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Reinforcement learning of non-additive joint steganographic embedding costs with attention mechanism

science China(Information sciences) 2023年第3期66卷 273-286页

作者： Weixuan TANG Bin LI Weixiang LI Yuangen WANG Jiwu HUANG Institute of Artificial Intelligence and Blockchain Guangzhou University Guangdong Key Laboratory of Intelligent Information Processing Shenzhen Key Laboratory of Media Security Shenzhen University Shenzhen Institute of Artificial Intelligence and Robotics for Society School of Computer Science and Cyber Engineering Guangzhou University

Image steganography is the art and science of secure communication by concealing information within digital images. In recent years, the techniques of steganographic cost learning have developed rapidly. Although the existing methods can learn satisfactory additive costs, the interplay of different pixels' embedding impacts has not been considered, so the potential of learning may not be fully exploited. To overcome this limitation, in this paper, a reinforcement learning paradigm called Jo Po L(joint policy learning) is proposed to extend the idea of additive cost learning to a non-additive situation. Jo Po L aims to capture the interactions within pixel blocks by defining embedding policies and evaluating contributions of embedding impacts on a block level rather than a pixel level. Then, a policy network is utilized to learn optimal joint embedding policies for pixel blocks through interactions with the environment. Afterwards,these policies can be converted into joint embedding costs for practical message embedding. The structure of the policy network is designed with an effective attention mechanism and incorporated with the domain knowledge derived from traditional non-additive steganographic methods. The environment is responsible for assigning rewards according to the impacts of the sampled joint embedding actions, which are evaluated by the gradient information of a neural network-based steganalyzer. Experimental results show that the proposed non-additive method Jo Po L significantly outperforms the existing additive methods against both feature-based and CNN-based steganalzyers over different payloads.

关键词： information hiding non-additive steganography steganalysis cost learning image processing

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Multi-Robot Coordination and Layout Design for Automated Warehousing (Extended Abstract) 17th

Multi-Robot Coordination and Layout Design for Automated War...

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17th International Symposium on Combinatorial Search, SoCS 2024

作者： Zhang, Yulun Fontaine, Matthew C. Bhatt, Varun Nikolaidis, Stefanos Li, Jiaoyang Robotics Institute Carnegie Mellon University United States Thomas Lord Department of Computer Science University of Southern California United States

ISBN: (纸本)9781577358916

With the rapid progress in Multi-Agent Path Finding (MAPF), researchers have studied how MAPF algorithms can be deployed to coordinate hundreds of robots in large automated warehouses. While most works try to improve the throughput of such warehouses by developing better MAPF algorithms, we focus on improving the throughput by optimizing the warehouse layout. We show that, even with state-of-the-art MAPF algorithms, commonly used human-designed layouts can lead to congestion for warehouses with large numbers of robots and thus have limited scalability. We extend existing automatic scenario generation methods to optimize warehouse layouts. Results show that our optimized warehouse layouts (1) reduce traffic congestion and thus improve throughput, (2) improve the scalability of the automated warehouses by doubling the number of robots in some cases, and (3) are capable of generating layouts with user-specified diversity measures. We include the source code at: https://***/lunjohnzhang/warehouse_env_gen_public. © 2024, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Warehouses

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33rd ACM Web Conference, WWW 2024

作者： Ma, Changyi Yu, Runsheng Zhang, Youzhi Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science and Innovation CAS Hong Kong Department of Computer Science and Engineering Hong Kong University of Science and Technology Hong Kong

ISBN: (纸本)9798400701719

The similarity matrix is at the core of similarity search problems. However, incomplete observations are ubiquitous in real scenarios leading to a less accurate similarity matrix. To alleviate this problem, in this paper, based on the key insight that the similarity matrix enjoys both the symmetric and positive semi-definiteness (PSD) properties, we propose a novel similarity matrix calibration method, which is scalable, effective, and sound. Specifically, we establish the PSD property as a constraint for the similarity matrix calibration problem and propose a novel similarity matrix calibration method to estimate the similarity matrix, which approximates the unknown complete ground-truth similarity matrix. To enable a fast optimization process, we further develop a general approximated algorithm that bypasses the computation of singular values. Theoretical analysis ensures stable calibration performance and convergence speed. Extensive experiments of similarity matrix calibration on real-world datasets demonstrate that our proposed method outperforms baseline methods in terms of both accuracy and speed. © 2024 ACM.

关键词： Calibration

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Improving Sharpness-Aware Minimization by Lookahead 41

Improving Sharpness-Aware Minimization by Lookahead

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41st International Conference on Machine Learning, ICML 2024

作者： Yu, Runsheng Zhang, Youzhi Kwok, James T. Department of Computer Science and Engineering The Hong Kong University of Science and Technology Hong Kong Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation CAS Hong Kong

Sharpness-Aware Minimization (SAM), which performs gradient descent on adversarially perturbed weights, can improve generalization by identifying flatter minima. However, recent studies have shown that SAM may suffer from convergence instability and oscillate around saddle points, resulting in slow convergence and inferior performance. To address this problem, we propose the use of a lookahead mechanism to gather more information about the landscape by looking further ahead, and thus find a better trajectory to converge. By examining the nature of SAM, we simplify the extrapolation procedure, resulting in a more efficient algorithm. Theoretical results show that the proposed method converges to a stationary point and is less prone to saddle points. Experiments on standard benchmark datasets also verify that the proposed method outperforms the SOTAs, and converge more effectively to flat minima. Copyright 2024 by the author(s)

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Continuous Query-based Data Trading

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Performance Evaluation Review 2024年第1期52卷 73-74页

作者： Cheng, Jin Ding, Ningning Lui, John C.S. Huang, Jianwei School of Science and Engineering Shenzhen Institute of Artificial Intelligence and Robotics for Society The Chinese University of Hong Kong Shenzhen Shenzhen China Department of Electrical and Computer Engineering Northwestern University Evanston United States Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong Hong Kong

In the era of big data, traditional data trading methods designed for one-time queries on static databases fail to meet the demands of continuous query-based trading on streaming data, often resulting in repeated and inaccurate charges due to neglecting computation sharing in continuous query execution. To address this, we introduce CQTrade, the first trading framework tailored for continuous queries, which incorporates computation sharing across different time windows and queries, enhancing integration with existing trading systems. Our contributions include a theoretical analysis of computation-sharing techniques, the development of a general optimization problem to maximize seller revenue adaptable to various techniques, and the proposal of a branch-and-price algorithm to handle the problem's complexity. Our evaluation shows that the proposed framework improves the success rate of data trading by 12.8% and boosts the seller's revenue by an average of 28.7%, compared to the one-time query-based data trading methods used in the current data market. © 2024 Owner/Author.

关键词： Integer programming

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How Language of Interaction Affects the User Perception of a Robot 15th

How Language of Interaction Affects the User Perception of...

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15th International Conference on Social robotics, ICSR 2023

作者： Sienkiewicz, Barbara Sejnova, Gabriela Gajewski, Paul Vavrecka, Michal Indurkhya, Bipin Cognitive Science Department Jagiellonian University Krakow Poland Czech Institute of Informatics Robotics and Cybernetics Czech Technical University Prague Czech Republic Institute of Computer Science AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9789819987146

Spoken language is the most natural way for a human to communicate with a robot. It may seem intuitive that a robot should communicate with users in their native language. However, it is not clear if a user’s perception of a robot is affected by the language of interaction. We investigated this question by conducting a study with twenty-three native Czech participants who were also fluent in English. The participants were tasked with instructing the Pepper robot on where to place objects on a shelf. The robot was controlled remotely using the Wizard-of-Oz technique. We collected data through questionnaires, video recordings, and a post-experiment feedback session. The results of our experiment show that people perceive an English-speaking robot as more intelligent than a Czech-speaking robot (z = 18.00, p-value = 0.02). This finding highlights the influence of language on human-robot interaction. Furthermore, we discuss the feedback obtained from the participants via the post-experiment sessions and its implications for HRI design. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Feedback

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FerroVibe: Towards a Modular Tactile Device 1

FerroVibe: Towards a Modular Tactile Device

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1st IEEE Conference on Telepresence, Telepresence 2024

作者： Singh, Harsimran Marcilla, Luis Perez Banerjee, Premankur Rothammer, Michael Hulin, Thomas The Institute of Robotics and Mechatronics Munich Germany Dresden51147 Germany University of Southern California Department of Computer Science United States Hapticlabs Germany

ISBN: (纸本)9798331528249

This paper presents the proof of concept of the modular nature of ferrofluid based tactile device, FerroVibe. The modularity of FerroVibe allows for customization in degrees of freedom, force feedback, and vibrational cues by strategically positioning magnetic actuators around the central assembly containing a neodymium magnet and ferrofluid. Three distinct configurations of FerroVibe are introduced, each offering unique actuation mechanisms and physical characteristics that could be tailored to different application requirements. The paper showcases the proof of concept and details the working principle of each configuration, highlighting the strengths and limitations of each design. Initial comparative analysis is conducted to evaluate the trade-offs in terms of power consumption, speed, size, weight, and feedback fidelity. The results demonstrate that FerroVibe's potential modular architecture provides a flexible and effective solution for a wide range of tactile feedback applications, making it a promising candidate for future advancements in haptic technology. © 2024 IEEE.

关键词： Magnetic actuators

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RoboCup@Home 2024 OPL Winner NimbRo: Anthropomorphic Service Robots Using Foundation Models for Perception and Planning

RoboCup@Home 2024 OPL Winner NimbRo: Anthropomorphic Service...

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27th RoboCup International Symposium, 2024

作者： Memmesheimer, Raphael Nogga, Jan Pätzold, Bastian Kruzhkov, Evgenii Bultmann, Simon Schreiber, Michael Bode, Jonas Karacora, Bertan Park, Juhui Savinykh, Alena Behnke, Sven Autonomous Intelligent Systems Computer Science Institute VI Lamarr Institute for Machine Learning and Artificial Intelligence and Center for Robotics University of Bonn Bonn Germany

ISBN: (纸本)9783031858581

We present the approaches and contributions of the winning team NimbRo@Home at the RoboCup@Home 2024 competition in the Open Platform League held in Eindhoven, NL. Further, we describe our hardware setup and give an overview of the results for the task stages and the final demonstration. For this year’s competition, we put a special emphasis on open-vocabulary object segmentation and grasping approaches that overcome the labeling overhead of supervised vision approaches, commonly used in RoboCup@Home. We successfully demonstrated that we can segment and grasp non-labeled objects by text descriptions. Further, we extensively employed Large Language Model (LLMs) for natural language understanding and task planning. Throughout the competition, our approaches showed robustness and generalization capabilities. A video of our performance can be found online (https://***/videos/RoboCup_2024). © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Robot programming

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AvatARoid: A Motion-Mapped AR Overlay to Bridge the Embodiment Gap Between Robots and Teleoperators in Robot-Mediated Telepresence 25

AvatARoid: A Motion-Mapped AR Overlay to Bridge the Embodime...

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2025 CHI Conference on Human Factors in Computing Systems, CHI 2025

作者： Ghimire, Amit Hou, Anova Kim, Ig-Jae Yoon, Dongwook Computer Science University of British Columbia VancouverBC Canada AI&Robotics Institute Korea Institute of Science and Technology Seoul Korea Republic of

ISBN: (纸本)9798400713941

Robot-mediated telepresence promises to facilitate effective social interaction between remote teleoperators and on-site users. However, disparities between the robot's form and the teleoperator's representation cause perceptual conflict in on-site users, degrading interaction quality. We introduce AvatARoid, a novel design that bridges this embodiment gap by superimposing the teleoperator's motion-mapped AR avatar overlay on a humanoid. We evaluated our design in a mixed-method study (n=48) using an immersive simulation where participants interacted with a confederate teleoperator, presented in either (a) a humanoid robot, (b) a humanoid robot with video, or (c) AvatARoid. Results suggest AvatARoid significantly improved teleoperator embodiment for on-site users, particularly enhancing co-location, and control perceptions, and providing richer non-verbal gestures. In contrast, video and baseline conditions often resulted in a pronounced disconnect between the teleoperator and the robot for on-site users. Our study offers new insights into designing novel teleoperator representations to promote social interaction in robot-mediated telepresence. © 2025 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Anthropomorphic robots

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The Method of Basic Functions in the Analysis of Monomer Conversion in Radical Polymerization 5

The Method of Basic Functions in the Analysis of Monomer Con...

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5th International Conference on Control Systems, Mathematical Modeling, Automation and Energy Efficiency, SUMMA 2023

作者： Gizzatov, D.R. Kornilova, A.A. Khisametdinova, G.K. Gizzatova, E.R. Ufa University of Science and Technology Institute of Chemistry and Protection in Emergency Situations Ufa Russia Computer Science and Robotics Ufa University of Science and Technology Institute of Mathematics Ufa Russia

ISBN: (纸本)9798350309126

In this paper, for the process of radical polymerization, a method is used to obtain basic functions linking the kinetic constants of the process rates. It is shown that when analyzing the conversion curve, depending on different basic functions, the intervals of stationary and non-stationary modes of operation of the process are sufficiently well visualized and determined. At the same time, parametrizing the basic functions of the degrees of expenditure of the initiator and the monomer, it is possible to obtain monomodal curves, the peak values of which are analogs of the values of the velocity constants. The obtained graphical dependencies indicate the adequacy of the research. © 2023 IEEE.

关键词： Rate constants

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