检索结果-内蒙古大学图书馆

arXiv 2025年

作者： Zeng, Ling-An Huang, Guohong Wei, Yi-Lin Gu, Shengbo Tang, Yu-Ming Meng, Jingke Zheng, Wei-Shi Sun Yat-sen University China Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education China

We propose ChainHOI, a novel approach for text-driven human-object interaction (HOI) generation that explicitly models interactions at both the joint and kinetic chain levels. Unlike existing methods that implicitly model interactions using full-body poses as tokens, we argue that explicitly modeling joint-level interactions is more natural and effective for generating realistic HOIs, as it directly captures the geometric and semantic relationships between joints, rather than modeling interactions in the latent pose space. To this end, ChainHOI introduces a novel joint graph to capture potential interactions with objects, and a Generative Spatiotemporal Graph Convolution Network to explicitly model interactions at the joint level. Furthermore, we propose a Kinematics-based Interaction Module that explicitly models interactions at the kinetic chain level, ensuring more realistic and biomechanically coherent motions. Evaluations on two public datasets demonstrate that ChainHOI significantly outperforms previous methods, generating more realistic, and semantically consistent HOIs. Code is available here. Copyright © 2025, The Authors. All rights reserved.

关键词： Kinematics

来源：评论

学校读者我要写书评

暂无评论

Optimization of a Piezoelectric Bending Beam-based Human Knee Energy Harvester 20

Optimization of a Piezoelectric Bending Beam-based Human Kne...

引用

20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Liao, Haisu Wang, Yidi Shi, Qiuyu Huang, Ruisen Gao, Fei Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy System

ISBN: (纸本)9798350320831

The concept of extracting energy from the human body to recharge depleted energy sources has gained significant attention. Recently, scientists have focused on harnessing biomechanical energy from the human body while walking. The aim of this study is to optimize a piezoelectric bending beam-based human knee energy harvester to enhance performance. Specifically, the shape of the bending beam (the substrate: a carbon fiber plate) is optimized to modulate the deformation, such that the average strain of the piezoelectric macro fiber composites (MFC) attached to the bending beam is improved to generate more electricity. In addition, the effects of the substrate's thickness and the hinge base's height for the bending beam on the output power are also analyzed. Experimental testing on a subject is conducted to validate our design and test the performance. The harvester generates an average power output of 24.55 mW when walking at 4 km/h on a treadmill. The harvester's total weight is 278g. © 2023 IEEE.

关键词： Energy harvesting

来源：评论

学校读者我要写书评

暂无评论

Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

引用

Frontiers of Mechanical Engineering 2022年第3期17卷 75-89页

作者： Yue ZHENG Xiangxin LI Lan TIAN Guanglin LI CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology(SIAT)Chinese Academy of Sciences(CAS)Shenzhen518055China Shenzhen College of Advanced Technology University of Chinese Academy of SciencesShenzhen518055China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for SocietyShenzhen518055China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055China

The loss of hand functions in upper limb amputees severely restricts their mobility in daily *** a humanoid prosthetic hand would be an effective way of restoring lost hand *** a prosthetic hand design,replicating the natural and dexterous grasping functions with a few actuators remains a big *** this study,a function-oriented optimization design(FOD)method is proposed for the design of a tendon-driven humanoid prosthetic *** optimization function of different functional conditions of full-phalanx contact,total contact force,and force isotropy was constructed based on the kinetostatic model of a prosthetic finger for the evaluation of grasping *** a genetic algorithm,the optimal geometric parameters of the prosthetic finger could be determined for specific functional *** results reveal that the structure of the prosthetic finger is significantly different when designed for different functional requirements and grasping target sizes.A prosthetic finger was fabricated and tested with grasping *** mean absolute percentage error between the theoretical value and the experimental result is less than 10%,demonstrating that the kinetostatic model of the prosthetic finger is effective and makes the FOD method *** study suggests that the FOD method enables the systematic evaluation of grasping performance for prosthetic hands in the design stage,which could improve the design efficiency and help prosthetic hands meet the design requirements.

关键词： function-oriented tendon driven prosthetic hand optimization humanoid underactuated

来源：评论

学校读者我要写书评

暂无评论

Model-Free and Pseudoinverse-Free Zhang Neurodynamics Scheme for Robotic Arms’ Path Tracking Control

引用

IEEE Transactions on Neural Networks and Learning Systems 2025年第6期36卷 10201-10212页

作者： Jielong Chen Yan Pan Yunong Zhang School of Computer Science and Engineering Sun Yat-sen University Guangzhou China Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education Guangzhou China

Path tracking control of robotic arms is regarded as a fundamental problem in the field of robotics. However, obtaining an accurate model of the robotic arm in practical engineering poses significant challenges. As a result, model-free schemes have become a focus of investigation. In contrast to traditional model-free schemes used for estimating the Jacobian matrix of the robotic arm, in this work, a novel estimator directly for the pseudoinverse (PI) of the Jacobian matrix based on Zhang neurodynamics (ZN) is proposed for the first time. In addition, a novel model-free and PI-free ZN (MFPIFZN) scheme for path tracking control of robotic arms is proposed. The MFPIFZN scheme not only significantly reduces the operation complexity by eliminating the requirement to compute the PI of the Jacobian matrix but also enhances the accuracy by eliminating the potential errors that may arise from the computation of the PI. Theoretical analyses provide guarantees for the convergence and stability of the MFPIFZN scheme. Finally, experimental results conducted on planar four-link and Kinova Jaco2 robotic arms vividly illustrate the excellent performance of the MFPIFZN scheme. Comparison experiments with four other model-free schemes further confirm the superiority of the MFPIFZN scheme.

关键词： Robots Manipulators Jacobian matrices Program processors Computational modeling Convergence Mathematical models Neurodynamics Accuracy Vectors

来源：评论

学校读者我要写书评

暂无评论

FodFoM: Fake Outlier Data by Foundation Models Creates Stronger Visual Out-of-Distribution Detector

arXiv

引用

arXiv 2024年

作者： Chen, Jiankang Deng, Ling Gan, Zhiyong Zheng, Wei-Shi Wang, Ruixuan School of Computer Science and Engineering Sun Yat-sen University Guangdong Guangzhou China Peng Cheng Laboratory Guangdong Shenzhen China Key Laboratory of Machine Intelligence and Advanced Computing Guangdong Guangzhou China China United Network Communications Corporation Limited Guangdong Branch Guangdong Guangzhou China School of Computer Science and Engineering Key Laboratory of Machine Intelligence and Advanced Computing Sun Yat-sen University Guangdong Guangzhou China

Out-of-Distribution (OOD) detection is crucial when deploying machine learning models in open-world applications. The core challenge in OOD detection is mitigating the model’s overconfidence on OOD data. While recent methods using auxiliary outlier datasets or synthesizing outlier features have shown promising OOD detection performance, they are limited due to costly data collection or simplified assumptions. In this paper, we propose a novel OOD detection framework FodFoM that innovatively combines multiple foundation models to generate two types of challenging fake outlier images for classifier training. The first type is based on BLIP-2’s image captioning capability, CLIP’s vision-language knowledge, and Stable Diffusion’s image generation ability. Jointly utilizing these foundation models constructs fake outlier images which are semantically similar to but different from in-distribution (ID) images. For the second type, GroundingDINO’s object detection ability is utilized to help construct pure background images by blurring foreground ID objects in ID images. The proposed framework can be flexibly combined with multiple existing OOD detection methods. Extensive empirical evaluations show that image classifiers with the help of constructed fake images can more accurately differentiate real OOD images from ID ones. New state-of-the-art OOD detection performance is achieved on multiple benchmarks. The code is available at https://***/Cverchen/ACMMM2024-FodFoM. Copyright © 2024, The Authors. All rights reserved.

关键词： Visual languages

来源：评论

学校读者我要写书评

暂无评论

Shape Optimization of Magnetorheological Brake for Performance Enhancement

Shape Optimization of Magnetorheological Brake for Performan...

引用

2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Shi, Qiuyu Liu, Fajiang Wu, Xinyu Gao, Fei Southern University of Science and Technology Shenzhen518005 China Shenzhen Institute of Advanced Technology Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China

ISBN: (纸本)9781665481090

Magnetorheological (MR) rotary brakes leverage the magnetically controllable rheological properties of MR fluids to provide damping torque in lower limb assistance devices. This paper utilizes an optimization algorithm (Whale Optimization Algorithm (WOA)) to optimize the geometric dimension of the MR brake to enhance field-dependent brake torque. First, the mechanical design and optimization process of the MR brake were outlined. Then, the magnetic density of the MR fluid is evaluated using the ANSYS platform. With that, the WOA was exploited to optimize key design parameters across multiple iterations. According to the simulated results, the torque was improved from 17.39 Nm to 25.89 Nm, which increased by 48%. Finally, a prototype with the initial dimension was fabricated and preliminarily tested. © 2024 IEEE.

关键词： Shape optimization

来源：评论

学校读者我要写书评

暂无评论

Cam Profile Optimization for a Piezoelectric-Based Sole Energy Harvester

Cam Profile Optimization for a Piezoelectric-Based Sole Ener...

引用

2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Liao, Haisu Ren, Zhongliang Wang, Yidi Wu, Xinyu Gao, Fei Southern University of Science and Technology Shenzhen518005 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China

ISBN: (纸本)9781665481090

Harvesting energy from the human body to extend the operational time for low-power has gained significant attention. Recently, researchers have focused on biomechanical energy harvesting from human feet while walking. This paper presents an optimization of the cam profile for a piezoelectric-based sole energy harvester designed to be worn on the bottom of shoes to power electronic devices. Specifically, cams with linear polynomial and exponential functions were designed to actuate the piezoelectric transducers (PZTs). Force analysis revealed that the exponential function cam induces more significant deformation in the PZTs than the linear polynomial cam. Preliminary tests on a healthy subject validated this design, showing that the exponential function cam produced an average output power of 0.16mW at a walking speed of 5.5 km/h, indicating a 78% improvement over the linear polynomial cam. Moreover, the optimization rate increased with the growing walking speed. © 2024 IEEE.

关键词： Piezoelectric transducers

来源：评论

学校读者我要写书评

暂无评论

Light-T2M: A Lightweight and Fast Model for Text-to-motion Generation

arXiv

引用

arXiv 2024年

作者： Zeng, Ling-An Huang, Guohong Wu, Gaojie Zheng, Wei-Shi Sun Yat-sen University China Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education China

Despite the significant role text-to-motion (T2M) generation plays across various applications, current methods involve a large number of parameters and suffer from slow inference speeds, leading to high usage costs. To address this, we aim to design a lightweight model to reduce usage costs. First, unlike existing works that focus solely on global information modeling, we recognize the importance of local information modeling in the T2M task by reconsidering the intrinsic properties of human motion, leading us to propose a lightweight Local Information Modeling Module. Second, we introduce Mamba to the T2M task, reducing the number of parameters and GPU memory demands, and we have designed a novel Pseudo-bidirectional Scan to replicate the effects of a bidirectional scan without increasing parameter count. Moreover, we propose a novel Adaptive Textual Information Injector that more effectively integrates textual information into the motion during generation. By integrating the aforementioned designs, we propose a lightweight and fast model named Light-T2M. Compared to the state-of-the-art method, MoMask, our Light-T2M model features just 10% of the parameters (4.48M vs 44.85M) and achieves a 16% faster inference time (0.152s vs 0.180s), while surpassing MoMask with an FID of 0.040 (vs. 0.045) on HumanML3D dataset and 0.161 (vs. 0.228) on KIT-ML dataset. The code is available at https://***/qinghuannn/light-t2m. Copyright © 2024, The Authors. All rights reserved.

关键词： Clutter (information theory)

来源：评论

学校读者我要写书评

暂无评论

FIRE: A Dataset for Feedback Integration and Refinement Evaluation of Multimodal Models 38

FIRE: A Dataset for Feedback Integration and Refinement Eval...

引用

38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： Li, Pengxiang Gao, Zhi Zhang, Bofei Yuan, Tao Wu, Yuwei Harandi, Mehrtash Jia, Yunde Zhu, Song-Chun Li, Qing Beijing Key Laboratory of Intelligent Information Technology School of Computer Science & Technology Beijing Institute of Technology China State Key Laboratory of General Artificial Intelligence BIGAI China State Key Laboratory of General Artificial Intelligence Peking University China Department of Electrical and Computer System Engineering Monash University Australia Guangdong Laboratory of Machine Perception and Intelligent Computing Shenzhen MSU-BIT University China Department of Automation Tsinghua University China

Vision language models (VLMs) have achieved impressive progress in diverse applications, becoming a prevalent research direction. In this paper, we build FIRE, a feedback-refinement dataset, consisting of 1.1M multi-turn conversations that are derived from 27 source datasets, empowering VLMs to spontaneously refine their responses based on user feedback across diverse tasks. To scale up the data collection, FIRE is collected in two components: FIRE-100K and FIRE-1M, where FIRE-100K is generated by GPT-4V, and FIRE-1M is freely generated via models trained on FIRE-100K. Then, we build FIRE-Bench, a benchmark to comprehensively evaluate the feedback-refining capability of VLMs, which contains 11K feedback-refinement conversations as the test data, two evaluation settings, and a model to provide feedback for VLMs. We develop the FIRE-LLaVA model by fine-tuning LLaVA on FIRE-100K and FIRE-1M, which shows remarkable feedback-refining capability on FIRE-Bench and outperforms untrained VLMs by 50%, making more efficient user-agent interactions and underscoring the significance of the FIRE dataset. © 2024 Neural information processing systems foundation. All rights reserved.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Frozen-DETR: enhancing DETR with image understanding from frozen foundation models 24

Frozen-DETR: enhancing DETR with image understanding from fr...

引用

Proceedings of the 38th International Conference on Neural Information Processing Systems

作者： Shenghao Fu Junkai Yan Qize Yang Xihan Wei Xiaohua Xie Wei-Shi Zheng School of Computer Science and Engineering Sun Yat-sen University China and Tongyi Lab Alibaba Group and Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education China Tongyi Lab Alibaba Group School of Computer Science and Engineering Sun Yat-sen University China and Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education China and Guangdong Province Key Laboratory of Information Security Technology China School of Computer Science and Engineering Sun Yat-sen University China and Peng Cheng Laboratory Shenzhen China and Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education China and Pazhou Laboratory (Huangpu) Guangzhou Guangdong China

ISBN: (纸本)9798331314385

Recent vision foundation models can extract universal representations and show impressive abilities in various tasks. However, their application on object detection is largely overlooked, especially without fine-tuning them. In this work, we show that frozen foundation models can be a versatile feature enhancer, even though they are not pre-trained for object detection. Specifically, we explore directly transferring the high-level image understanding of foundation models to detectors in the following two ways. First, the class token in foundation models provides an in-depth understanding of the complex scene, which facilitates decoding object queries in the detector's decoder by providing a compact context. Additionally, the patch tokens in foundation models can enrich the features in the detector's encoder by providing semantic details. Utilizing frozen foundation models as plug-and-play modules rather than the commonly used backbone can significantly enhance the detector's performance while preventing the problems caused by the architecture discrepancy between the detector's backbone and the foundation model. With such a novel paradigm, we boost the SOTA query-based detector DINO from 49.0% AP to 51.9% AP (+2.9% AP) and further to 53.8% AP (+4.8% AP) by integrating one or two foundation models respectively, on the COCO validation set after training for 12 epochs with R50 as the detector's backbone.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：