and consumption concepts have been transformed, the demand for purchasing consumer electronics online has continued to grow, further stimulating the development of the logistics industry. Consequently, how to deliver consumer electronics to households at minimal cost has become a crucial factor that limits the development of the consumer technology industry. To tackle this problem, this paper studies the task assignment problem for multiple initially dispersed UAVs to deliver products to target locations while minimizing their total operation time. Each UAV can continuously provide delivery services to multiple target locations within its limited loading capacity and operation time. To solve this problem, we propose several hybrid multipopulation genetic algorithms. First, a novel crossover operator for the genetic algorithms is designed, through which a single parent chromosome can generate offspring individually. Second, two mutation mechanisms are performed to increase gene diversity. Third, multiple local search strategies are employed to enhance the populations’ fitness during each iteration of evolution. An improved 2-opt local search strategy is applied to optimize individual chromosomes when their similarity with the current best chromosome falls below a prescribed threshold. Alternatively, local search strategies are utilized for 1-opt, 2h-opt and interchange processes. Combining local search strategies, genetic operators, and the multi-population mechanism leads to several hybrid multi-population genetic algorithms. Numerical simulations and experimental tests demonstrate that the hybrid multi-population genetic algorithm, integrated with the improved 2-opt and 1-opt local search strategies, exhibits superior performance among the designed hybrid genetic algorithms, the minimum marginal cost algorithm (MMA), and the existing popular Co-evolutionary Multi-population Genetic Algorithm (CMGA). In exp

关键词： Genetic algorithms

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Seamless Detection: Unifying Salient Object Detection and Camouflaged Object Detection

arXiv

引用

arXiv 2024年

作者： Liu, Yi Li, Chengxin Dong, Xiaohui Li, Lei Zhang, Dingwen Xu, Shoukun Han, Jungong School of Computer Science and Artificial Intelligence Changzhou University Changzhou213159 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China School of Automation Northwestern Polytechnical University Xi’an710129 China Department of Automation Tsinghua University Beijing100084 China

Achieving joint learning of Salient Object Detection (SOD) and Camouflaged Object Detection (COD) is extremely challenging due to their distinct object characteristics, i.e., saliency and camouflage. The only preliminary research treats them as two contradictory tasks, training models on large-scale labeled data alternately for each task and assessing them independently. However, such task-specific mechanisms fail to meet real-world demands for addressing unknown tasks effectively. To address this issue, in this paper, we pioneer a task-agnostic framework to unify SOD and COD. To this end, inspired by the agreeable nature of binary segmentation for SOD and COD, we propose a Contrastive Distillation Paradigm (CDP) to distil the foreground from the background, facilitating the identification of salient and camouflaged objects amidst their surroundings. To probe into the contribution of our CDP, we design a simple yet effective contextual decoder involving the interval-layer and global context, which achieves an inference speed of 67 fps. Besides the supervised setting, our CDP can be seamlessly integrated into unsupervised settings, eliminating the reliance on extensive human annotations. Experiments on public SOD and COD datasets demonstrate the superiority of our proposed framework in both supervised and unsupervised settings, compared with existing state-of-the-art approaches. Code is available on https://***/liuyi1989/Seamless-Detection. Copyright © 2024, The Authors. All rights reserved.

关键词： Contrastive Learning

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