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One model, two skills: active vision and action learning model for robotic manipulation

science China(information sciences) 2025年第6期68卷 331-349页

作者： Guokang WANG Yanhong LIU Huaping LIU School of Electrical and Information Engineering Zhengzhou University Department of Computer Science and Technology Tsinghua University

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.

关键词： robotic manipulation visual learning reinforcement learning active sensing machine vision

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CToMP: a cycle-task-oriented memory protection scheme for unmanned systems

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science China(information sciences) 2024年第6期67卷 399-417页

作者： Chengyan MA Ning XI Di LU Yebo FENG Jianfeng MA School of Cyber Engineering Xidian University School of Computer Science and Technology Xidian University Department of Computer and Information Science University of Oregon

Memory corruption attacks(MCAs) refer to malicious behaviors of system intruders that modify the contents of a memory location to disrupt the normal operation of computing systems, causing leakage of sensitive data or perturbations to ongoing processes. Unlike general-purpose systems, unmanned systems cannot deploy complete security protection schemes, due to their limitations in size, cost and *** in unmanned systems are particularly difficult to defend against. Furthermore, MCAs have diverse and unpredictable attack interfaces in unmanned systems, severely impacting digital and physical sectors. In this paper, we first generalize, model and taxonomize MCAs found in unmanned systems currently, laying the foundation for designing a portable and general defense approach. According to different attack mechanisms,we found that MCAs are mainly categorized into two types — return2libc and return2shellcode. To tackle return2libc attacks, we model the erratic operation of unmanned systems with cycles and then propose a cycle-task-oriented memory protection(CToMP) approach to protect control flows from tampering. To defend against return2shellcode attacks, we introduce a secure process stack with a randomized memory address by leveraging the memory pool to prevent Shellcode from being executed. Moreover, we discuss the mechanism by which CTo MP resists the return-oriented programming(ROP) attack, a novel variant of return2libc attacks. Finally, we implement CTo MP on CUAV V5+ with Ardupilot and Crazyflie. The evaluation and security analysis results demonstrate that the proposed approach CTo MP is resilient to various MCAs in unmanned systems with low footprints and system overhead.

关键词： unmanned system memory corruption attack memory protection system security randomized memory address

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Malicious iOS Apps Detection Through Multi-Criteria Decision-Making Approach

Informatica (Slovenia)

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Informatica (Slovenia) 2025年第1期49卷 207-220页

作者： Bhatt, Arpita Jadhav Sardana, Neetu Department of Computer Science & Engineering and Information Technology Jaypee Institute of Information Technology Indonesia

In today’s era, smartphones are used in daily lives because they are ubiquitous and can be customized by installing third-party apps. As a result, the menaces because of these apps, which are potentially risky for user’s privacy, have increased. information on smartphones is perhaps, more personal than compared to data stored on desktops or computers, making it an easy target for intruders. After Android, the most prevalently used mobile operating system is Apple’s iOS. Both Android and iOS follow permission-based access control to protect user’s privacy. However, the users are unaware whether the app is breaching the user’s privacy. To combat this problem, in the paper we propose a hybrid approach to detect malicious iOS apps based on its permissions. In the first phase, weights have been assigned to app permissions using multi-criteria decision-making (MCDM) approach namely Analytic Hierarchy Process (AHP), and in the second phase machine learning& ensemble learning techniques have been employed to train the classifiers for detecting malicious apps. To test the efficacy of the proposed method dataset comprising 1150 apps from 12 app categories has been used. The results demonstrate the proposed approach improves the efficacy of detecting malicious iOS apps for majority of categories. © 2025 Slovene Society Informatika. All rights reserved.

关键词： Differential privacy

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Enhanced Acceleration for Generalized Nonconvex Low-Rank Matrix Learning

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Chinese Journal of Electronics 2025年第1期34卷 98-113页

作者： Hengmin Zhang Jian Yang Wenli Du Bob Zhang Zhiyuan Zha Bihan Wen School of Electrical and Electronic Engineering Nanyang Technological University School of Computer Science and Engineering Nanjing University of Science and Technology School of Information Science and Engineering East China University of Science and Technology Department of Electrical and Computer Engineering University of Macau

Matrix minimization techniques that employ the nuclear norm have gained recognition for their applicability in tasks like image inpainting, clustering, classification, and reconstruction. However, they come with inherent biases and computational burdens, especially when used to relax the rank function, making them less effective and efficient in real-world scenarios. To address these challenges, our research focuses on generalized nonconvex rank regularization problems in robust matrix completion, low-rank representation, and robust matrix regression. We introduce innovative approaches for effective and efficient low-rank matrix learning, grounded in generalized nonconvex rank relaxations inspired by various substitutes for the ?0-norm relaxed functions. These relaxations allow us to more accurately capture low-rank structures. Our optimization strategy employs a nonconvex and multi-variable alternating direction method of multipliers, backed by rigorous theoretical analysis for complexity and *** algorithm iteratively updates blocks of variables, ensuring efficient convergence. Additionally, we incorporate the randomized singular value decomposition technique and/or other acceleration strategies to enhance the computational efficiency of our approach, particularly for large-scale constrained minimization problems. In conclusion, our experimental results across a variety of image vision-related application tasks unequivocally demonstrate the superiority of our proposed methodologies in terms of both efficacy and efficiency when compared to most other related learning methods.

关键词： Learning systems Image recognition Minimization Computational efficiency Complexity theory Matrix decomposition Optimization Image reconstruction Singular value decomposition Convergence

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Data Hiding Methods Using Voting Strategy and Mapping Table

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Journal of Internet Technology 2024年第3期25卷 365-377页

作者： Chi, Hengxiao Chang, Chin-Chen Lin, Chia-Chen Department of Information Engineering and Computer Science Feng Chia University Taiwan Department of Computer Science and Information Engineering National Chin-Yi University of Technology Taiwan

With advancements in technology, the study of data hiding (DH) in images has become more and more important. In this paper, we introduce a novel data hiding scheme that employs a voting strategy to predict pixels based on their neighbors, then embeds data into the predicted pixels according to a designed mapping table. To extract the information, it is only necessary to use the voting strategy to predict the pixels again, then to compare the predicted and hidden pixels to extract the secret data with the assistance of the mapping table. Our experimental results demonstrate that the proposed hiding scheme has a high embedding capacity, and preserves a satisfactory visual quality. Additionally, it attains a high peak signal-to-noise ratio (PSNR) even at high embedding capacity. © 2024 Taiwan Academic Network Management Committee. All rights reserved.

关键词： Pixels

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Exploration of alzheimer disease using design of experiments

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Multimedia Tools and Applications 2025年第3期84卷 1079-1101页

作者： Gupta, Pranav Pandey, Kavita Gupta, Sanskar Department of Computer Science & Engineering and Information Technology Jaypee Institute of Information Technology Noida India

This study examines the use of experimental designs, specifically full and fractional factorial designs, for predicting Alzheimer’s disease with fewer variables. The full factorial design systematically investigates the effects of selected factors, providing a comprehensive analysis of their individual and interactive impacts on Alzheimer’s prediction. On the other hand, the fractional factorial design simplifies the model by selecting key factors and removing non-significant ones. For Alzheimer’s, among all the factors examined, the MMSE (Mini-mental state Examination) score emerged as the most significant, which was further cross-validated using Minitab Software Analysis. Importantly, the findings suggest that the fractional factorial design is a better alternative, particularly when time and cost constraints are present. The results highlight the effectiveness and efficiency of these experimental designs, demonstrating their potential for early detection, prevention, and treatment of Alzheimer’s disease. By contributing to the expanding knowledge base on experimental designs in medical research, this study emphasizes their crucial role in understanding and combating complex diseases like Alzheimer’s. © The Author(s), under exclusive licence to Springer science+Business Media, LLC, part of Springer Nature 2024.

关键词： Design of experiments

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WebFLex:A Framework for Web Browsers-Based Peer-to-Peer Federated Learning Systems Using WebRTC

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computers, Materials & Continua 2024年第3期78卷 4177-4204页

作者： Mai Alzamel Hamza Ali Rizvi Najwa Altwaijry Isra Al-Turaiki Department of Computer Science College of Computer and Information SciencesKing Saud UniversityRiyadhKingdom of Saudi Arabia Department of Computer Science and Engineering Punjab Engineering CollegeChandigarhIndia

Scalability and information personal privacy are vital for training and deploying large-scale deep learning *** learning trains models on exclusive information by aggregating weights from various devices and taking advantage of the device-agnostic environment of web ***,relying on a main central server for internet browser-based federated systems can prohibit scalability and interfere with the training process as a result of growing client ***,information relating to the training dataset can possibly be extracted from the distributed weights,potentially reducing the privacy of the local data used for *** this research paper,we aim to investigate the challenges of scalability and data privacy to increase the efficiency of distributed training *** a result,we propose a web-federated learning exchange(WebFLex)framework,which intends to improve the decentralization of the federated learning *** is additionally developed to secure distributed and scalable federated learning systems that operate in web browsers across heterogeneous ***,WebFLex utilizes peer-to-peer interactions and secure weight exchanges utilizing browser-to-browser web real-time communication(WebRTC),efficiently preventing the need for a main central *** has actually been measured in various setups using the MNIST *** results show WebFLex’s ability to improve the scalability of federated learning systems,allowing a smooth increase in the number of participating devices without central data *** addition,WebFLex can maintain a durable federated learning procedure even when faced with device disconnections and network ***,it improves data privacy by utilizing artificial noise,which accomplishes an appropriate balance between accuracy and privacy preservation.

关键词： Federated learning web browser privacy deep learning

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Modern Machine Learning Solution for Electricity Consumption Management in Smart Buildings

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IEEE engineering Management Review 2025年第1期53卷 54-62页

作者： Gautam, Sandeep Kumar Shrivastava, Vinayak Udmale, Sandeep S. Singh, Amit Kumar Singh, Sanjay Kumar Department of Computer Science and Engineering Varanasi221005 India Department of Computer Engineering and Information Technology Mumbai400019 India National Institute of Technology Department of Computer Science and Engineering Patna800005 India

Effective management of electricity consumption (EC) in smart buildings (SBs) is crucial for optimizing operational efficiency, cost savings, and ensuring sustainable resource utilization. Accurate EC prediction enables proactive decision-making, ensuring that resources are allocated efficiently to meet actual demand levels while maintaining occupant comfort. Population growth, building expansion, and technology usage swiftly escalate electricity demand, thus necessitating economical EC management strategies and assist consumers to better understand and strategically plan their EC. To address these challenges, this article proposes a novel approach based on a hybrid prediction model combining temporal convolutional networks (TCNs) and gated recurrent units (GRU). This approach capitalizes on the strengths of both TCN and GRU. TCN is adept at efficiently identifying diverse patterns, particularly within the complex working environments of SBs, by effectively capturing high- and low-frequency information. Subsequently, GRU is leveraged to address the long-term dependencies within the data, enhancing the accuracy of EC prediction. In this article, the results demonstrate the effectiveness of the proposed hybrid model, outperforming competitive methods with an impressive mean absolute error score. This underscores the potential of this approach to improve energy management practices significantly within SB environments, ultimately enhancing both operational efficiency and occupant satisfaction. © 1973-2011 IEEE.

关键词： Forecasting

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Local Search-Based Anytime Algorithms for Continuous Distributed Constraint Optimization Problems

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 288-290页

作者： Xin Liao Khoi Hoang Xin Luo the College of Computer and Information Science Southwest University the Department of Computer Science and Engineering Washington University in St.Louis IEEE

Dear Editor,The distributed constraint optimization problems(DCOPs) [1]-[3]provide an efficient model for solving the cooperative problems of multi-agent systems, which has been successfully applied to model the real-world problems like the distributed scheduling [4], sensor network management [5], [6], multi-robot coordination [7], and smart grid [8]. However, DCOPs were not well suited to solve the problems with continuous variables and constraint cost in functional form, such as the target tracking sensor orientation [9], the air and ground cooperative surveillance [10], and the sensor network coverage [11].

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Categorizing methods for integrating machine learning with executable specifications

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science China(information sciences) 2024年第1期67卷 5-19页

作者： David HAREL Raz YERUSHALMI Assaf MARRON Achiya ELYASAF Department of Computer Science and Applied Mathematics Weizmann Institute of Science Department of Software and Information Systems Engineering Ben-Gurion University of the Negev

Deep learning(DL),which includes deep reinforcement learning(DRL),holds great promise for carrying out real-world tasks that human minds seem to cope with quite *** promise is already delivering extremely impressive results in a variety of ***,while DL-enabled systems achieve excellent performance,they are far from *** has been demonstrated,in several domains,that DL systems can err when they encounter cases they had not hitherto ***,the opacity of the produced agents makes it difficult to explain their behavior and ensure that they adhere to various requirements posed by human *** the other end of the software development spectrum of methods,behavioral programming(BP) facilitates orderly system development using self-standing executable modules aligned with how humans intuitively describe desired system *** this paper,we elaborate on different approaches for combining DRL with BP and,more generally,machine learning(ML) with executable specifications(ES).We begin by defining a framework for studying the various approaches,which can also be used to study new emerging approaches not covered *** then briefly review state-of-the-art approaches to integrating ML with ES,continue with a focus on DRL,and then present the merits of integrating ML with *** conclude with guidelines on how this categorization can be used in decision making in system development,and outline future research challenges.

关键词： machine learning artificial intelligence grey box learning domain knowledge rules behavioral programming deep reinforcement learning survey

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