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arXiv 2023年

作者： Jiao, Yang Yang, Kai Wu, Tiancheng Jian, Chengtao Huang, Jianwei Department of Computer Science and Technology Tongji University China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University China Shanghai Research Institute for Intelligent Autonomous Systems China School of Science and Engineering The Chinese University of Hong Kong Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society China

Trilevel learning, also called trilevel optimization (TLO), has been recognized as a powerful modelling tool for hierarchical decision process and widely applied in many machine learning applications, such as robust neural architecture search, hyperparameter optimization, and domain adaptation. Tackling TLO problems has presented a great challenge due to their nested decision-making structure. In addition, existing works on TLO face the following key challenges: 1) they all focus on the non-distributed setting, which may lead to privacy breach;2) they do not offer any non-asymptotic convergence analysis which characterizes how fast an algorithm converges. To address the aforementioned challenges, this paper proposes an asynchronous federated trilevel optimization method to solve TLO problems. The proposed method utilizes µ-cuts to construct a hyper-polyhedral approximation for the TLO problem and solve it in an asynchronous manner. We demonstrate that the proposed µ-cuts are applicable to not only convex functions but also a wide range of non-convex functions that meet the µ-weakly convex assumption. Furthermore, we theoretically analyze the non-asymptotic convergence rate for the proposed method by showing its iteration complexity to obtain ϵ-stationary point is upper bounded by (Formula Presented). Extensive experiments on real-world datasets have been conducted to elucidate the superiority of the proposed method, e.g., it has a faster convergence rate with a maximum acceleration of approximately 80%. Copyright © 2023, The Authors. All rights reserved.

关键词： Decision making

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Real-Time Imitation of Human Head Motions, Blinks and Emotions by Nao Robot: A Closed-Loop Approach

arXiv

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arXiv 2025年

作者： Rayati, Keyhan Feizi, Amirhossein Beigy, Alireza Shahverdi, Pourya Masouleh, Mehdi Tale Kalhor, Ahmad Louie, Wing-Yue Geoffrey Human and Robot Interaction Lab Electrical and Computer Engineering University of Tehran Tehran Iran Department of Electrical Engineering Shahrood University of Technology Shahrood Iran Intelligent Robotics Laboratory Oakland University Michigan United States

—This paper introduces a novel approach for enabling real-time imitation of human head motion by a Nao robot, with a primary focus on elevating human-robot interactions. By using the robust capabilities of the MediaPipe as a computer vision library and the DeepFace as an emotion recognition library, this research endeavors to capture the subtleties of human head motion, including blink actions and emotional expressions, and seamlessly incorporate these indicators into the robot’s responses. The result is a comprehensive framework which facilitates precise head imitation within human-robot interactions, utilizing a closed-loop approach that involves gathering real-time feedback from the robot’s imitation performance. This feedback loop ensures a high degree of accuracy in modeling head motion, as evidenced by an impressive R2 score of 96.3 for pitch and 98.9 for yaw. Notably, the proposed approach holds promise in improving communication for children with autism, offering them a valuable tool for more effective interaction. In essence, proposed work explores the integration of real-time head imitation and real-time emotion recognition to enhance human-robot interactions, with potential benefits for individuals with unique communication needs. © 2025, CC BY-NC-ND.

关键词： Anthropomorphic robots

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Adaptive Robust Invariant Extended Kalman filtering for Biped Robot*

Adaptive Robust Invariant Extended Kalman filtering for Bipe...

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IEEE International Conference on robotics and Biomimetics

作者： Chengzhi Gao Ye Xie Shiqiang Zhu Guanyu Huang Lingyu Kong Anhuan Xie Jason Gu Dan Zhang Jun Shao Haofu Qian Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Zhejiang University Hangzhou Zhejiang China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada B3H 4R2 York University North York Toronto M3J 1P3 Canada School of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9781665481106

The precise estimation of system states is essential for the locomotion control of biped robots to maintain balance. Currently, the estimation of system states is either based on vision data that is susceptible to the environment, or fusing data from Inertial Measurement Unit (IMU) and the kinematic calculation. Invariant Extended Kalman Filtering (IEKF) is one of the most successful fusing algorithms to estimate system state. Generally, in IEKF, the noise covariance of system state is assumed to be known. However, the noise covariance of contact point for biped is not available since the ground-contact situation normally varies and not previously known. This paper presents a new fusing algorithm-Adaptive Robust Invariant Extended Kalman Filtering (ARIEKF) to adaptively adjust the noise parameter of contact point. The proposed algorithm applied the principle of robust estimation to resist outlier effects of state, and introduced an adaptive factor for the noise covariance of state to control its outlying disturbance influences. This paper firstly completed the full state estimation of biped robot using the theory of Lie groups and invariant observer. Then, the adaptive scale factor evaluated by three-segment approach was adopted to adjust the noise covariance of contact point. Finally, both IEKF and proposed ARIEKF are applied to our biped robot-Cosmos and the accuracy of two algorithms are compared. The mean square errors of the velocity of two algorithms were evaluated using the measurements from motion capture system. Experiments demonstrated that the mean square errors of the velocity are decreased 50 percent when compared with IEKF.

关键词： Measurement units Filtering Mean square error methods Resists Observers Motion capture Kalman filters

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Distributed Energy Optimization for Mobile Networks Using Potential Games

Distributed Energy Optimization for Mobile Networks Using Po...

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IEEE Internatonal Conference on Mobile Adhoc and Sensor Systems (MASS)

作者： Zhizongkai Wang Hanfei Wang Zhongji Wang Yilin Xiao Yunzhi Zhao Xiaowen Li Xufeng Chen Lin Gao Fen Hou Jianwei Huang School of Electronics and Information Engineering and the Guangdong Provincial Key Laboratory of Aerospace Communication and Networking Technology Harbin Institute of Technology Shenzhen Guangdong P.R. China School of Science and Engineering Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen Key Laboratory of Crowd Intelligence Empowered Low-Carbon Energy Network and CSIJRI Joint Research Centre on Smart Energy Storage The Chinese University of Hong Kong Shenzhen Guangdong P.R. China Department of Electrical and Computer Engineering State Key Laboratory of IoT for Smart City University of Macau Macau SAR P.R. China Huawei Technologies P.R. China

ISBN: (数字)9798350363999

ISBN: (纸本)9798350364002

The rapid advancement of information and communication technology (ICT) has made the industry a significant contributor to global carbon emissions. As the foundation of ICT, next-generation mobile communication networks aim to be more powerful and energy-efficient. However, optimizing energy efficiency in real networks is challenging due to large-scale, multi-layer control variables and the dynamic environment. This paper addresses the energy efficiency optimization problem from a network perspective by controlling cross-layer variables including both cell activation status and cell priority, to minimize overall network energy consumption while ensuring user quality-of-experience, which poses an NP-hard mixed-integer nonlinear programming problem. To tackle this, we propose a non-cooperative game where each cell acts as a player, optimizing its activation status and reference signal transmission power (determining its priority). We show that the game is a potential game, guaranteeing the existence of Nash equilibrium and the convergence of simple distributed algorithms towards Nash equilibrium. We further show that the Nash equilibrium points of the game can (but not always) reach the global optimal energy efficiency. Simulation results show that our proposed method can reduce the total system cost (including both energy consumption cost and user experience loss) by up to 28% compared to existing methods in the literature. Moreover, the performance loss of our proposed method, compared to the global optimal solution, is less than 13.7%. In summary, this work offers a realistic network model, introduces a novel game-based method, and provides extensive performance evaluation, making a significant contribution to both industry and academia.

关键词： Industries Energy consumption Costs Simulation Games Nash equilibrium Energy efficiency Information and communication technology Distributed algorithms Optimization

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Environment-Driven Online LiDAR-Camera Extrinsic Calibration

arXiv

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arXiv 2025年

作者： Huang, Zhiwei Li, Jiaqi Zhong, Ping Fan, Rui The Department of Control Science & Engineering The College of Electronics & Information Engineering Tongji University Shanghai201804 China The School of Computer Science and Engineering Central South University Hunan Changsha410083 China The National Key Laboratory of Science and Technology on Automatic Target Recognition National University of Defense Technology Hunan Changsha410073 China The Department of Control Science & Engineering The College of Electronics & Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems The State Key Laboratory of Intelligent Autonomous Systems Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai201804 China The National Key Laboratory of Human-Machine Hybrid Augmented Intelligence Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Shaanxi Xi’an710049 China

LiDAR-camera extrinsic calibration (LCEC) is the core for data fusion in computer vision. Existing methods typically rely on customized calibration targets or fixed scene types, lacking the flexibility to handle variations in sensor data and environmental contexts. This paper introduces EdO-LCEC, the first environment-driven, online calibration approach that achieves human-like adaptability. Inspired by the human perceptual system, EdO-LCEC incorporates a generalizable scene discriminator to actively interpret environmental conditions, creating multiple virtual cameras that capture detailed spatial and textural information. To overcome cross-modal feature matching challenges between LiDAR and camera, we propose dual-path correspondence matching (DPCM), which leverages both structural and textural consistency to achieve reliable 3D-2D correspondences. Our approach formulates the calibration process as a spatial-temporal joint optimization problem, utilizing global constraints from multiple views and scenes to improve accuracy, particularly in sparse or partially overlapping sensor views. Extensive experiments on real-world datasets demonstrate that EdO-LCEC achieves state-of-the-art performance, providing reliable and precise calibration across diverse, challenging environments. Copyright © 2025, The Authors. All rights reserved.

关键词： Spatio-temporal data

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A Lightweight Flexible Semi-Cylindrical Valve for Seamless Integration in Soft Robots Based on the Giant Electrorheological Fluid

SSRN

引用

SSRN 2022年

作者： Huang, Tiantian Xu, Denan Zhang, Hang Bai, Ou Aravelli, Aparna Zhou, Xiaoxiao Han, Bin School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan430070 China Human Cyber-Physical Systems Laboratory The Department of Electrical and Computer Engineering Florida International University Florida33174 United States Applied Research Center Florida International University Florida33174 United States Guangdong Intelligent Robotics Institute Dongguan523808 China

Complete compliance of soft robots is a trending research topic. One significant aspect is the control element. In the current work, a flexible electro-rheological (ER) valve development is chosen due to the advantage of its dynamic power density, convenient electronic control mode and no mechanical moving parts. These properties enable the ER valve to be miniaturized and easily integrated into a fluid-driven soft robot. However, the integration effect of the existing flexible ER valve configuration in soft robots is not ideal. In this study, a novel concentric semi-cylindrical flexible giant ER (GER) valve with a dual flowing direction is proposed for a soft robot to enable a larger deformation bending motion with multiple motion modes. The resulting valve has an overall volume of 50 mm 3 , a mass of 0.88 g, and a maximum controlling pressure of 84 kPa with a pressure change rate of 13.9, which is suitable for most soft robot applications. The pressure difference calculation method for the concentric semi-cylindrical GER valve is discussed. The effects of size, voltages, and flow rates on the valve’s static and dynamic performances, as well as the characteristics of the two pressure regulation modes, are investigated through simulations and experiments. The seamless integration and flexibility of the proposed valve are demonstrated by controlling a typical network actuator with six motion modes. Finally, a soft robot composed of two actuators is fabricated and realized the grasping of multiple everyday objects using different motion modes. © 2022, The Authors. All rights reserved.

关键词： Nanofluidics

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Towards Virtual Clinical Trials of Radiology AI with Conditional Generative Modeling

arXiv

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arXiv 2025年

作者： Killeen, Benjamin D. Wan, Bohua Kulkarni, Aditya V. Drenkow, Nathan Oberst, Michael Yi, Paul H. Unberath, Mathias Department of Computer Science Johns Hopkins University BaltimoreMD21218 United States Laboratory for Computational Sensing and Robotics Johns Hopkins University BaltimoreMD21218 United States Malone Center for Healthcare in Engineering Johns Hopkins University BaltimoreMD21218 United States Department of Radiology St. Jude Children’s Research Hospital 262 Danny Thomas Place MemphisTN38105-3678 United States Applied Physics Laboratory Johns Hopkins University LaurelMD20723 United States

Artificial intelligence and machine learning (AI/ML) are poised to transform healthcare by enabling personalized and efficient patient care through data-driven insights. Although radiology is at the forefront of AI/ML adoption, in practice, the potential of AI/ML models is often overshadowed by severe failures to generalize: AI/ML models can have performance degradation of up to 20% when transitioning from controlled test environments to clinical use by radiologists. This mismatch in advertised and observed AI/ML performance raises concerns that radiologists will be misled by incorrect AI/ML predictions in practice and/or grow to distrust AI/ML, rendering these promising technologies practically ineffectual. Exhaustive clinical trials of AI/ML models throughout the development cycle on abundant and diverse data is thus critical to anticipate AI/ML model degradation when encountering varied data samples. Achieving these goals in practice, however, is challenging due to the high costs of collecting the necessary diverse data samples and the corresponding annotations. To overcome these limitations, we introduce a novel conditional generative AI model designed for virtual clinical trials (VCTs) of radiology AI/ML, capable of realistically synthesizing full-body CT images of patients with specified attributes. By learning the joint distribution of images and anatomical structures, and operating on latent representations for memory efficiency, our model enables precise replication of real-world patient populations with unprecedented detail at this scale. We demonstrate meaningful evaluation of radiology AI models through VCTs powered by our synthetic CT study populations, revealing model degradation and facilitating algorithmic auditing for bias-inducing data attributes. Our generative AI approach to VCTs is a promising avenue towards a scalable solution to assess model robustness, mitigate biases, and safeguard patient care by enabling simpler testing and evaluation of A

关键词： computerized tomography

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Awareness in robotics: An early perspective from the viewpoint of the EIC Pathfinder Challenge "Awareness Inside"

arXiv

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arXiv 2024年

作者： Santina, Cosimo Della Corbato, Carlos Hernandez Sisman, Burak Leiva, Luis A. Arapakis, Ioannis Vakalellis, Michalis Vanderdonckt, Jean D’Haro, LuisFernando Manzi, Guido Becchio, Cristina Elamrani, Aïda Alirezaei, Mohsen Castellano, Ginevra Dimarogonas, Dimos V. Ghosh, Arabinda Haesaert, Sofie Soudjani, Sadegh Stroeve, Sybert Verschure, Paul Bacciu, Davide Deroy, Ophelia Bahrami, Bahador Gallicchio, Claudio Hauert, Sabine Sanz, Ricardo Lanillos, Pablo Iacca, Giovanni Sigg, Stephan Gasulla, Manel Steels, Luc Sierra, Carles Department of Cognitive Robotics Delft University of Technology Delft Netherlands Oberpfaffenhofen Germany Department of Computer Science University of Luxembourg Luxembourg 4 Telefónica I+D Spain AEGIS IT Research GmbH Germany Université catholique de Louvain Belgium Speech Technology and Machine Learning Group ETSI de Telecomunicación Universidad Politécnica de Madrid Madrid Spain Alien Venture Studio Alien Technology Transfer Rome Italy Hamburg Germany Institut Jean Nicod École Normale Supérieure Paris France Research Technology and Development Department Digital Industry Software Helmond Netherlands Department of Information Technology Uppsala University Uppsala Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Max Planck Institute for Software Systems Kaiserslautern Germany Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Eindhoven Netherlands Amsterdam Netherlands Donders Centre for Neuroscience Radboud University Nijmegen Netherlands Computer Science Department University of Pisa Pisa Italy Faculty of Philosophy Philosophy of Science The Study of Religion Ludwig Maximilian University of Munich Munich Germany School of Engineering Mathematics and Technology University of Bristol Bristol United Kingdom Autonomous Systems Laboratory Universidad Politécnica de Madrid Spain Madrid Spain Department of Information Engineering and Computer Science University of Trento Trento Italy Department of Information and Communications Engineering Aalto University Espoo Finland Department of Electronic Engineering Universitat Politècnica de Catalunya Barcelona Spain Studio Stelluti Brussels Belgium Barcelona Spain

Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars in the past. However, things are changing as more and more researchers are getting interested in answering questions concerning what awareness is and how it can be artificially generated. The landscape is rapidly evolving, with multiple voices and interpretations of the concept being conceived and techniques being developed. The goal of this paper is to summarize and discuss the ones among these voices that are connected with projects funded by the EIC Pathfinder Challenge called "Awareness Inside", a nonrecurring call for proposals within Horizon Europe that was designed specifically for fostering research on natural and synthetic awareness. In this perspective, we dedicate special attention to challenges and promises of applying synthetic awareness in robotics, as the development of mature techniques in this new field is expected to have a special impact on generating more capable and trustworthy embodied systems. © 2024, CC BY.

关键词： robotics

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A DNA Based Colour Image Encryption Scheme Using A Convolutional Autoencoder

arXiv

引用

arXiv 2022年

作者： Ahmed, Fawad Rehman, Muneeb Ur Ahmad, Jawad Khan, Muhammad Shahbaz Boulila, Wadii Srivastava, Gautam Lin, Jerry Chun-Wei Buchanan, William J. Department of Cyber Security Pakistan Navy Engineering College NUST Karachi75350 Pakistan Department of Electrical Engineering HITEC University Taxila Pakistan School of Computing Edinburgh Napier University Edinburgh United Kingdom Department of Electrical Engineering HITEC University Taxila47080 Pakistan Robotics and Internet-of-Things Laboratory Prince Sultan University Riyadh Saudi Arabia RIADI Laboratory University of Manouba Manouba Tunisia Math and Computer Science Brandon University Brandon Canada Research Centre for Interneural Computing China Medical University Taichung Taiwan Dept of Computer Science and Math Lebanese American University Beirut Lebanon Western Norway University of Applied Sciences Bergen Norway

With the advancement in technology, digital images can easily be transmitted and stored over the Internet. Encryption is used to avoid illegal interception of digital images. Encrypting large-sized colour images in their original dimension generally results in low encryption/decryption speed along with exerting a burden on the limited bandwidth of the transmission channel. To address the aforementioned issues, a new encryption scheme for colour images employing convolutional autoencoder, DNA and chaos is presented in this paper. The proposed scheme has two main modules, the dimensionality conversion module using the proposed convolutional autoencoder, and the encryption/decryption module using DNA and chaos. The dimension of the input colour image is first reduced from N × M × 3 toP × Q gray-scale image using the encoder. Encryption and decryption are then performed in the reduced dimension space. The decrypted gray-scale image is upsampled to obtain the original colour image having dimension N × M × 3. The training and validation accuracy of the proposed autoencoder is 97% and 95%, respectively. Once the autoencoder is trained, it can be used to reduce and subsequently increase the dimension of any arbitrary input colour image. The efficacy of the designed autoencoder has been demonstrated by the successful reconstruction of the compressed image into the original colour image with negligible perceptual distortion. The second major contribution presented in this paper is an image encryption scheme using DNA along with multiple chaotic sequences and substitution boxes. The security of the proposed image encryption algorithm has been gauged using several evaluation parameters, such as histogram of the cipher image, entropy, NPCR, UACI, key sensitivity, contrast, etc. The experimental results of the proposed scheme demonstrate its effectiveness to perform colour image encryption. © 2022, CC BY.

关键词： DNA

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Convolutional neural network based object detection for additive manufacturing 19

Convolutional neural network based object detection for addi...

引用

19th International Conference on Advanced robotics, ICAR 2019

作者： Lemos, Cezar B. Farias, Paulo C.M.A. Filho, Eduardo F. Simas Conceicao, Andre G.S. LaR - Robotics Laboratory Federal University of Bahia Department of Electrical and Computer Engineering Salvador Brazil

ISBN: (纸本)9781728124674

Efficient object detection is important for automatic manufacturing systems applications. This work proposes the use of deep learning neural networks for vision-based additive manufactured object recognition. Three deep learning based object detection architectures (SSD300, SSD512 and Faster R-CNN) are applied for detection of parts manufactured on a 3D printer. The object detection information is used to feed a vision-based robotic grasping task, as part of a robotic assisted additive manufacturing system. Transfer learning is applied and a high detection efficiency is achieved for the considered dataset. © 2019 IEEE.

关键词： Object detection

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