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Stochastic Trajectory Optimization for Robotic Skill Acquisition From a Suboptimal Demonstration

IEEE Robotics and Automation Letters 2025年第6期10卷 6127-6134页

作者： Ming, Chenlin Wang, Zitong Zhang, Boxuan Cao, Zhanxiang Duan, Xiaoming He, Jianping Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai China School of Computation Information and Technology Germany Shanghai Jiao Tong University Department of Computer Science and Engineering Shanghai China Shanghai Jiao Tong University State Key Laboratory of Submarine Geoscience the Department of Automation Shanghai200240 China

Learning from Demonstration (LfD) has emerged as a crucial method for robots to acquire new skills. However, when given suboptimal task trajectory demonstrations with shape characteristics reflecting human preferences but subpar dynamic attributes such as slow motion, robots not only need to mimic the behaviors but also optimize the dynamic performance. In this work, we leverage optimization-based methods to search for a superior-performing trajectory whose shape is similar to that of the demonstrated trajectory. Specifically, we use Dynamic Time Warping (DTW) to quantify the difference between two trajectories and combine it with additional performance metrics, such as collision cost, to construct the cost function. Moreover, we develop a multi-policy version of the Stochastic Trajectory Optimization for Motion Planning (STOMP), called MSTOMP, which is more stable and robust to parameter changes. To deal with the jitter in the demonstrated trajectory, we further utilize the gain-controlling method in the frequency domain to denoise the demonstration and propose a computationally more efficient metric, called Mean Square Error in the Spectrum (MSES), that measures the trajectories' differences in the frequency domain. We also theoretically highlight the connections between the time domain and the frequency domain methods. Finally, we verify our method in both simulation experiments and real-world experiments, showcasing its improved optimization performance and stability compared to existing methods. © 2016 IEEE.

关键词： Frequency domain analysis

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Lightweight 6-bit S-boxes with DPA Resistance

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IEEE Transactions on Network Science and Engineering 2025年

作者： Yan, Liuyan Li, Lang Song, Qingling Hengyang Normal University College of Computer Science and Technology Hunan Provincial Key Laboratory of Intelligent Information Processing and Application Hengyang421002 China

Lightweight S-boxes have a significant impact on cryptographic algorithms for resource-constrained devices in the Internet of Things (IoT). Previous research on such S-oxes has focused on low area and good cryptographic properties, which neglects the resistance to side-channel analysis, especially differential power analysis (DPA). The reVisited transparency order (VTO) is one of the best indicators for evaluating S-boxes against DPA attacks so far. Therefore, this paper presents a scheme for designing 6-bit S-boxes. The designed S-boxes are suitable for lightweight block ciphers and have a certain ability to resist DPA attacks. Specifically, we first identify 23 3-bit S-boxes with the optimal cryptographic properties and the smallest hardware area through systematic screening. Then, the paper investigates the constructions of lightweight 6-bit S-boxes based on traditional algorithm structures. Finally, a novel structure named F-LM-F is proposed for designing lightweight 6-bit S-boxes by combining Feistel structure and Lai-Massey structure. It has been proven through comparison that the S-boxes under F-LM-F structure achieve fewer fixed points and lower VTO than the 6-bit S-box of BipBip cipher, with a 17.61% reduction in hardware area and a 13.58% decrease in CPU cycles © 2013 IEEE.

关键词： Side channel attack

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Deep Learning and Projection Neural Network With Finite-Time Convergence for Energy Management of Multi-Energy System

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IEEE Transactions on Smart Grid 2025年第3期16卷 2156-2168页

作者： Liu, Xueying He, Xing Li, Chaojie Huang, Tingwen Southwest University Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing College of Electronic and Information Engineering Chongqing400715 China North China Electric Power University State Key Laboratory of Alternate Electrical Power System With Renewable Energy Sources Beijing102206 China Shenzhen University of Advanced Technology Faculty of Computer Science and Control Engineering Shenzhen518055 China

In this paper, an approach based on projection neural network (PNN), sliding mode control technique, and deep learning is proposed to solve the energy management problem of multi-energy systems (MES) containing dynamic parameters. First, the sliding mode technique is introduced in the PNN to design a finite-time PNN (FTPNN). The stability and finite-time convergence of the proposed FTPNN are proved by the Lyapunov method and the setting time bound is given. Then, the deep FTPNN (DFTPNN) is designed by combining deep learning with the proposed FTPNN. The dynamic parameters in the MES that change over time are used as input variables for the DFTPNN, allowing the trained DFTPNN to respond immediately to changes in the dynamic parameters and to predict the solutions of the FTPNN with different parameters directly. Simulation experiments show that FTPNN has faster convergence compared to PNN. DFTPNN significantly reduces the computation time compared to FTPNN. DFTPNN provides predicted solutions to FTPNN. Since DFTPNN can respond immediately to changes in dynamic parameters and directly provide energy management strategies under different parameters, it can adapt to changing environments and promote the economic and stable operation of MES. © 2010-2012 IEEE.

关键词： Cogeneration Heuristic algorithms Convergence Deep learning Prediction algorithms Optimization Heating systems Energy management Approximation algorithms Power system stability

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MASS FLOW DETECTION technology FOR SEED AND FERTILISER PARTICLES AND ITS APPLICATION IN UAV-BASED SPREADING

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INMATEH - Agricultural Engineering 2025年第1期75卷 584-599页

作者： Wang, Yanshuang Song, Cancan Gao, Yongqi Lan, Yubin Wang, Guobin Ming, Rui College of Agricultural Engineering and Food Science Shandong University of Technology Zibo China Shandong University of Technology Sub-center of National Center for International Collaboration Research on Precision Agricultural Aviation Pesticide Spraying Technology Zibo China Research of Institute of Ecological Unmanned Farm Shandong University of Technology Zibo China School of Computer and Big Data Minjiang University Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Fuzhou China

The processes of sowing and fertiliser application represent a significant aspect of agricultural production. In order to achieve efficient and precise seeding and fertiliser application, mass flow detection of seed and fertiliser particles can facilitate real-time monitoring and precise decision-making for intelligent seeding and fertiliser application. However, the diversity of seed and fertiliser particle types and particle flow modes presents a challenge for existing detection methods, particularly in meeting the varying operational requirements, especially for particle mass flow detection in low-altitude and high-speed sowing operations of agricultural drones. In such cases, the overlap and flow rate will have a significant impact on the detection results due to the large displacement and the continuous high-throughput dense phase of the particle flow. This paper provides a summary of the existing seed and fertiliser particle mass flow detection techniques and their underlying working principles. It compares the direct detection based on mass with the indirect detection methods based on velocity and concentration, and analyses their respective advantages, disadvantages and applicability. It also explores the possibility of optimising the existing detection methods for the specific needs of agricultural UAVs and considers the potential introduction of cutting-edge science and technology in order to develop an efficient, accurate and convenient detection system to meet the growing market demand. © (2025), (INMA Bucharest). All Rights Reserved.

关键词： Precision agriculture

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Research on Collaborative Filtering Algorithm of E-commerce Based on Flink 13

Research on Collaborative Filtering Algorithm of E-commerce ...

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13th International Conference on Intelligent Control and information processing, ICICIP 2025

作者： Zheng, Haohao Luo, Xiaonan Zhu, Xiaoshu School of Computer Science and Information Security Guilin University of Electronic Technology Guilin China Guangxi Key Laboratory of Image and Graphic Intelligent Processing Guilin University of Electronic Technology Guilin China

ISBN: (纸本)9798331516147

In online shopping, a person's interest in a product is closely related to whether they will purchase it Analyzing people's interest in various products on time, along with product recommendations, can increase purchase rates. However, in many cases, We only know user implicit feedback, such as browsing or favoriting items, and cannot directly access user explicit feedback, such as product ratings. Moreover, users have limited exposure to products, resulting in a sparse user- item matrix. The traditional Alternating Least Squares (ALS) algorithm can partially address the issue of matrix sparsity, but its accuracy in recommending products based on implicit feedback alone is insufficient This paper proposes an improved ALS algorithm that converts implicit feedback into explicit ratings. We calculate the browsing frequency of a product based on user browsing counts. For a given product, we represent user preference by summing the browsing frequencies of all products with browsing frequencies less than or equal to that of the product. Then, by multiplying the preference level by the product's maximum rating, we derive a product rating, achieving a transformation from implicit feedback to explicit scores. Additionally, traditional collaborative filtering algorithms often use offline data, which may not align with user current preferences. To improve the algorithm's accuracy, we also utilize Flink for real-time data processing, allowing us to capture the most recent feedback data. This study tests the approach using the UserBehavior dataset from the publicly available Tianchi dataset. Experimental results indicate improvements in both Root Mean Square Error (RMSE) and Mean Absolute Error (MAE). © 2025 IEEE.

关键词： Collaborative filtering

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Phasmatodea Population Evolution Algorithm Based on Spiral Mechanism and Its Application to Data Clustering

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computers, Materials & Continua 2025年第4期83卷 475-496页

作者： Jeng-Shyang Pan Mengfei Zhang Shu-Chuan Chu Xingsi Xue Václav Snášel College of Computer Science and Engineering Shandong University of Science and TechnologyQingdao266590China School of Artificial Intelligence Nanjing University of Information Science and TechnologyNanjing210044China Department of Information Management Chaoyang University of TechnologyTaichung41349TaiwanChina Fujian Provincial Key Laboratory of Big Data Mining and Applications Fujian University of TechnologyFuzhou350118China Faculty of Electrical Engineering and Computer Science VŠB-Technical University of OstravaOstrava70833Czech Republic

Data clustering is an essential technique for analyzing complex datasets and continues to be a central research topic in data *** clustering algorithms,such as K-means,are widely used due to their simplicity and *** paper proposes a novel Spiral Mechanism-Optimized Phasmatodea Population Evolution Algorithm(SPPE)to improve clustering *** SPPE algorithm introduces several enhancements to the standard Phasmatodea Population Evolution(PPE)***,a Variable Neighborhood Search(VNS)factor is incorporated to strengthen the local search capability and foster population ***,a position update model,incorporating a spiral mechanism,is designed to improve the algorithm’s global exploration and convergence ***,a dynamic balancing factor,guided by fitness values,adjusts the search process to balance exploration and exploitation *** performance of SPPE is first validated on CEC2013 benchmark functions,where it demonstrates excellent convergence speed and superior optimization results compared to several state-of-the-art metaheuristic *** further verify its practical applicability,SPPE is combined with the K-means algorithm for data clustering and tested on seven *** results show that SPPE-K-means improves clustering accuracy,reduces dependency on initialization,and outperforms other clustering *** study highlights SPPE’s robustness and efficiency in solving both optimization and clustering challenges,making it a promising tool for complex data analysis tasks.

关键词： Phasmatodea population evolution algorithm data clustering meta-heuristic algorithm

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Dual-Resource Optimization Configuration and Collaborative Scheduling for Flexible Job Shop Under Worker Flexibility Constraints

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IEEE Access 2025年 13卷 72347-72363页

作者： Ren, Zijie Qu, Hongyi Safran, Mejdl Wan, Jiafu South China University of Technology Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology School of Mechanical and Automotive Engineering Guangzhou510641 China Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangzhou510030 China King Saud University College of Computer and Information Sciences Computer Science Department Riyadh11543 Saudi Arabia

Worker resources exhibit high flexibility, adaptability, and individual differences. It is critical to complete manufacturing tasks with a suitable worker resource allocation plan, given the increasing labor costs and the dynamic changes in production demands. It is often assumed in studies on traditional flexible job shop scheduling problems that the attributes of manufacturing resources, such as the number of workers and their skill levels, are known and fixed. This paper focuses on achieving resource allocation via personnel flexibility quantification and dual-resource collaborative scheduling optimization. A method based on the worker ability matrix, proficiency, and skill level coefficients is introduced to quantify and evaluate worker flexibility and individual differences. On this basis, an integrated optimization model for worker allocation and production scheduling is established considering the maximum completion time, total manufacturing cost, and worker load balancing. An algorithm based on a two-level decision model is proposed to solve this problem. The upper-level model for worker skill optimization configuration is based on a rule-based greedy algorithm, and the lower-level collaborative model for production scheduling is based on a hybrid genetic simulated annealing algorithm. In the proposed algorithm, population initialization and neighborhood search strategies based on mixed multi-rules and critical paths are designed. A feasible production guidance scheme for the job shop is obtained by iteratively solving the two-level decision model, which provides the foundation for subsequent production. Test case results validate that the proposed algorithm can determine multi-skilled worker configuration strategies and achieve excellent scheduling solutions, completing the production tasks quicker, with lower costs and a more balanced task distribution. © 2013 IEEE.

关键词： Job shop scheduling

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VAGeo: View-specific Attention for Cross-View Object Geo-Localization

VAGeo: View-specific Attention for Cross-View Object Geo-Loc...

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2025 IEEE International Conference on Acoustics, Speech, and Signal processing, ICASSP 2025

作者： Li, Zhongyang Yuan, Xin Liu, Wei Xu, Xin School of Computer Science and Technology Wuhan University of Science and Technology China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System China

ISBN: (纸本)9798350368741

Cross-view object geo-localization (CVOGL) aims to locate an object of interest in a captured ground- or drone-view image within the satellite image. However, existing works treat ground-view and drone-view query images equivalently, overlooking their inherent viewpoint discrepancies and the spatial correlation between the query image and the satellite-view reference image. To this end, this paper proposes a novel View-specific Attention Geo-localization method (VAGeo) for accurate CVOGL. Specifically, VAGeo contains two key modules: view-specific positional encoding (VSPE) module and channel-spatial hybrid attention (CSHA) module. In object-level, according to the characteristics of different viewpoints of ground and drone query images, viewpoint-specific positional codings are designed to more accurately identify the click-point object of the query image in the VSPE module. In feature-level, a hybrid attention in the CSHA module is introduced by combining channel attention and spatial attention mechanisms simultaneously for learning discriminative features. Extensive experimental results demonstrate that the proposed VAGeo gains a significant performance improvement, i.e., improving acc@0.25/acc@0.5 on the CVOGL dataset from 45.43%/42.24% to 48.21%/45.22% for ground-view, and from 61.97%/57.66% to 66.19%/61.87% for drone-view. © 2025 IEEE.

关键词： Cross-view Object-level Localization Hybrid Attention Mechanism View-specific Positional Encoding

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Double-Mix-Net: A Multimodal Music Emotion Recognition Network with Multi-layer Feature Mixing 10th

Double-Mix-Net: A Multimodal Music Emotion Recognition Netwo...

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10th Conference on Sound and Music technology, CSMT 2023

作者： Li, Peilin Chen, Kairan Wei, Weixin Zhao, Jiahao Li, Wei School of Computer Science and Technology Fudan University Shanghai Shanghai200438 China Shanghai Key Laboratory of Intelligent Information Processing Fudan University Shanghai Shanghai200433 China

ISBN: (纸本)9789819779611

Computational music emotion recognition (MER) is an important task that aims to recognize emotional content in music tracks. Understanding the emotional content of music can help tailor therapeutic interventions to specific emotional needs, potentially improving their effectiveness. Piano music is widely used in music therapy for depression, anxiety, and other mental health conditions. However, comparatively little work has been done on MER in piano music, which is a challenging task due to the unique difficulties in recognizing emotions in single-timbre music without vocals, especially on valence. In this paper, we propose a novel Double-Mix-Net model that utilizes the multi-layer feature mixing and multi-modal feature mixing methods to improve classification performance. Our model uses both the title of the YouTube music video and the music context to predict the emotion of a given music track. Additionally, we make full use of different granularity features through the multi-layer feature mixing method. Our proposed model achieved state-of-the-art accuracy performance of 73.8% on the Emopia dataset and is the first multi-modal network designed for piano emotion recognition. The results of our study highlight the importance of considering the music title and utilizing multi-layer feature mixing methods in piano music emotion recognition. This work helps the emotional understanding of piano music. Our proposed model can be applied in various domains such as music recommendation systems, film scoring, and game design to enhance the emotional impact of music. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Game design

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OCTAMamba: A State-Space Model Approach for Precision OCTA Vasculature Segmentation

OCTAMamba: A State-Space Model Approach for Precision OCTA V...

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2025 IEEE International Conference on Acoustics, Speech, and Signal processing, ICASSP 2025

作者： Zou, Shun Zhang, Zhuo Gao, Guangwei College of Artificial Intelligence Nanjing Agricultural University Nanjing China College of Computer Science and Technology National University of Defense Technology Changsha China Institute of Advanced Technology Nanjing University of Posts and Telecommunications Nanjing China Provincial Key Laboratory for Computer Information Processing Technology Soochow University Suzhou China

ISBN: (纸本)9798350368741

Optical Coherence Tomography Angiography (OCTA) is a crucial imaging technique for visualizing retinal vasculature and diagnosing eye diseases such as diabetic retinopathy and glaucoma. However, precise segmentation of OCTA vasculature remains challenging due to the multi-scale vessel structures and noise from poor image quality and eye lesions. In this study, we proposed OCTAMamba, a novel U-shaped network based on the Mamba architecture, designed to segment vasculature in OCTA accurately. OCTAMamba integrates a Quad Stream Efficient Mining Embedding Module for local feature extraction, a Multi-Scale Dilated Asymmetric Convolution Module to capture multi-scale vasculature, and a Focused Feature Recalibration Module to filter noise and highlight target areas. Our method achieves efficient global modeling and local feature extraction while maintaining linear complexity, making it suitable for low-computation medical applications. Extensive experiments on the OCTA 3M, OCTA 6M, and ROSSA datasets demonstrated that OCTAMamba outperforms state-of-the-art methods, providing a new reference for efficient OCTA segmentation. Code is available at https://***/zs1314/OCTAMamba. © 2025 IEEE.

关键词： Mamba OCTA image State Space Model

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