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Designing a skilled soccer team for RoboCup: exploring skill-set-primitives through reinforcement learning

Neural Computing and Applications 2025年第18期37卷 12699-12734页

作者： Abreu, Miguel Reis, Luís Paulo Lau, Nuno LIACC/LASI/FEUP Artificial Intelligence and Computer Science Laboratory Faculty of Engineering University of Porto Porto Portugal IEETA/LASI/DETI Institute of Electronics and Informatics Engineering of Aveiro Department of Electronics Telecommunications and Informatics University of Aveiro Aveiro Portugal

The RoboCup 3D soccer simulation league serves as a competitive platform for showcasing innovation in autonomous humanoid robot agents through simulated soccer matches. Our team, FC Portugal, developed a new codebase from scratch in Python after RoboCup 2021. The team’s performance relies on a set of skills centered around novel unifying primitives and a custom, symmetry-extended version of the proximal policy optimization algorithm. Our methods have been thoroughly tested in official RoboCup matches, where FC Portugal has won the last two main competitions, in 2022 and 2023. This paper presents our training framework, as well as a timeline of skills developed using our skill-set-primitives, which considerably improve the sample efficiency and stability of skills, and motivate seamless transitions. We start with a significantly fast Sprint-Kick developed in 2021 and progress to the most recent skill set, including a multi-purpose omnidirectional walk, a dribble with unprecedented ball control, a solid kick, and a push skill. The push addresses low-level collision scenarios and high-level strategies to increase ball possession. We address the resource-intensive nature of this task through an innovative multi-agent learning approach. Finally, we release the team’s codebase to the RoboCup community, providing other teams with a robust and modern foundation upon which they can build new features. © The Author(s) 2025.

关键词： Reinforcement learning

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An infrastructure software perspective toward computation offloading between executable specifications and foundation models

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science China(Information sciences) 2025年第4期68卷 380-382页

作者： Dezhi RAN Mengzhou WU Yuan CAO Assaf MARRON David HAREL Tao XIE Key Laboratory of High Confidence Software Technologies (PKU) Ministry of Education School of Computer SciencePeking University School of Electronics Engineering and Computer Science Peking University Department of Computer Science and Applied Mathematics Weizmann Institute of Science

Foundation models(FMs) [1] have revolutionized software development and become the core components of large software systems. This paradigm shift, however, demands fundamental re-imagining of software engineering theories and methodologies [2]. Instead of replacing existing software modules implemented by symbolic logic, incorporating FMs' capabilities to build software systems requires entirely new modules that leverage the unique capabilities of ***, while FMs excel at handling uncertainty, recognizing patterns, and processing unstructured data, we need new engineering theories that support the paradigm shift from explicitly programming and maintaining user-defined symbolic logic to creating rich, expressive requirements that FMs can accurately perceive and implement.

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High-Performance Flow Classification of Big Data Using Hybrid CPU-GPU Clusters of Cloud Environments

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Tsinghua science and Technology 2024年第4期29卷 1118-1137页

作者： Azam Fazel-Najafabadi Mahdi Abbasi Hani H.Attar Ayman Amer Amir Taherkordi Azad Shokrollahi Mohammad R.Khosravi Ahmed A.Solyman Department of Computer Engineering Faculty of EngineeringBu-Ali Sina UniversityHamedan ***Iran Department of Energy Engineering Zarqa UniversityZarqa 13132Jordan Department of Informatics University of OsloOslo 0316Norway Department of Computer Science MalmöUniversityMalmö20506Sweden Shandong Provincial University Laboratory for Protected Horticulture Weifang University of Science and TechnologyWeifang 261100China Department of Electrical and Electronics Engineering NişantaşıUniversityIstanbul 34481742Türkiye

The network switches in the data plane of Software Defined Networking (SDN) are empowered by an elementary process, in which enormous number of packets which resemble big volumes of data are classified into specific flows by matching them against a set of dynamic rules. This basic process accelerates the processing of data, so that instead of processing singular packets repeatedly, corresponding actions are performed on corresponding flows of packets. In this paper, first, we address limitations on a typical packet classification algorithm like Tuple Space Search (TSS). Then, we present a set of different scenarios to parallelize it on different parallel processing platforms, including Graphics Processing Units (GPUs), clusters of Central Processing Units (CPUs), and hybrid clusters. Experimental results show that the hybrid cluster provides the best platform for parallelizing packet classification algorithms, which promises the average throughput rate of 4.2 Million packets per second (Mpps). That is, the hybrid cluster produced by the integration of Compute Unified Device Architecture (CUDA), Message Passing Interface (MPI), and OpenMP programming model could classify 0.24 million packets per second more than the GPU cluster scheme. Such a packet classifier satisfies the required processing speed in the programmable network systems that would be used to communicate big medical data.

关键词： OpenMP Compute Unified Device Architecture(CUDA) Message Passing Interface(MPI) packet classification medical data tuple space algorithm Graphics Processing Unit(GPU)cluster

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WiFo: wireless foundation model for channel prediction

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science China(Information sciences) 2025年第6期68卷 372-384页

作者： Boxun LIU Shijian GAO Xuanyu LIU Xiang CHENG Liuqing YANG State Key Laboratory of Photonics and Communications School of Electronics Peking University Internet of Things Thrust The Hong Kong University of Science and Technology (Guangzhou) Department of Electronic and Computer Engineering and Department of Civil and Environmental Engineering The Hong Kong University of Science and Technology

Channel prediction permits to acquire channel state information(CSI) without signaling overhead. However,almost all existing channel prediction methods necessitate the deployment of a dedicated model to accommodate a specific configuration. Leveraging the powerful modeling and multi-task learning capabilities of foundation models, we propose the first space-time-frequency(STF) wireless foundation model(WiFo) to address time-frequency channel prediction tasks in a unified manner. Specifically, WiFo is initially pre-trained over massive and extensive diverse CSI datasets. Then, the model will be instantly used for channel prediction under various CSI configurations without any fine-tuning. We propose a masked autoencoder(MAE)-based network structure for WiFo to handle heterogeneous STF CSI data, and design several mask reconstruction tasks for self-supervised pre-training to capture the inherent 3D variations of CSI. To fully unleash its predictive power, we build a large-scale heterogeneous simulated CSI dataset consisting of 160k CSI samples for *** validate its superior unified learning performance across multiple datasets and demonstrate its state-of-the-art(SOTA) zero-shot generalization performance via comparisons with other full-shot baselines.

关键词： channel prediction channel state information foundation model self-supervised pre-training zero-shot learning

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Fine-Tuned Attribute Weighted Naïve Bayes with Modified Partial Instances Reduction for Gaming Disorder Classification

HighTech and Innovation Journal

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HighTech and Innovation Journal 2025年第1期6卷 67-80页

作者： Latubessy, Anastasya Wardoyo, Retantyo Musdholifah, Aina Kusrohmaniah, Sri Doctoral Program Department of Computer Science and Electronics Faculty of Mathematics and Natural Science Universitas Gadjah Mada Yogyakarta55281 Indonesia Department of Informatics Engineering Faculty of Engineering Universitas Muria Kudus Indonesia Department of Computer Science and Electronics Faculty of Mathematics and Natural Science Universitas Gadjah Mada Yogyakarta55281 Indonesia Department of Psychology Faculty of Psychology Universitas Gadjah Mada Yogyakarta55281 Indonesia

Fine Tuning Attribute Weighted Naïve Bayes (FTAWNB) is a reliable modified Naïve Bayes model. Even though it is able to provide high accuracy on ordinal data, this model is sensitive to outliers. To improve the performance of FTAWNB, this research modified the Partial Instances Reduction (PIR) technique to make the FTAWNB more adaptive to outliers. Nevertheless, in contrast to the original PIR technique, which substitutes missing values for data values deemed outliers, the PIR technique suggested in this study replaces data values deemed outliers using a Naïve Bayes weighting approach. The attribute values from the outlier data are replaced with the highest probability values for the attributes in the actual class. This PIR technique is referred to as modified PIR. The FTAWNB model with modified PIR has been evaluated using the Gaming Disorder dataset. Replacing the four attributes with the least amount of information resulted in accuracy gains of 99.74%, an increase of 1.53% over the FTAWNB model. The experimental result shows that adding the modified PIR technique to the FTAWNB model can handle the outlier in the data, proving it by increasing the performance in terms of accuracy, precision, and recall without pruning the dataset used. © 2025, Ital Publication. All rights reserved.

关键词： Attribute Weighted Classification Fine-Tune Gaming Disorder Instances Reduction Naïve Bayes

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Early Parkinson's Disease Detection and Classification using Machine Learning and Neutrosophic Sets

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Neutrosophic Sets and Systems 2025年 82卷 873-886页

作者： Oudah, Hasan H. Metwaly, Ahmed A. Eassa, Mohamed Abdelhafeez, Ahmed Nagm, Ahmad M. Salama, Ahmed S. College of Arts Department of Journalism Ahl Al Bayt University Karbala Iraq Department of Computer Science Faculty of Computers and Informatics Zagazig University Zagazig44519 Egypt Computer Science Department Faculty of Information System and Computer Science October 6 University Giza12585 Egypt Applied Science Research Center Applied Science Private University Amman Jordan Department of Computer Engineering and Electronics Cairo Higher Institute for Engineering Computer Science and Management New Cairo Egypt

Optimizing therapy and rehabilitation for Parkinson's disease (PD) requires early identification and precise evaluation of the illness's course. However, there is disagreement about the best way to use gait analysis to categorize the severity of motor symptoms and identify early-stage Parkinson's disease. The precision of machine learning (ML) models in identifying early and intermediate stages of Parkinson's disease was assessed in this study. Six ML models are used in this study for the prediction of PD. Different metrics are used to evaluate ML models such as accuracy, precision, recall, f1-score, and AUC score. Then we propose a multi-criteria decision-making methodology (MCDM) to evaluate the ML models and select the best one. Two MCDM methods are used such as CRITIC method to compute the criteria weights and the TOPSIS method to rank the alternatives. These methods are used under the bipolar neutrosophic sets (BNSs) to deal with uncertainty information. The results show the support vector machine is the best ML model for the prediction of PD. © 2025, University of New Mexico. All rights reserved.

关键词： Neurodegenerative diseases

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Improving the Effectiveness of Image Classification Structural Methods by Compressing the Description According to the Information Content Criterion

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computers, Materials & Continua 2024年第8期80卷 3085-3106页

作者： Yousef Ibrahim Daradkeh Volodymyr Gorokhovatskyi Iryna Tvoroshenko Medien Zeghid Department of Computer Engineering and Information College of Engineering inWadi AlddawasirPrince Sattam bin Abdulaziz UniversityAl-Kharj16273Saudi Arabia Department of Informatics Kharkiv National University of Radio ElectronicsKharkiv61166Ukraine Electronics and Micro-Electronics Laboratory Faculty of SciencesUniversity of MonastirMonastir5000Tunisia

The research aims to improve the performance of image recognition methods based on a description in the form of a set of keypoint *** main focus is on increasing the speed of establishing the relevance of object and etalon descriptions while maintaining the required level of classification *** class to be recognized is represented by an infinite set of images obtained from the etalon by applying arbitrary geometric *** is proposed to reduce the descriptions for the etalon database by selecting the most significant descriptor components according to the information content *** informativeness of an etalon descriptor is estimated by the difference of the closest distances to its own and other *** developed method determines the relevance of the full description of the recognized object with the reduced description of the *** practical models of the classifier with different options for establishing the correspondence between object descriptors and etalons are *** results of the experimental modeling of the proposed methods for a database including images of museum jewelry are *** test sample is formed as a set of images from the etalon database and out of the database with the application of geometric transformations of scale and rotation in the field of *** practical problems of determining the threshold for the number of votes,based on which a classification decision is made,have been *** has revealed the practical possibility of tenfold reducing descriptions with full preservation of classification *** the descriptions by twenty times in the experiment leads to slightly decreased *** speed of the analysis increases in proportion to the degree of *** use of reduction by the informativeness criterion confirmed the possibility of obtaining the most significant subset of features for classification,which guarantees a decent

关键词： Description reduction description relevance descriptor image classification information content keypoint processing speed

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Resilient TCP Variant Enabling Smooth Network Updates for Software-Defined Data Center Networks

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Tsinghua science and Technology 2024年第5期29卷 1615-1632页

作者： Abdul Basit Dogar Sami Ullah Yiran Zhang Hisham Alasmary Muhammad Waqas Sheng Chen Department of Computer Science and Technology Tsinghua UniversityBeijing 100084China and also with Department of Informatics and SystemsUniversity of Management and TechnologyLahore 54660Pakistan Department of Computer Science Shaheed Benazir Bhutto UniversitySheringalUpper Dir 18050Pakistan School of Computer Science Beijing University of Posts and TelecommunicationsBeijing 100876China Department of Computer Science College of Computer ScienceKing Khalid UniversityAbha 61421Saudi Arabia Department of Computer Engineering Faculty of Information TechnologyUniversity of BahrainSakheer 32038Bahrainand also with School of EngineeringEdith Cowan UniversityPerth WA 6027Australia School of Electronics and Computer Science University of SouthamptonSouthamptonSO171BJUK

Network updates have become increasingly prevalent since the broad adoption of software-defined networks(SDNs)in data *** TCP designs,including cutting-edge TCP variants DCTCP,CUBIC,and BBR,however,are not resilient to network updates that provoke flow *** this paper,we first demonstrate that popular TCP implementations perform inadequately in the presence of frequent and inconsistent network updates,because inconsistent and frequent network updates result in out-of-order packets and packet drops induced via transitory congestion and lead to serious performance *** look into the causes and propose a network update-friendly TCP(NUFTCP),which is an extension of the DCTCP variant,as a *** are used to assess the proposed *** findings reveal that NUFTCP can more effectively manage the problems of out-of-order packets and packet drops triggered in network updates,and it outperforms DCTCP considerably.

关键词： software defined data center networks network updates DCTCP out-of-order packets packet drop SDN

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An Intelligent Privacy Protection Scheme for Efficient Edge Computation Offloading in IoV

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Chinese Journal of electronics 2024年第4期33卷 910-919页

作者： Liang YAO Xiaolong XU Wanchun DOU Muhammad Bilal School of Software Nanjing University of Information Science and Technology State Key Laboratory for Novel Software Technology Nanjing University Department of Computer and Electronics Systems Engineering Hankuk University of Foreign Studies

As a pivotal enabler of intelligent transportation system(ITS), Internet of vehicles(Io V) has aroused extensive attention from academia and industry. The exponential growth of computation-intensive, latency-sensitive,and privacy-aware vehicular applications in Io V result in the transformation from cloud computing to edge computing,which enables tasks to be offloaded to edge nodes(ENs) closer to vehicles for efficient execution. In ITS environment,however, due to dynamic and stochastic computation offloading requests, it is challenging to efficiently orchestrate offloading decisions for application requirements. How to accomplish complex computation offloading of vehicles while ensuring data privacy remains challenging. In this paper, we propose an intelligent computation offloading with privacy protection scheme, named COPP. In particular, an Advanced Encryption Standard-based encryption method is utilized to implement privacy protection. Furthermore, an online offloading scheme is proposed to find optimal offloading policies. Finally, experimental results demonstrate that COPP significantly outperforms benchmark schemes in the performance of both delay and energy consumption.

关键词： Industries Privacy Energy consumption Transportation Computational efficiency Encryption Protection

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Intelligent Computational Model for Energy Efficiency and AI Automation of Network Devices in 5G Communication Environment

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Tsinghua science and Technology 2024年第6期29卷 1728-1751页

作者： Ashish Bagwari Jaganathan Logeshwaran M.Raja P.Devisivasankari Jyotshana Bagwari Vikas Rathi Asma Mohammed Elbashir Saad Department of Electronics and Communication Engineering Uttarakhand Technical UniversityDehradun 248007India Department of Electronics and Communication Engineering Sri Eshwar College of EngineeringCoimbatore 641202India Department of Computer Science and Engineering CMR Institute of TechnologyKarnataka 560037India Department of Information Science and Engineering CMR Institute of TechnologyKarnataka 560037India Advanced and Innovative Research Laboratory Dehradun 248001India Department of Electronics and Communication Engineering Graphic Era(Deemed to be University)Dehradun 248007India Department of Physics College of Science and HumanitiesPrince Sattam Bin Abdulaziz UniversityAl-Kharj 16273Saudi Arabia

Currently, the 4G network service has caused massive digital growth in high use. Video calling has become the go-to Internet application for many people, downloading even huge files in minutes. Everyone is looking for and buying only 4G Subscriber Identity Module (SIM)-capable mobiles. In this case, the expectation of 5G has increased in line with 2G, 3G, and 4G, where the G stands for generation, and it does not indicate Internet or Internet speed. 5G includes next-generation features that are more advanced than those available in 4G network services. The main objective of 5G is uninterrupted telecommunication service in hybrid energy storage system. This paper proposes an intelligent networking model to obtain the maximum energy efficiency and Artificial Intelligence (AI) automation of 5G networks. There is currently an issue where the signal cuts out when crossing an area with one tower and traveling to an area with another tower. The problem of “call drop”, where the call is disconnected while talking, is not present in 5G. The proposed Intelligent Computational Model (ICM) model obtained 96.31% network speed management, 90.63% battery capacity management, 92.27% network device management, 93.57% energy efficiency, and 88.41% AI automation.

关键词： hybrid energy storage system 4G digital growth 5G downloading Subscriber Identity Module(SIM) generation network energy efficiency Artificial Intelligence(Al)automation

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