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Receding-Horizon Trajectory Planning for Under-Actuated Autonomous Vehicles Based on Collaborative Neurodynamic Optimization

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IEEE/CAA Journal of Automatica Sinica 2022年第11期9卷 1909-1923页

作者： Jiasen Wang Jun Wang Qing-Long Han IEEE the Future Network Research Center Purple Mountain LaboratoriesNanjing 211111China the Department of Computer Science the School of Data ScienceCity University of Hong KongHong KongChina the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia

This paper addresses a major issue in planning the trajectories of under-actuated autonomous vehicles based on neurodynamic optimization.A receding-horizon vehicle trajectory planning task is formulated as a sequential global optimization problem with weighted quadratic navigation functions and obstacle avoidance constraints based on given vehicle goal *** feasibility of the formulated optimization problem is guaranteed under derived *** optimization problem is sequentially solved via collaborative neurodynamic optimization in a neurodynamics-driven trajectory planning method/*** results with under-actuated unmanned wheeled vehicles and autonomous surface vehicles are elaborated to substantiate the efficacy of the neurodynamics-driven trajectory planning method.

关键词： Collaborative neurodynamic optimization receding-horizon planning trajectory planning under-actuated vehicles

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Imitation Learning from Purified Demonstrations 41

Imitation Learning from Purified Demonstrations

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41st International Conference on Machine Learning, ICML 2024

作者： Wang, Yunke Dong, Minjing Zhao, Yukun Du, Bo Xu, Chang School of Computer Science National Engineering Research Center for Multimedia Software Institute of Artificial Intelligence Wuhan Institute of Data Intelligence Wuhan University China Department of Computer Science City University of Hong Kong Hong Kong School of Computer Science Faculty of Engineering The University of Sydney Australia

Imitation learning has emerged as a promising approach for addressing sequential decision-making problems, with the assumption that expert demonstrations are optimal. However, in real-world scenarios, most demonstrations are often imperfect, leading to challenges in the effectiveness of imitation learning. While existing research has focused on optimizing with imperfect demonstrations, the training typically requires a certain proportion of optimal demonstrations to guarantee performance. To tackle these problems, we propose to purify the potential noises in imperfect demonstrations first, and subsequently conduct imitation learning from these purified demonstrations. Motivated by the success of diffusion model, we introduce a two-step purification via diffusion process. In the first step, we apply a forward diffusion process to smooth potential noises in imperfect demonstrations by introducing additional noise. Subsequently, a reverse generative process is utilized to recover the optimal demonstration from the diffused ones. We provide theoretical evidence supporting our approach, demonstrating that the distance between the purified and optimal demonstration can be bounded. Empirical results on MuJoCo and RoboSuite demonstrate the effectiveness of our method from different aspects. Copyright 2024 by the author(s)

关键词： Contrastive Learning

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Multi-Task Learning for Alzheimer's Disease Diagnosis and Mini-Mental State Examination Score Prediction

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Big data Mining and Analytics 2024年第3期7卷 828-842页

作者： Jin Liu Xu Tian Hanhe Lin Hong-Dong Li Yi Pan Hunan Provincial Key Lab on Bioinformatics School of Computer Science and EngineeringCentral South UniversityChangsha 410083China Xinjiang Engineering Research Center of Big Data and Intelligent Software School of SoftwareXinjiang UniversityUrumqi 830091China School of Science and Engineering University of DundeeDundeeDD14HNUK Faculty of Computer Science and Control Engineering Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China

Accurately diagnosing Alzheimer's disease is essential for improving elderly ***,accurate prediction of the mini-mental state examination score also can measure cognition impairment and track the progression of Alzheimer's ***,most of the existing methods perform Alzheimer's disease diagnosis and mini-mental state examination score prediction separately and ignore the relation between these two *** address this challenging problem,we propose a novel multi-task learning method,which uses feature interaction to explore the relationship between Alzheimer's disease diagnosis and minimental state examination score *** our proposed method,features from each task branch are firstly decoupled into candidate and non-candidate parts for ***,we propose feature sharing module to obtain shared features from candidate features and return shared features to task branches,which can promote the learning of each *** validate the effectiveness of our proposed method on multiple *** Alzheimer's disease neuroimaging initiative 1 dataset,the accuracy in diagnosis task and the root mean squared error in prediction task of our proposed method is 87.86%and 2.5,*** results show that our proposed method outperforms most state-of-the-art *** proposed method enables accurate Alzheimer's disease diagnosis and mini-mental state examination score ***,it can be used as a reference for the clinical diagnosis of Alzheimer's disease,and can also help doctors and patients track disease progression in a timely manner.

关键词： multi-task learning Alzheimer's disease diagnosis mini-mental state examination score prediction

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Private Language Models via Truncated Laplacian Mechanism

Private Language Models via Truncated Laplacian Mechanism

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2024 Conference on Empirical Methods in Natural Language Processing, EMNLP 2024

作者： Huang, Tianhao Yang, Tao Habernal, Ivan Hu, Lijie Wang, Di Lab Saudi Arabia King Abdullah University of Science and Technology Saudi Arabia Nankai University China Research Center Trustworthy Data Science and Security of the University Alliance Ruhr Faculty of Computer Science Ruhr University Bochum Germany

ISBN: (纸本)9798891761643

Deep learning models for NLP tasks are prone to variants of privacy attacks. To prevent privacy leakage, researchers have investigated word-level perturbations, relying on the formal guarantees of differential privacy (DP) in the embedding space. However, many existing approaches either achieve unsatisfactory performance in the high privacy regime when using the Laplacian or Gaussian mechanism, or resort to weaker relaxations of DP that are inferior to the canonical DP in terms of privacy strength. This raises the question of whether a new method for private word embedding can be designed to overcome these limitations. In this paper, we propose a novel private embedding method called the high dimensional truncated Laplacian mechanism. Specifically, we introduce a non-trivial extension of the truncated Laplacian mechanism, which was previously only investigated in one-dimensional space cases. Theoretically, we show that our method has a lower variance compared to the previous private word embedding methods. To further validate its effectiveness, we conduct comprehensive experiments on private embedding and downstream tasks using three datasets. Remarkably, even in the high privacy regime, our approach only incurs a slight decrease in utility compared to the non-private scenario. © 2024 Association for Computational Linguistics.

关键词： Differential privacy

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BAnDIT: Business Process Anomaly Detection in Transactions 29th

BAnDIT: Business Process Anomaly Detection in Transactions

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29th International Conference on Cooperative Information Systems, CoopIS 2023

作者： Rudolf, Nico Böhmer, Kristof Leitner, Maria Faculty of Computer Science Research Group Workflow Systems and Technology University of Vienna Währinger Straße 29 Vienna Austria Faculty of Informatics and Data Science Chair of Artificial Intelligence in IT Security University of Regensburg Regensburg Germany

ISBN: (纸本)9783031468452

Business process anomaly detection enables the prevention of misuse and failures. Existing approaches focus on detecting anomalies in control, temporal, and resource behavior of individual instances, neglecting the communication of multiple instances in choreographies. Consequently, anomaly detection capabilities are limited. This study presents a novel neural network-based approach to detect anomalies in distributed business processes. Unlike existing methods, our solution considers message data exchanged during process transactions. Allowing the generation of detection profiles incorporating the relationship between multiple instances, related services, and exchanged data to detect point and contextual anomalies during process runtime. To validate the proposed solution, it is demonstrated with a prototype implementation and validated with a use case from the ecommerce domain. Future work aims to further improve the deep learning approach, to enhance detection performance. © 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Anomaly detection

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PraK Tool V3: Enhancing Video Item Search Using Localized Text and Texture Queries 31st

PraK Tool V3: Enhancing Video Item Search Using Localized Te...

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31st International Conference on Multimedia Modeling, MMM 2025

作者： Stroh, Michael Kloda, Vojtěch Verner, Benjamin Vopálková, Zuzana Buchmüller, Raphael Jäckl, Bastian Hajko, Jakub Lokoč, Jakub Visual Computing Department of Computer Science Faculty of Natural Sciences Konstanz University Konstanz Germany SIRET Research Group Department of Software Engineering Faculty of Mathematics and Physics Charles University Prague Czech Republic Data Analysis and Visualization Department of Computer Science Faculty of Natural Sciences Konstanz University Konstanz Germany

ISBN: (纸本)9789819620739

We present a third version of the PraK system designed around an effective text-image and image-image search model. The system integrates sub-image search options for localized context search for CLIP and image color/texture and interfaces tailored to specific task types. A user study shows the benefits of sub-image search in homogeneous video collections. We further enhance the user experience of the PraK framework by re-designing the frontend and introducing task-specific views. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Video analysis

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research on long and short-term social recommendation based on convolutional and gated recurrent units 29

Research on long and short-term social recommendation based ...

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29th IEEE International Conference on Parallel and Distributed Systems, ICPADS 2023

作者： Jia, Zihe Xue, Peng Dai, Zhiqiang Gao, Qian Zhang, Xiaomeng Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center Jinan250014 China Shandong Engineering Research Center of Big Data Applied Technology Faculty of Computer Science and Technology Jinan250353 China Shandong Fundamental Research Center for Computer Science Shandong Provincial Key Laboratory of Computer Networks Jinan250014 China

ISBN: (纸本)9798350330717

The development of the Internet has made people more closely related and has put forward higher requirements for recommendation models. Most recommendation models are studied only for the long-term interests of users. In this paper, the interaction time between the user and the item is introduced as auxiliary information in the model construction. Interaction time is used to determine users' long-term preferences and short-term preferences. In this paper, temporal features are extracted by building a convolutional gated recurrent unit with attention neural network (CNN-GRU-Attention). Firstly, for the problem of accurate feature extraction, CNN are constructed to extract higher-level and more abstract features of themselves and transform high-dimensional data into low-dimensional data;secondly, for the problem of social temporality, GRU are used to not only extract temporal information, but also effectively reduce gradient dispersion, making model convergence and training easier;finally, Graph Attention networks are used to aggregate the social relationship information of users and items respectively, which constitute the final feature representation of users and items respectively. In particular, a modified cosine similarity is used to reduce the error caused by data insensitivity when constructing the social information of the item. In this study, simulation experiments are conducted on two publicly available datasets (Epinions and Ciao), and the experimental results show that the proposed recommended model performs better than other social recommendation models, improving the evaluation metrics of MAE and RMSE by 1.06%-1.33% and 1.19%-1.37%, respectively. The effectiveness of the model innovation is proved. © 2023 IEEE.

关键词： convolutional gated recurrent unit graph attention networks neighborhood recommendation systems social networks

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An Integrated Fusion Framework for Ensemble Learning Leveraging Gradient-Boosting and Fuzzy Rule-Based Models

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第11期5卷 5771-5785页

作者： Li, Jinbo Liu, Peng Chen, Long Pedrycz, Witold Ding, Weiping Nantong University School of Artificial Intelligence and Computer Science Nantong226019 China China Unicom Research Institute Beijing100048 China Henan University International Business School Zhengzhou47500 China University of Macau Department of Computer and Information Science 999078 China University of Alberta Department of Electrical and Computer Engineering EdmontonAB T6R 2V4 Canada City University of Macau Faculty of Data Science 999078 China

The integration of different learning paradigms has long been a focus of machine learning research, aimed at overcoming the inherent limitations of individual methods. Fuzzy rule-based models excel in interpretability and have seen widespread application across diverse fields. However, they face challenges such as complex design specifications and scalability issues with large datasets. The fusion of different techniques and strategies, particularly gradient boosting, with fuzzy rule-based models offers a robust solution to these challenges. This article proposes an integrated fusion framework that merges the strengths of both paradigms to enhance model performance and interpretability. At each iteration, a fuzzy rule-based model is constructed and controlled by a dynamic factor to optimize its contribution to the overall ensemble. This control factor serves multiple purposes: it prevents model dominance, encourages diversity, acts as a regularization parameter, and provides a mechanism for dynamic tuning based on model performance, thus mitigating the risk of overfitting. Additionally, the framework incorporates a sample-based correction mechanism that allows for adaptive adjustments based on feedback from a validation set. Experimental results substantiate the efficacy of the presented gradient-boosting framework for fuzzy rule-based models, demonstrating performance enhancement, especially in terms of mitigating overfitting and complexity typically associated with many rules. By leveraging an optimal factor to govern the contribution of each model, the framework improves performance, maintains interpretability, and simplifies the maintenance and update of the models. © 2024 IEEE.

关键词： Optimization

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Privacy-Preserving Access Control Model for E-Medical Systems 2

Privacy-Preserving Access Control Model for E-Medical System...

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2nd International Conference on Big data and Privacy Computing, BDPC 2024

作者： Cai, Rongsheng Chen, Lanxiang Zhu, Yizhao City University of Macau Faculty of Data Science 999078 China College of Computer and Cyber Security Fujian Normal University Fujian Provincial Key Laboratory of Network Security and Cryptology Fuzhou China

ISBN: (纸本)9798350307597

With the high speed development of information technology, the healthcare system increasingly relies on cloud servers for data storage and complex computation, patient data privacy issues stem from healthcare systems' vulnerability to breaches, despite data encryption emphasis, insufficient focus on preventing unauthorized access risks compromises patient information confidentiality. Consequently, the need to protect privacy within the healthcare system has gained significant attentions. However, existing research primarily concentrates on data encryption processes, but there is comparatively less attention given to addressing potential privacy leaks concerning data visitors. In this paper, we propose a privacy-preserving access control model for healthcare cloud data visitors. Our model combines the RBAC (Role-Based Access Control) model with the PSI (Private Set Intersection) technique to ensure the privacy and security of data visitors. The performance analysis of our proposed solution demonstrates its relative efficiency and practicality when applied to E-medical systems. © 2024 IEEE.

关键词： Differential privacy

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A Bioinformatics Analysis and Homology 3D Modeling of Dihydroxy-orotate-dehydrogenase of Plasmodium ovale

A Bioinformatics Analysis and Homology 3D Modeling of Dihydr...

引用

2023 International Conference on Informatics, Multimedia, Cyber and Information Systems, ICIMCIS 2023

作者： Nirwantono, Rudi Assidqi, Khoirunnisa Hidayat, Alam Ahmad Pebrianto Trinugroho, Joko Pardamean, Bens Bina Nusantara University Faculty of Engineering Bioinformatics and Data Science Research Center Biotechnology Department Jakarta11480 Indonesia Bina Nusantara University Faculty of Engineering Food Biotechnology Research Center Biotechnology Department Jakarta11480 Indonesia Bina Nusantara University School of Computer Science Bioinformatics and Data Science Research Center Mathematics Departement Jakarta11480 Indonesia Bina Nusantara University Bioinformatics and Data Science Research Center Jakarta11480 Indonesia Bina Nusantara University Binus Graduate Program - Computer Science Program Computer Science Department Jakarta11480 Indonesia

ISBN: (纸本)9798350307306

The infection of Plasmodium vivax is relatively less virulent than the deathliest Plasmodium falciparum. However, it still can lead to a fatal case and often induces recurring malaria due to dormant parasites in the liver. Thus, the research to study the drug to treat Plasmodium vivax is essential, where the enzyme dihydroorotate dehydrogenase (DHODH) has recently become a new drug target. However, the drug-enzyme interaction study has only recently been conducted in Plasmodium falciparum (pfDHODH) due to the lack of the 3D structure of enzyme DHODH from Plasmodium vivax that is crucial for the study. Therefore, this study aimed to perform the modelling study of Plasmodium vivax DHODH (PvDHODH) to create a 3D structure as a basis for drug-protein interaction study in upcoming studies. Sequence pvDHODH (Accession: SCO68359.1) was used in homology modelling using Modeller 10.2 with the crystal structure of DHODH from DHODH (Accession: 7KZY) as a template. Overall, the model generated from the homology modelling was considered a good model, and the 3D structure was close to the native state according to several parameters, including DOPE score, GA341 score, QMEAN4 value, 3D-1D score, ERRAT2 score, and ProSA score. Ramachandran plot also revealed that almost all amino acids were distributed in the desirable and allowed area (99.1%), and only 0.9% were in generously allowed regions. Superimposition of the model with the template also indicated that the model has an almost similar structure and amino acids positioning, including in the binding pocket and active site. Therefore, the model can be used for downstream analysis in drug-protein interaction studies. Nevertheless, some improvements can still be performed to upgrade the quality of the model by deleting unaligned residues on the C-terminal and realigning the residues at the doubting site. © 2023 IEEE.

关键词： Amino acids

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