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IEEE International Conference on Development and Learning, ICDL

作者： Weiyong Si Cheng Guo Ning Wang Minyu Yang Rebecca Harris Chenguang Yang Bristol Robotics Lab University of the West of England School of Computer Science and Electronic Engineering University of Essex Faculty of Engineering University of Bristol Department of Engineering University of Cambridge University Hospitals Bristol and Weston.

Medical ultrasound scanning is a challenging dexterous manipulation task for robots, even for experienced sonogra-phers, since it involves motion control and force regulation based on the real-time ultrasound image and patient feedback. In this work, we proposed a novel robot-assisted ultrasound scanning framework, integrating deep multimodal imitation learning and model-based compliant control. We investigated the deep imitation learning model to fuse multimodal information, including the RGB image, force profile, ultrasound image, and proprioceptive information for robot-assisted ultrasound scanning artery. The deep imitation learning module predicts reference motion and force command. We designed a compliant controller in Cartesian space to track reference trajectory and desired force. The generalization capability of the deep multimodal imitation learning module and control performance and the quality of the acquired ultrasound image through Phantom. The results show that the proposed approach is able to improve the success rate of procedure completion, and the complete time is reduced.

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WildGaussians: 3D Gaussian Splatting in the Wild

arXiv

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arXiv 2024年

作者： Kulhanek, Jonas Peng, Songyou Kukelova, Zuzana Pollefeys, Marc Sattler, Torsten Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Czech Republic Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic Department of Computer Science ETH Zurich Switzerland Visual Recognition Group Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic

While the field of 3D scene reconstruction is dominated by NeRFs due to their photorealistic quality, 3D Gaussian Splatting (3DGS) has recently emerged, offering similar quality with real-time rendering speeds. However, both methods primarily excel with well-controlled 3D scenes, while in-the-wild data – characterized by occlusions, dynamic objects, and varying illumination – remains challenging. NeRFs can adapt to such conditions easily through per-image embedding vectors, but 3DGS struggles due to its explicit representation and lack of shared parameters. To address this, we introduce WildGaussians, a novel approach to handle occlusions and appearance changes with 3DGS. By leveraging robust DINO features and integrating an appearance modeling module within 3DGS, our method achieves state-of-the-art results. We demonstrate that WildGaussians matches the real-time rendering speed of 3DGS while surpassing both 3DGS and NeRF baselines in handling in-the-wild data, all within a simple architectural framework. Copyright © 2024, The Authors. All rights reserved.

关键词： 3D modeling

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A Bio-Medical Snake Optimizer System Driven by Logarithmic Surviving Global Search for Optimizing Feature Selection and its application for Disorder Recognition

arXiv

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arXiv 2024年

作者： Khurma, Ruba Abu Alhenawi, Esraa Braik, Malik Hashim, Fatma A. Chhabra, Amit Castillo, Pedro A. MEU Research Unit Faculty of Information Technology Middle East University Amman11831 Jordan Computer Science Department Al- Ahliyya Amman University Amman Jordan Software Engineering Department Al- Ahliyya Amman University Amman Jordan Computer Science Department Prince Abdullah bin Ghazi Faculty of Information and Communication Technology Al-Balqa Applied University Salt Jordan Faculty of Engineering Helwan University Egypt Department of Computer Engineering and Technology Guru Nanak Dev University Amritsar143005 India Department of Computer Engineering Automatics and Robotics University of Granada Granada Spain

It is of paramount importance to enhance medical practices, given how important it is to protect human life. Medical therapy can be accelerated by automating patient prediction using machine learning techniques. To double the efficiency of classifiers, several preprocessing strategies must be adopted for their crucial duty in this field. Feature selection (FS) is one tool that has been used frequently to modify data and enhance classification outcomes by lowering the dimensionality of datasets. Excluded features are those that have a poor correlation coefficient with the label class, that is, they have no meaningful correlation with classification and do not indicate where the instance belongs. Along with the recurring features, which show a strong association with the remainder of the features. Contrarily, the model being produced during training is harmed, and the classifier is misled by their presence. This causes overfitting and increases algorithm complexity and processing time. The pattern is made clearer by FS, which also creates a broader classification model with a lower chance of overfitting in an acceptable amount of time and algorithmic complexity. To optimize the FS process, building wrappers must employ metaheuristic algorithms (MAs) as search algorithms. The best solution, which reflects the best subset of features within a particular medical dataset that aids in patient diagnosis, is sought in this study using the Snake Optimizer (SO). The swarm-based approaches that SO is founded on have left it with several general flaws, like local minimum trapping, early convergence, uneven exploration and exploitation, and early convergence. By employing the cosine function to calculate the separation between the present solution and the ideal solution, the logarithm operator was paired with SO to better the exploitation process and get over these restrictions. In order to get the best overall answer, this forces the solutions to spiral downward. Additionally, S

关键词： Evolutionary algorithms

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Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load using Multiple UAVs

Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspende...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Sihao Sun Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente AE Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy LAAS-CNRS Université de Toulouse Toulouse France

In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that takes into account the full nonlinear model of the load-UAV system, and ensures all the feasibility constraints concerning the UAV maximumum and minimum thrusts, the collision avoidance between the UAVs, cables and load, and the tautness and maximum tension of the cables. By taking into account the above factors, the proposed control algorithm can fully exploit the performance of UAVs and facilitate the speed of operation. Simulations are conducted to validate the algorithm to achieve fast and safe manipulation of the pose of a rigid-body payload using multiple UAVs. We demonstrate that the computational time of the proposed method is sufficiently small (<100 ms) for UAV teams composed by up to 10 units, which makes it suitable for a huge variety of future industrial applications, such as autonomous building construction and heavy-load transportation.

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Addressing Intermediate Verification Latency in Online Learning Through Immediate Pseudo-labeling and Oriented Synthetic Correction

Addressing Intermediate Verification Latency in Online Learn...

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International Joint Conference on Neural Networks (IJCNN)

作者： Zixin Zhong Liyan Song Fengzhen Tang Bo Yuan Department of Computer Science and Engineering Guangdong Provincial Key Laboratory of Brain-Inspired Intelligent Computation Southern University of Science and Technology Shenzhen China Faculty of Computing Harbin Institute of Technology Harbin China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350359312

ISBN: (纸本)9798350359329

In non-stationary data streams, the challenges of concept drift are further compounded by the issue of Intermediate Verification Latency (IVL), which can impede timely model adaptation. IVL refers to the finite delay between the arrival of data features and their corresponding labels. This delay could pose a significant challenge in adapting models to new concepts, ultimately hindering predictive performance. However, existing IVL approaches exhibit certain limitations. Some approaches passively wait for delayed labels, thereby overlooking temporarily unlabeled data. Other approaches employ pseudo-labeling for immediate model updates, but may risk losing valuable information when reverting model states to rectify previous pseudo-labeling mistakes. To overcome these limitations, we propose a novel approach called Micro-cluster based Immediate Pseudo-Labeling with Oriented Synthetic Correction (MIPLOSC). MIPLOSC leverages micro-cluster systems to effectively capture data distributions, thus facilitating its two core components: immediate pseudo-labeling and oriented synthetic correction. The immediate pseudo-labeling mechanism facilitates immediate utilization of temporarily unlabeled data, and the oriented synthetic correction mechanism enables finergrained rectification from previous erroneous pseudo-labels and concept drift, minimizing the loss of learned information. Experimental studies validated the effectiveness of MIPLOSC in addressing IVL, demonstrating its superiority over competing methods in both space consumption and predictive performance across varying degrees of label delay.

关键词： Adaptation models Costs Concept drift Noise Neural networks Predictive models Robustness

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Models and Methods of Routing Problem of Transport in Power Industry

Models and Methods of Routing Problem of Transport in Power ...

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International Conference on Electrotechnical Complexes and Systems (ICOECS)

作者： Nafisa Yusupova Olga Smetanina Ekaterina Sazonova Munira Sadretdinova Faculty of computer science and robotics Ufa State Aviation Technical University Ufa

ISBN: (纸本)9781665407281

The article deals with the development of information systems (or their components) for energy, in particular, for solving problems of resource optimization. It is shown that such problems can arise at the stage of energy production, for example, from biofuel, during routing by transport. The article presents the formulation of the transport routing problem, the proposed methods for its solution and practical software implementation. Capacity of vehicles, time windows and predicted demand are taken into account when building a model for the transport routing problem. Solving the problem will reduce the cost of transportation and storage of resources.

关键词： Analytical models Software algorithms Transportation Predictive models Routing Software Mathematical models

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Offline Content-based Recommendation System for Wikimedia Commons Contents 16

Offline Content-based Recommendation System for Wikimedia Co...

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16th International Conference on Ambient Systems, Networks and Technologies Networks, ANT 2025 / 8th International Conference on Emerging Data and Industry 4.0, EDI40 2025

作者： Maitaigahasse, Ahidjo Ebongue Fendji, Jean Louis Kedieng Atemkeng, Marcellin Department Mathematics and Computer Science Faculty of Science University of Ngaoundere Ngaoundere454 Cameroon Centre for Research Experimentation and Production School of Chemical Engineering and Mineral Industries University of Ngaoundere Ngaoundere454 Cameroon Wallenberg Research Centre Stellenbosch University Stellenbosch South Africa Department of Robotics and Industrial Informatics School of Chemical Engineering and Mineral Industries University of Ngaoundere Ngaoundere454 Cameroon Department of Mathematics Rhodes University P.O. Box 6140 Grahamstown South Africa

Recommendation systems are essential for enhancing digital experiences, but their reliance on internet connectivity limits accessibility in regions with limited or no access. This paper presents an offline content-based recommendation system designed to operate without internet dependency by leveraging precomputed Term Frequency-Inverse Document Frequency (TF-IDF) vectors and cosine similarity. To optimize offline performance, we store a locally computed TF-IDF matrix, allowing efficient retrieval of relevant media items through matrix multiplication instead of real-time computation. The system is evaluated using twenty simulated personas representing diverse user interests, demonstrating its ability to generate personalized relevant recommendations. By eliminating the need for online data access, our system makes educational content from Wikimedia Commons accessible in remote areas, schools, and offline learning environments. These findings highlight the potential of offline recommendation systems in bridging the digital divide and providing equitable access to personalized learning resources. © 2025 Elsevier B.V.. All rights reserved.

关键词： Interactive computer systems

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Ada-Tracker: Soft Tissue Tracking via Inter-Frame and Adaptive-Template Matching

arXiv

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arXiv 2024年

作者： Guo, Jiaxin Wang, Jiangliu Li, Zhaoshuo Jia, Tongyu Dou, Qi Liu, Yun-Hui CUHK T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Johns Hopkins University United States Faculty of Urology Third Medical Center Chinese PLA General Hospital Beijing China Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong Hong Kong Center for Logistics Robotics Hong Kong

Soft tissue tracking is crucial for computer-assisted interventions. Existing approaches mainly rely on extracting discriminative features from the template and videos to recover corresponding matches. However, it is difficult to adopt these techniques in surgical scenes, where tissues are changing in shape and appearance throughout the surgery. To address this problem, we exploit optical flow to naturally capture the pixel-wise tissue deformations and adaptively correct the tracked template. Specifically, we first implement an inter-frame matching mechanism to extract a coarse region of interest based on optical flow from consecutive frames. To accommodate appearance change and alleviate drift, we then propose an adaptive-template matching method, which updates the tracked template based on the reliability of the estimates. Our approach, Ada-Tracker, enjoys both short-term dynamics modeling by capturing local deformations and long-term dynamics modeling by introducing global temporal compensation. We evaluate our approach on the public SurgT benchmark, which is generated from Hamlyn, SCARED, and Kidney boundary datasets. The experimental results show that Ada-Tracker achieves superior accuracy and performs more robustly against prior works. Code is available at https://***/wrld/Ada-Tracker. Copyright © 2024, The Authors. All rights reserved.

关键词： Optical flows

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Ada-Tracker: Soft Tissue Tracking via Inter-Frame and Adaptive-template Matching

Ada-Tracker: Soft Tissue Tracking via Inter-Frame and Adapti...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jiaxin Guo Jiangliu Wang Zhaoshuo Li Tongyu Jia Qi Dou Yun-Hui Liu CUHK T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Johns Hopkins University United States Faculty of Urology Third Medical Center Chinese PLA General Hospital Beijing China Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong Hong Kong Center for Logistics Robotics Hong Kong

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

关键词： Deformable models Adaptation models Accuracy Tracking Deformation Biological tissues Surgery

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Efficient 2D Simulators for Deep-Reinforcement-Learning-based Training of Navigation Approaches

Efficient 2D Simulators for Deep-Reinforcement-Learning-base...

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International Conference on Ubiquitous Robots (UR)

作者： Huajian Zeng Linh Kästner Jens Lambrecht The Chair of Robotics Artificial Intelligence and Real-time Systems Technical University Munich (TUM) Germany The Chair of Industry Grade Networks and Clouds Faculty of Electrical Engineering and Computer Science Berlin Institute of Technology Berlin Germany

In recent years, Deep Reinforcement Learning (DRL) has emerged as a competitive approach for mobile robot navigation. However, training DRL agents often comes at the cost of difficult and tedious training procedures in which powerful hardware is required to conduct oftentimes long training runs. Especially, for complex environments, this proves to be a major bottleneck for widespread adoption of DRL approaches into industries. In this paper we integrate an efficient 2D simulator into the Arena-Rosnav framework of our previous work as an alternative simulation platform to train and develop DRL agents. Therefore, we utilized the provided API to integrate necessary components into the ecosystem of Arena-Rosnav. We evaluated our simulator by training a DRL agent within that platform and compared the training and navigational performance against the baseline 2D simulator Flatland, which is the default simulating platform of Arena-Rosnav. Results demonstrate that using our Arena2D simulator results in substantially faster training times and in some scenarios better agents. This proves to be an important step towards resource-efficient DRL training, which accelerates training times and improve the development cycle of DRL agents for navigation tasks. We made our simulator openly available at https://***/Arena-Rosnav/arena2d.

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