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arXiv 2024年

作者： Zelch, Christoph Peters, Jan von Stryk, Oskar Simulation Systems Optimization and Robotics Group Department of Computer Science TU Darmstadt Hochschulstr. 10 Darmstadt64289 Germany Intelligent Autonomous Systems Group Department of Computer Science TU Darmstadt Hochschulstr. 10 Darmstadt64289 Germany

Clustering of motion trajectories is highly relevant for human-robot interactions as it allows the anticipation of human motions, fast reaction to those, as well as the recognition of explicit gestures. Further, it allows automated analysis of recorded motion data. Many clustering algorithms for trajectories build upon distance metrics that are based on pointwise Euclidean distances. However, our work indicates that focusing on salient characteristics is often sufficient. We present a novel distance measure for motion plans consisting of state and control trajectories that is based on a compressed representation built from their main features. This approach allows a flexible choice of feature classes relevant to the respective task. The distance measure is used in agglomerative hierarchical clustering. We compare our method with the widely used dynamic time warping algorithm on test sets of motion plans for the Furuta pendulum and the Manutec robot arm and on real-world data from a human motion dataset. The proposed method demonstrates slight advantages in clustering and strong advantages in runtime, especially for long trajectories. Copyright © 2024, The Authors. All rights reserved.

关键词： Clustering algorithms

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Cognitive Approach to Hierarchical Task Selection for Human-Robot Interaction in Dynamic Environments

Cognitive Approach to Hierarchical Task Selection for Human-...

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IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Syed Tanweer Shah Bukhari Bashira Akter Anima David Feil-Seifer Wajahat Mahmood Qazi Cognitive Robotics Group Faculty of IT and CS University of Central Punjab Lahore Pakistan Department of Computer Science Intelligent Machines & Robotics Group COMSATS University Islamabad Pakistan Department of Computer Science & Engineering Socially Assistive Robotics Group University of Nevada Reno Reno NV USA

In an efficient and flexible human-robot collaborative work environment, a robot team member must be able to recognize both explicit requests and implied actions from human users. Identifying “what to do” in such cases requires an agent to have the ability to construct associations between objects, their actions, and the effect of actions on the environment. In this regard, semantic memory is being introduced to understand the explicit cues and their relationships with available objects and required skills to make “tea” and “sandwich”. We have extended our previous hierarchical robot control architecture to add the capability to execute the most appropriate task based on both feedback from the user and the environmental context. To validate this system, two types of skills were implemented in the hierarchical task tree: 1) Tea making skills and 2) Sandwich making skills. During the conversation between the robot and the human, the robot was able to determine the hidden context using ontology and began to act accordingly. For instance, if the person says “I am thirsty” or “It is cold outside” the robot will start to perform the tea-making skill. In contrast, if the person says, “I am hungry” or “I need something to eat”, the robot will make the sandwich. A humanoid robot Baxter was used for this experiment. We tested three scenarios with objects at different positions on the table for each skill. We observed that in all cases, the robot used only objects that were relevant to the skill.

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Invisible Servoing: A Visual Servoing Approach with Return-Conditioned Latent Diffusion

Invisible Servoing: A Visual Servoing Approach with Return-C...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Bishoy Gerges Barbara Bazzana Nicolò Botteghi Youssef Aboudorra Antonio Franchi Robotics and Mechatronics group Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Enschede The Netherlands Department of Applied Mathematics University of Twente Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs (Uncrewed Aerial Vehicles). Opposite to classical VS methods, the proposed approach allows reaching the desired target view, even when the target is initially not visible. This is possible thanks to the learning of a latent representation that the DDPM uses for planning and a dataset of trajectories encompassing target-invisible initial views. A compact representation is learned from raw images using a Cross-Modal Variational Autoencoder. Given the current image, the DDPM generates trajectories in the latent space driving the robotic platform to the desired visual target. The approach has been validated in simulation using two generic multi-rotor UAVs (a quadrotor and a hexarotor). The results show that we can successfully reach the visual target, even if not visible in the initial view. A video summary with simulations can be found in: https://***/2Hb3nkkcszE.

关键词： Location awareness Visualization Pipelines Noise reduction Autonomous aerial vehicles Visual servoing Trajectory Planning Standards Robots

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Operator as a Service: A New Concept for Remote Supervision of Automated Manufacturing Lines

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IEEE Access 2025年 13卷 93661-93671页

作者： Marco Ojer Sergio Valdés Ander Garcia Xabier Oregui Iker Gastesi Xiao Lin Iñigo Mendizabal-Arrieta Jairo R. Sanchez Elena Lazkano Vicomtech Foundation Basque Research and Technology Alliance (BRTA) Donostia-San Sebastian Spain Computer Science and Artificial Intelligence Department University of the Basque Country (UPV/EHU) Donostia-San Sebastian Spain Group of Automation Robotics and Computer Vision (AUROVA) University of Alicante Alicante Spain

This paper introduces the Operator as a Service (OaaS) concept, a novel paradigm for human labour in the era of Industry 4.0. OaaS empowers skilled operators to remotely oversee and control multiple flexible smart manufacturing lines through advanced technologies such as digital twins and remote collaboration. By transitioning from on-site, full-time operators to specialized remote operators available on demand, OaaS optimizes human resource utilization and facilitates the transition towards more flexible and responsive manufacturing systems. This paper presents the OaaS architecture, discusses its potential benefits for enhancing operational efficiency and adaptability in semi-controlled manufacturing environments, and validates its feasibility through a real-world testbed involving a fully automated assembly line. The results demonstrate the potential of OaaS to address the challenges of maintaining human oversight and ensuring operational flexibility in increasingly complex and interconnected manufacturing systems.

关键词： Manufacturing Digital twins Robots Production facilities Manufacturing processes Fourth Industrial Revolution Service-oriented architecture Real-time systems Artificial intelligence Costs

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Early Prediction of Cryptocurrency Price Decline: A Deep Learning Approach 26

Early Prediction of Cryptocurrency Price Decline: A Deep Lea...

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26th International Conference on computer and Information Technology, ICCIT 2023

作者： Akter, Mst Shapna Shahriar, Hossain Rahman, Md Abdur Rahman, Muhammad Cuzzocrea, Alfredo University of West Florida Department of Intelligent Systems and Robotics United States University of West Florida Center for Cybersecurity United States Jahangirnagar University Department of Mathematics Dhaka Savar Bangladesh Clayton State University Department of Computer Science United States University of Calabria IDEA Lab Rende Italy

ISBN: (纸本)9798350359015

In recent times, the cryptocurrency market has emerged as one of the fastest-growing financial markets worldwide. It is, however, known for its high volatility and illiquidity compared to traditional markets such as equities, foreign exchange, and commodities. This inherent risk creates uncertainty among investors. The aim of this research is to forecast the level of risk in the cryptocurrency market. To assist cryptocurrency investors in navigating these challenges, we propose an approach that involves calculating the risk factor based on existing parameters. We employed various machine learning algorithms, including CNN, LSTM, BiLSTM, and GRU, to predict the risk factor in twenty elements of the cryptocurrency market. Through extensive experimentation, we developed a new model that outperformed existing models, achieving the highest Root Mean Square Error (RMSE) value of 1.3229 and the lowest RMSE value of 0.0089. Furthermore, we tested the generalization ability of our proposed model on a new dataset, different from the one used for training. Even with this new dataset, our model displayed robust performance. In contrast, the other existing models achieved higher RMSE values, with the highest being 14.5092 and the lowest 0.02769. By adopting our approach, investors can trade more confidently in complex and challenging financial assets such as Bitcoin, Ethereum, and Dogecoin. Our proposed model demonstrates superior performance and generalization capabilities, providing valuable insights for participants in the cryptocurrency market. © 2023 IEEE.

关键词： Cryptocurrency deep learning ensemble learning time-series forecasting volatility

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Absolute Pose from One or Two Scaled and Oriented Features

Absolute Pose from One or Two Scaled and Oriented Features

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Conference on computer vision and Pattern Recognition (CVPR)

作者： Jonathan Ventura Zuzana Kukelova Torsten Sattler Dániel Baráth Department of Computer Science & Software Engineering Cal Poly San Luis Obispo Faculty of Electrical Engineering Visual Recognition Group Czech Technical University in Prague Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Department of Computer Science Computer Vision and Geometry Group ETH Zürich

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

Keypoints used for image matching often include an estimate of the feature scale and orientation. While recent work has demonstrated the advantages of using feature scales and orientations for relative pose estimation, relatively little work has considered their use for absolute pose estimation. We introduce minimal solutions for absolute pose from two oriented feature correspondences in the general case, or one scaled and oriented correspondence given a known vertical direction. Nowadays, assuming a known direction is not particularly restrictive as modern consumer devices, such as smartphones or drones, are equipped with Inertial Measurement Units (IMU) that provide the gravity direction by default. Compared to traditional absolute pose methods requiring three point correspondences, our solvers need a smaller minimal sample, reducing the cost and complexity of robust estimation. Evaluations on large-scale and public real datasets demonstrate the advantage of our methods for fast and accurate localization in challenging conditions. Code is available at https://***/danini/absolute-pose-from-oriented-and-sealed-features.

关键词： Location awareness Accuracy Simultaneous localization and mapping Measurement units Pose estimation Noise Inertial navigation

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Cognitive Approach to Hierarchical Task Selection for Human-Robot Interaction in Dynamic Environments

arXiv

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arXiv 2023年

作者： Bukhari, Syed Tanweer Shah Anima, Bashira Akter Feil-Seifer, David Qazi, Wajahat Mahmood Cognitive Robotics Group Faculty of IT and CS University of Central Punjab Lahore Pakistan Intelligent Machines & Robotics Group Department of Computer Science COMSATS University Islamabad Lahore Campus Pakistan Socially Assistive Robotics Group Department of Computer Science & Engineering University of Nevada Reno RenoNV89557 United States

In an efficient and flexible human-robot collaborative work environment, a robot team member must be able to recognize both explicit requests and implied actions from human users. Identifying "what to do" in such cases requires an agent to have the ability to construct associations between objects, their actions, and the effect of actions on the environment. In this regard, semantic memory is being introduced to understand the explicit cues and their relationships with available objects and required skills to make "tea" and "sandwich". We have extended our previous hierarchical robot control architecture to add the capability to execute the most appropriate task based on both feedback from the user and the environmental context. To validate this system, two types of skills were implemented in the hierarchical task tree: 1) Tea making skills and 2) Sandwich making skills. During the conversation between the robot and the human, the robot was able to determine the hidden context using ontology and began to act accordingly. For instance, if the person says "I am thirsty" or "It is cold outside" the robot will start to perform the tea-making skill. In contrast, if the person says, "I am hungry" or "I need something to eat", the robot will make the sandwich. A humanoid robot Baxter was used for this experiment. We tested three scenarios with objects at different positions on the table for each skill. We observed that in all cases, the robot used only objects that were relevant to the skill. © 2023, CC BY.

关键词： Anthropomorphic robots

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Controllable Segmentation-Based Text-Guided Style Editing

arXiv

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arXiv 2025年

作者： Li, Jingwen Chandrasekar, Aravind Rocha, Mariana Li, Chao Chen, Yuqing Department of Computer Science Fudan University China School of AI and Robotics AuroraTech Labs United States Vision Intelligence Group Federal University of Rio de Janeiro Brazil Dept. of Computer Science Eastern Asia Institute of Technology Beijing China

We present a novel approach for controllable, region-specific style editing driven by textual prompts. Building upon the state-space style alignment framework introduced by StyleMamba, our method integrates a semantic segmentation model into the style transfer pipeline. This allows users to selectively apply text-driven style changes to specific segments (e.g., "turn the building into a cyberpunk tower") while leaving other regions (e.g., "people" or "trees") unchanged. By incorporating region-wise condition vectors and a region-specific directional loss, our method achieves high-fidelity transformations that respect both semantic boundaries and user-driven style descriptions. Extensive experiments demonstrate that our approach can flexibly handle complex scene stylizations in real-world scenarios, improving control and quality over purely global style transfer methods. Copyright © 2025, The Authors. All rights reserved.

关键词： Semantics

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FeCAM: exploiting the heterogeneity of class distributions in exemplar-free continual learning 23

FeCAM: exploiting the heterogeneity of class distributions i...

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Proceedings of the 37th International Conference on Neural Information Processing Systems

作者： Dipam Goswami Yuyang Liu Bartłomiej Twardowski Joost van de Weijer Department of Computer Science Universitat Autònoma de Barcelona and Computer Vision Center Barcelona University of Chinese Academy of Sciences and State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences and Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Department of Computer Science Universitat Autònoma de Barcelona and Computer Vision Center Barcelona and IDEAS-NCBR

Exemplar-free class-incremental learning (CIL) poses several challenges since it prohibits the rehearsal of data from previous tasks and thus suffers from catastrophic forgetting. Recent approaches to incrementally learning the classifier by freezing the feature extractor after the first task have gained much attention. In this paper, we explore prototypical networks for CIL, which generate new class prototypes using the frozen feature extractor and classify the features based on the Euclidean distance to the prototypes. In an analysis of the feature distributions of classes, we show that classification based on Euclidean metrics is successful for jointly trained features. However, when learning from non-stationary data, we observe that the Euclidean metric is suboptimal and that feature distributions are heterogeneous. To address this challenge, we revisit the anisotropic Mahalanobis distance for CIL. In addition, we empirically show that modeling the feature covariance relations is better than previous attempts at sampling features from normal distributions and training a linear classifier. Unlike existing methods, our approach generalizes to both many- and few-shot CIL settings, as well as to domain-incremental settings. Interestingly, without updating the backbone network, our method obtains state-of-the-art results on several standard continual learning benchmarks. Code is available at https://***/dipamgoswami/FeCAM.

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Robot Person Following Under Partial Occlusion

Robot Person Following Under Partial Occlusion

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IEEE International Conference on robotics and Automation (ICRA)

作者： Hanjing Ye Jieting Zhao Yaling Pan Weinan Cherr Li He Hong Zhang Department of Electronic and Electrical Engineering Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology (SUSTech) SUSTech Biomimetic and Intelligent Robotics Lab Guangdong University of Technology

Robot person following (RPF) is a capability that supports many useful human-robot-interaction (HRI) applications. However, existing solutions to person following often as-sume full observation of the tracked person. As a consequence, they cannot track the person reliably under partial occlusion where the assumption of full observation is not satisfied. In this paper, we focus on the problem of robot person following under partial occlusion caused by a limited field of view of a monocular camera. Based on the key insight that it is possible to locate the target person when one or more of hislher joints are visible, we propose a method in which each visible joint contributes a location estimate of the followed person. Experiments on a public person-following dataset show that, even under partial occlusion, the proposed method can still locate the person more reliably than the existing SOTA methods. As well, the application of our method is demonstrated in real experiments on a mobile robot.

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