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Do You Know the Way? Human-in-The-Loop Understanding for Fast Traversability Estimation in Mobile Robotics

IEEE Robotics and Automation Letters 2025年第6期10卷 5863-5870页

作者： Schreiber, Andre Driggs-Campbell, Katherine University of Illinois at Urbana-Champaign Department of Electrical and Computer Engineering Coordinated Science Laboratory ChampaignIL61820 United States

The increasing use of robots in unstructured environments necessitates the development of effective perception and navigation strategies to enable field robots to successfully perform their tasks. In particular, it is key for such robots to understand where in their environment they can and cannot travel—a task known as traversability estimation. However, existing geometric approaches to traversability estimation may fail to capture nuanced representations of traversability, whereas vision-based approaches typically either involve manually annotating a large number of images or require robot experience. In addition, existing methods can struggle to address domain shifts as they typically do not learn during deployment. To this end, we propose a human-in-the-loop (HiL) method for traversability estimation that prompts a human for annotations as-needed. Our method uses a foundation model to enable rapid learning on new annotations and to provide accurate predictions even when trained on a small number of quickly-provided HiL annotations. We extensively validate our method in simulation and on real-world data, and demonstrate that it can provide state-of-the-art traversability prediction performance. © 2016 IEEE.

关键词： Machine vision

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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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Orbit-Orbit Interaction in Spatiotemporal Optical Vortex

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engineering 2025年第2期45卷 44-51页

作者： Jian Chen Jie Zhao Xi Shen Dewei Mo Cheng-Wei Qiu Qiwen Zhan School of Optical-Electrical and Computer Engineering University of Shanghai for Science and TechnologyShanghai 200093China Shanghai Key Laboratory of Modern Optical System University of Shanghai for Science and TechnologyShanghai 200093China Department of Electrical and Computer Engineering National University of SingaporeSingapore 117583Singapore

While spin-orbit interaction has been extensively studied,few investigations have reported on the interaction between orbital angular momenta(OAMs).In this work,we study a new type of orbit-orbit coupling between the longitudinal OAM and the transverse OAM carried by a three-dimensional(3D)spatiotemporal optical vortex(STOV)in the process of tight *** 3D STOV possesses orthogonal OAMs in the x-y,t-x,and y-t planes,and is preconditioned to overcome the spatiotemporal astigmatism effect.x,y,and t are the axes in the spatiotemporal *** corresponding focused wavepacket is calculated by employing the Debye diffraction theory,showing that a phase singularity ring is generated by the interactions among the transverse and longitudinal vortices in the highly confined *** Fourier-transform decomposition of the Debye integral is employed to analyze the mechanism of the orbit-orbit *** is the first revelation of coupling between the longitudinal OAM and the transverse OAM,paving the way for potential applications in optical trapping,laser machining,nonlinear light-matter interactions,and more.

关键词： Spatiotemporal optical vortex Orbital angular momentum Momentum interaction Highly confined wavepacket Diffraction

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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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An overview on IRS-enabled sensing and communications for 6G: architectures, fundamental limits, and joint beamforming designs

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science China(Information sciences) 2025年第5期68卷 170-193页

作者： Xianxin SONG Yuan FANG Feng WANG Zixiang REN Xianghao YU Ye ZHANG Fan LIU Jie XU Derrick Wing Kwan NG Rui ZHANG Shuguang CUI School of Science and Engineering (SSE) Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen)and Guangdong Provincial Key Laboratory of Future Networks of Intelligence The Chinese University of Hong Kong Department of Electrical Engineering City University of Hong Kong School of Information Engineering Guangdong University of Technology Key Laboratory of Wireless-Optical Communications Chinese Academy of Sciences School of Information Science and Technology University of Science and Technology of China Computer School Beijing Information Science and Technology University National Mobile Communications Research Laboratory School of Information Science and Engineering Southeast University School of Electrical Engineering and Telecommunications University of New South Wales School of Science and Engineering Shenzhen Research Institute of Big Data The Chinese University of Hong Kong Department of Electrical and Computer Engineering National University of Singapore

This study presents an overview on intelligent reflecting surface(IRS)-enabled sensing and communication for the forthcoming sixth-generation(6G) wireless networks, in which IRSs are strategically deployed to proactively reconfigure wireless environments to improve both sensing and communication(S&C) performance. First, we exploit a single IRS to enable wireless sensing in the base station's(BS's) non-line-of-sight(NLoS) area. In particular, we present three IRS-enabled NLoS target sensing architectures with fully-passive, semi-passive, and active IRSs, respectively. We compare their pros and cons by analyzing the fundamental sensing performance limits for target detection and parameter estimation. Next, we consider a single IRS to facilitate integrated sensing and communication(ISAC), in which the transmit signals at the BS are used for achieving both S&C functionalities, aided by the IRS through reflective beamforming. We present joint transmit signal and receiver processing designs for realizing efficient ISAC, and jointly optimize the transmit beamforming at the BS and reflective beamforming at the IRS to balance the fundamental performance tradeoff between S&C. Furthermore, we discuss multi-IRS networked ISAC, by particularly focusing on multi-IRS-enabled multi-link ISAC, multi-region ISAC, and ISAC signal routing, respectively. Finally, we highlight various promising research topics in this area to motivate future work.

关键词： integrated sensing and communication (ISAC) intelligent reflecting surface (IRS) non-line-of-sight (NLoS) sensing sensing and communication tradeoff

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Improving Power Response of Single-Controllable VSG-Based Active Distribution Network

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CSEE Journal of Power and Energy Systems 2025年第1期11卷 102-114页

作者： Shah Fahad Arman Goudarzi Pierluigi Siano Ji Xiang Department of Electrical and Computer Engineering Missouri University of Science and TechnologyUSA University of Victoria Canada Department of Management&Innovation Systems University of SalernoItaly Department of Electrical and Electronic Engineering Science University of JohannesburgJohannesburg2006South Africa National Laboratory of Industrial Control Technology College of Electrical EngineeringZhejiang UniversityHangzhou310058China

Controlling an active distribution network(ADN)from a single PCC has been advantageous for improving the performance of coordinated Intermittent RESs(IRESs).Recent studies have proposed a constant PQ regulation approach at the PCC of ADNs using coordination of non-MPPT based ***,due to the intermittent nature of DGs coupled with PCC through uni-directional broadcast communication,the PCC becomes vulnerable to transient *** address this challenge,this study first presents a detailed mathematical model of an ADN from the perspective of PCC regulation to realize rigidness of PCC against ***,an H_(∞)controller is formulated and employed to achieve optimal performance against disturbances,consequently,ensuring the least oscillations during transients at ***,an eigenvalue analysis is presented to analyze convergence speed limitations of the newly derived system ***,simulation results show the proposed method offers superior performance as compared to the state-of-the-art methods.

关键词： Cooperative control of DGs hierarchical control system high penetration of intermittent RESs H_(∞)control optimal control in power systems single-controllable active distribution networks

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Multidimensional image morphing-fast image-based rendering of open 3D and VR environments

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虚拟现实与智能硬件(中英文) 2025年第2期7卷 155-172页

作者： Simon SEIBT Bastian KUTH Bartosz von Rymon LIPINSKI Thomas CHANG Marc Erich LATOSCHIK Game Tech Laboratory Faculty of Computer ScienceNuremberg Institute of TechnologyNuremberg 90489Germany Department of Electrical Engineering and Computer Science Coburg University of Applied Sciences and ArtsCoburg 96450Germany Human-Computer Interaction Group Institute of Computer ScienceUniversity of WuerzburgWuerzburg 97074Germany

Background In recent years,the demand for interactive photorealistic three-dimensional(3D)environments has increased in various fields,including architecture,engineering,and ***,achieving a balance between the quality and efficiency of high-performance 3D applications and virtual reality(VR)remains *** This study addresses this issue by revisiting and extending view interpolation for image-based rendering(IBR),which enables the exploration of spacious open environments in 3D and ***,we introduce multimorphing,a novel rendering method based on the spatial data structure of 2D image patches,called the image *** this approach,novel views can be rendered with up to six degrees of freedom using only a sparse set of *** rendering process does not require 3D reconstruction of the geometry or per-pixel depth information,and all relevant data for the output are extracted from the local morphing cells of the image *** detection of parallax image regions during preprocessing reduces rendering artifacts by extrapolating image patches from adjacent cells in *** addition,a GPU-based solution was presented to resolve exposure inconsistencies within a dataset,enabling seamless transitions of brightness when moving between areas with varying light *** Experiments on multiple real-world and synthetic scenes demonstrate that the presented method achieves high"VR-compatible"frame rates,even on mid-range and legacy hardware,*** achieving adequate visual quality even for sparse datasets,it outperforms other IBR and current neural rendering *** Using the correspondence-based decomposition of input images into morphing cells of 2D image patches,multidimensional image morphing provides high-performance novel view generation,supporting open 3D and VR ***,the handling of morphing artifacts in the parallax image regions remains a topic for future resea

关键词： computer graphics 3D real-time rendering computer vision Image morphing Virtual reality

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A Hierarchical Progressive Perception System for Autonomous Luggage Trolley Collection

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IEEE Transactions on Automation science and engineering 2025年 22卷 14484-14497页

作者： Sun, Zhirui Zhang, Zhe Zhao, Jieting Ye, Hanjing Wang, Jiankun Southern University of Science and Technology Shenzhen Key Laboratory of Robotics Perception and Intelligence Department of Electronic and Electrical Engineering Shenzhen518055 China Southern University of Science and Technology Jiaxing Research Institute Jiaxing314000 China Southern University of Science and Technology Shenzhen Key Laboratory of Robotics and Computer Vision Department of Electronic and Electrical Engineering Shenzhen518055 China

Advancements in intelligent vehicle technologies and autonomous driving are now used for tasks like collecting luggage trolleys at airports. The robotic autonomous luggage trolley collection system employs robots to gather and transport scattered luggage trolleys. However, existing methods for detecting and locating luggage trolleys often fail when they are not fully visible. To address this, we introduce the hierarchical progressive perception system, which enhances the detection and localization of luggage trolleys under partial occlusion. The proposed system integrates the hierarchical process structure and progressive perception strategy. This innovative structure processes the luggage trolley’s position and orientation separately. It can accurately determine the luggage trolley’s position with just one well-detected keypoint and estimate its orientation when partially occluded. Once the luggage trolley’s initial pose is detected, the progressive perception strategy continuously refines this information until the robot begins grasping. The proposed system only needs RGB images for labeling and training, eliminating the need for complex data collection and annotation. The experiments on detection and localization demonstrate that the proposed system is more reliable under partial occlusion compared to existing methods. Its effectiveness and robustness have also been confirmed through practical tests in actual luggage trolley collection tasks. © 2004-2012 IEEE.

关键词： Intelligent robots

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Coded Beam Training for RIS Assisted Wireless Communications

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IEEE Transactions on Wireless Communications 2025年第5期24卷 3854-3867页

作者： Chen, Yuhao Dai, Linglong Department of Electronic Engineering China Tsinghua University State Key laboratory of Space Network and Communications Beijing100084 China Massachusetts Institute of Technology Department of Electrical Engineering and Computer Science CambridgeMA02139 United States

Reconfigurable intelligent surface (RIS) is considered as one of the key technologies for future 6G communications. To fully unleash the performance of RIS, accurate channel state information (CSI) is crucial. Beam training is widely utilized to acquire the CSI. However, before aligning the beam correctly to establish stable connections, the signal-to-noise ratio (SNR) at UE is inevitably low, which reduces the beam training accuracy. To deal with this problem, we exploit the coded beam training framework for RIS systems, which leverages the error correction capability of channel coding to improve the beam training accuracy under low SNR. Specifically, we first extend the coded beam training framework to RIS systems by decoupling the base station-RIS channel and the RIS-user channel. For this framework, codewords that accurately steer to multiple angles is essential for fully unleashing the error correction capability. In order to realize effective codeword design in RIS systems, we then propose a new codeword design criterion, based on which we propose a relaxed Gerchberg-Saxton (GS) based codeword design scheme by considering the constant modulus constraints of RIS elements. In addition, considering the two dimensional structure of RIS, we further propose a dimension reduced encoder design scheme, which can not only guarentee a better beam shape, but also enable a stronger error correction capability. Simulation results reveal that the proposed scheme can realize effective and accurate beam training in low SNR scenarios. © 2002-2012 IEEE.

关键词： Error correction

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Toward 100% Renewable Power Grids: A Review

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IEEE Access 2025年 13卷 69690-69704页

作者： Yang, Yayu Wen, Yan Zhang, Zhengfa Dong, Yuqing Shen, Chong Liu, Yilu The University of Tennessee at Knoxville Department of Electrical Engineering and Computer Science KnoxvilleTN37996 United States Oak Ridge National Laboratory Oak RidgeTN37831 United States

The transition to a 100% renewable power grid remains beset by significant technical challenges. This paper critically examines the obstacles arising from the variability and unpredictability of renewable energy sources (RES), which complicate the real-time balancing of power generation and load demand. In addition to traditional stability concerns (e.g., rotor angle, voltage, and frequency stability), the increasing penetration of inverter-based resources (IBRs) introduces novel challenges, including resonance stability issues and converter-driven dynamics. Moreover, the dynamic behavior and fault response of IBRs diverge markedly from those of conventional synchronous generators, rendering traditional protection schemes increasingly inadequate. This paper reviews state-of-the-art solutions in power balancing, grid flexibility, stability enhancement, and advanced protection strategies, discussing their implications for future grid design. The analysis provides a comprehensive assessment of recent technological advancements, thereby outlining critical research directions essential for achieving a resilient, 100% renewable power grid. © 2013 IEEE.

关键词： Power grids

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