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arXiv 2025年

作者： Dai, Qiyu Ni, Xingyu Shen, Qianfan Chen, Wenzheng Chen, Baoquan Chu, Mengyu School of Intelligence Science and Technology Peking University China School of Computer Science Peking University China School of EECS Peking University China Wangxuan Institute of Computer Technology Peking University China State Key Laboratory of Multimedia Information Processing Peking University China State Key Laboratory of General Artificial Intelligence Peking University China

We consider the problem of adding dynamic rain effects to in-the-wild scenes in a physically-correct manner. Recent advances in scene modeling have made significant progress, with NeRF and Gaussian Splatting techniques emerging as powerful tools for reconstructing complex scenes. However, while effective for novel view synthesis, these methods typically struggle with challenging scene editing tasks, such as physics-based rain simulation. In contrast, traditional physics-based simulations can generate realistic rain effects, such as raindrops and splashes, but they often rely on skilled artists to carefully set up high-fidelity scenes. This process lacks flexibility and scalability, limiting its applicability to broader, open-world environments. In this work, we introduce RainyGS, a novel approach that leverages the strengths of both physics-based modeling and Gaussian Splatting to generate photorealistic, dynamic rain effects in open-world scenes with physical accuracy. At the core of our method is the integration of physically-based raindrop and shallow water simulation techniques within the fast Gaussian Splatting rendering framework, enabling realistic and efficient simulations of raindrop behavior, splashes, and reflections. Our method supports synthesizing rain effects at over 30 fps, offering users flexible control over rain intensity—from light drizzles to heavy downpours. We demonstrate that RainyGS performs effectively for both real-world outdoor scenes and large-scale driving scenarios, delivering more photorealistic and physically-accurate rain effects compared to state-of-the-art methods. Project page can be found at https: //***/RainyGS/. Copyright © 2025, The Authors. All rights reserved.

关键词： Dynamics

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An Improved Q-RRT^(*) Algorithm Based on Virtual Light

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computer Systems Science & Engineering 2021年第10期39卷 107-119页

作者： Chengchen Zhuge Qun Wang Jiayin Liu Lingxiang Yao Department of Computer Information and Cyber Security Jiangsu Police InsituteNanjing210031China Jiangsu Electronic Data Forensics and Analysis Engineering Research Center Jiangsu Police InsituteNanjing210031China Jiangsu Provincial Public Security Department Key Laboratory of Digital Forensics Jiangsu Police InsituteNanjing210031China University of Technology Sydney Sydney2007Australia

The Rapidly-exploring Random Tree(RRT)algorithm is an efficient path-planning algorithm based on random *** RRT^(*)algorithm is a variant of the RRT algorithm that can achieve convergence to the optimal ***,it has been proven to take an infinite time to do *** improved Quick-RRT^(*)(Q-RRT^(*))algorithm based on a virtual light source is proposed in this paper to overcome this *** virtual light-based Q-RRT^(*)(LQRRT^(*))takes advantage of the heuristic information generated by the virtual light on the *** this way,the tree can find the initial solution ***,the LQRRT^(*)algorithm combines the heuristic information with the optimization capability of the Q-RRT^(*)algorithm to find the approximate optimal ***^(*)further optimizes the sampling space compared with the Q-RRT^(*)algorithm and improves the sampling *** efficiency of the algorithm is verified by comparison experiments in different simulation *** results show that the proposed algorithm can converge to the approximate optimal solution in less time and with lower memory consumption.

关键词： Path planning RRT^(*) Q-RRT^(*) LQ-RRT^(*) virtual light

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A Comprehensive Survey of 3D Dense Captioning: Localizing and Describing Objects in 3D Scenes

arXiv

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arXiv 2024年

作者： Yu, Ting Lin, Xiaojun Wang, Shuhui Sheng, Weiguo Huang, Qingming Yu, Jun School of Information Science and Technology Hangzhou Normal University Hangzhou311121 China Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences Beijing100190 China School of Computer Science and Technology University of Chinese Academy of Sciences Beijing101408 China Key Laboratory of Complex Systems Modeling and Simulation School of Computer Science and Technology Hangzhou Dianzi University Hangzhou310018 China

Three-Dimensional (3D) dense captioning is an emerging vision-language bridging task that aims to generate multiple detailed and accurate descriptions for 3D scenes. It presents significant potential and challenges due to its closer representation of the real world compared to 2D visual captioning, as well as complexities in data collection and processing of 3D point cloud sources. Despite the popularity and success of existing methods, there is a lack of comprehensive surveys summarizing the advancements in this field, which hinders its progress. In this paper, we provide a comprehensive review of 3D dense captioning, covering task definition, architecture classification, dataset analysis, evaluation metrics, and in-depth prosperity discussions. Based on a synthesis of previous literature, we refine a standard pipeline that serves as a common paradigm for existing methods. We also introduce a clear taxonomy of existing models, summarize technologies involved in different modules, and conduct detailed experiment analysis. Instead of a chronological order introduction, we categorize the methods into different classes to facilitate exploration and analysis of the differences and connections among existing techniques. We also provide a reading guideline to assist readers with different backgrounds and purposes in reading efficiently. Furthermore, we propose a series of promising future directions for 3D dense captioning by identifying challenges and aligning them with the development of related tasks, offering valuable insights and inspiring future research in this field. Our aim is to provide a comprehensive understanding of 3D dense captioning, foster further investigations, and contribute to the development of novel applications in multimedia and related domains. Copyright © 2024, The Authors. All rights reserved.

关键词： Data handling

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Rotation-DPeak: Improving Density Peaks Selection for Imbalanced Data 1

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8th China computer Federation International Conference on Big Data, CCF BIGDATA 2020

作者： Hu, Xiaoliang Yan, Ming Chen, Yewang Yang, Lijie Du, Jixiang The College of Computer Science and Technology Huaqiao University Xiamen China Provincial Key Laboratory for Computer Information Processing Technology Soochow University Soochow China Fujian Key Laboratory of Big Data Intelligence and Security Huaqiao University Xiamen China

ISBN: (数字)9789811607059

ISBN: (纸本)9789811607042

Density Peak (DPeak) is an effective clustering algorithm. It maps arbitrary dimensional data onto a 2-dimensional space, which yields cluster centers and outliers automatically distribute on upper right and upper left corner, respectively. However, DPeak is not suitable for imbalanced data set with large difference in density, where sparse clusters are usually not identified. Hence, an improved DPeak, namely Rotation-DPeak, is proposed to overcome this drawback according to an simple idea: the higher density of a point p, the larger δ it should have such that p can be picked as a density peak, where δ is the distance from p to its nearest neighbor with higher density. Then, we use a quadratic curve to select points with the largest decision gap as density peaks, instead of choosing points with the largest γ, where γ= ρ× δ. Experiments shows that the proposed algorithm obtains better performance on imbalanced data set, which proves that it is promising. © 2021, Springer Nature Singapore Pte Ltd.

关键词： Clustering algorithms

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Laser tracking leader-follower automatic cooperative navigation system for UAVs

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International Journal of Agricultural and Biological Engineering 2022年第2期15卷 165-176页

作者： Rui Ming Zhiyan Zhou Zichen Lyu Xiwen Luo Le Zi Cancan Song Yu Zang Wei Liu Rui Jiang College of Engineering South China Agricultural University/Guangdong Laboratory for Lingnan Modern AgricultureGuangzhou 510642China College of Computer and Control Engineering Minjiang University/Fujian Provincial Key Laboratory of Information Processing and Intelligent ControlFuzhou 350108China Guangdong Provincial Key Laboratory for Agricultural Artificial Intelligence(GDKL-AAI) Guangzhou 510642China Guangdong Engineering Research Center for Agricultural Aviation Application(ERCAAA) Guangzhou 510642China Key Laboratory of Key Technology on Agricultural Machine and Equipment South China Agricultural UniversityMinistry of Education of P.R.ChinaGuangzhou 510642China

Currently,small payload and short endurance are the main problems of a single UAV in agricultural applications,especially in large-scale *** is one of the important methods to solve the above problems of UAVs by improving operation efficiency through multi-UAV cooperative *** study proposed a laser tracking leader-follower automatic cooperative navigation system for *** leader in the cluster fires a laser beam to irradiate the follower,and the follower performs a visual tracking flight according to the light spot at the relative position of the laser tracking *** on the existing kernel correlation filter(KCF)tracking algorithm,an improved KCF real-time spot tracking method was *** with the traditional KCF tracking algorithm,the recognition and tracking rate of the optimized algorithm was increased from 70%to 95%in indoor environment,and was increased from 20%to 90%in outdoor *** navigation control method was studied from two aspects:the distance coordinate transformation model based on micro-gyroscope and navigation control *** error of spot position was reduced from the maximum(3.12,−3.66)cm to(0.14,0.12)cm by correcting the deviation distance of the spot at different angles through a coordinate correction *** image coordinate conversion model was established for a complementary metal-oxide-semiconductor(CMOS)camera and laser receiving device at different mounting *** laser receiving device was divided into four regions,S0-S3,and the speed of the four regions is calculated using an uncontrollable discrete Kalman *** outdoor flight experiments of two UAVs were carried out outdoors using this *** experiment results show that the average flight error of the two UAVs on the X-axis is 5.2 cm,and the coefficient of variation is *** average flight error on the Z-axis is 7.3 cm,and the coefficient of variation is *** study demonstrated the possibility

关键词： two-UAVs cooperative visual navigation laser tracking

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ManipDreamer: Boosting Robotic Manipulation World Model with Action Tree and Visual Guidance

arXiv

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arXiv 2025年

作者： Li, Ying Wei, Xiaobao Chi, Xiaowei Li, Yuming Zhao, Zhongyu Wang, Hao Ma, Ningning Lu, Ming Zhang, Shanghang State Key Laboratory of Multimedia Information Processing School of Computer Science Peking University Beijing China Hong Kong University of Science and Technology Beijing China Autonomous Driving Development NIO Beijing China

While recent advancements in robotic manipulation video synthesis have shown promise, significant challenges persist in ensuring effective instruction-following and achieving high visual quality. Recent methods, like RoboDreamer, utilize linguistic decomposition to divide instructions into separate lower-level primitives. They condition the world model on these primitives to achieve compositional instruction-following. However, these separate primitives do not take into account the relationships that exist between them. Furthermore, recent methods neglect valuable visual guidance, including depth and semantic guidance, both crucial for enhancing visual quality. This paper introduces ManipDreamer, an advanced world model based on the action tree and visual guidance. To better learn the relationships between instruction primitives, we represent the instruction as the action tree and assign embeddings to tree nodes. Therefore, each instruction can acquire its embeddings by navigating through the action tree. The instruction embeddings can be used to guide the world model. To enhance visual quality, we combine depth and semantic guidance by introducing a visual guidance adapter compatible with the world model. This visual adapter enhances both the temporal and physical consistency of video generation. Based on the action tree and visual guidance, ManipDreamer significantly boosts the instruction-following ability and visual quality. Comprehensive evaluations on robotic manipulation benchmarks reveal that ManipDreamer achieves large improvements in video quality metrics in both seen and unseen tasks, with PSNR improved from 19.55 to 21.05, SSIM improved from 0.7474 to 0.7982 and reduced Flow Error from 3.506 to 3.201 in unseen tasks, compared to the recent RoboDreamer model. Additionally, our method increases the success rate of robotic manipulation tasks by 2.5% in 6 RLbench tasks on average. © 2025, CC BY.

关键词： Visualization

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Variable projection algorithms with sparse constraint for separable nonlinear models

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Control Theory and technology 2024年第1期22卷 135-146页

作者： Hui-Lang Xu Guang-Yong Chen Si-Qing Cheng Min Gan Jing Chen College of Computer and Data Science Fuzhou UniversityFuzhou350116FujianChina Fujian Key Laboratory of Network Computing and Intelligent Information Processing Fuzhou UniversityFuzhou350116FujianChina Key Laboratory of Intelligent Metro of Universities in Fujian Fuzhou UniversityFuzhou350116FujianChina Engineering Research Center of Big Data Intelligence Ministry of EducationFuzhou UniversityFuzhou350116FujianChina School of Science Jiangnan UniversityWuxi214122JiangsuChina

Separable nonlinear models are widely used in various fields such as time series analysis, system modeling, and machine learning, due to their flexible structures and ability to capture nonlinear behavior of data. However, identifying the parameters of these models is challenging, especially when sparse models with better interpretability are desired by practitioners. Previous theoretical and practical studies have shown that variable projection (VP) is an efficient method for identifying separable nonlinear models, but these are based on \(L_2\) penalty of model parameters, which cannot be directly extended to deal with sparse constraint. Based on the exploration of the structural characteristics of separable models, this paper proposes gradient-based and trust-region-based variable projection algorithms, which mainly solve two key problems: how to eliminate linear parameters under sparse constraint;and how to deal with the coupling relationship between linear and nonlinear parameters in the model. Finally, numerical experiments on synthetic data and real time series data are conducted to verify the effectiveness of the proposed algorithms.

关键词： Variable projection(VP) Non-smooth constraint Separable nonlinear models

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Partially Hidden Policy Attribute-Based Multi-keyword Searchable Encryption with Verification and Revocation

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IEEE Transactions on Mobile Computing 2025年

作者： Chen, Liqing Xu, Shiguo Jin, Chunhua Zhang, Hao Weng, Jian Huaiyin Institute of Technology Faculty of Computer and Software Engineering Jiangsu Huai'an223003 China Fujian Provincial Key Laboratory of Network Security and Cryptology Fujian Fuzhou350117 China Jinan University College of Information Science and Technology Guangdong Guangzhou510632 China

Data security is becoming increasingly critical as outsourced data services flourish. An effective solution for ensuring data confidentiality in the cloud is attribute-based searchable encryption (ABSE). However, most extant ABSE solutions have not been able to simultaneously achieve rich expressive queries, result validation, attribute revocation, and policy hiding, and there are problems such as inflexibility in query methods and access control capabilities, insufficient scalability and practicality, and privacy leakage. In particular, it should be noted that most ABSE schemes fail to promise the privacy security of access policies and are susceptible to offline keyword guessing attack. Hidden policy-ABSE (HP-ABSE) has been proposed to tackle the issue of explicit attribute values in access policies potentially compromising privacy. Nevertheless, in most existing HP-ABSE schemes, an adversary may initiate attribute values guessing attack to speculate on the values of attribute within access strategy. To this end, this paper proposes partially hidden policy attribute-based multi-keyword searchable encryption with verification and revocation (PHP-ABMKSE-VR). PHP-ABMKSE-VR scheme is practical, secure, as well as effective, making it appropriate for real-world scenarios like smart healthcare, as demonstrated by the experimental outcomes and safety analysis. © 2002-2012 IEEE.

关键词： Differential privacy

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A Knowledge Acquisition Method for Consumer Electronics Based on Triadic Hesitant Fuzzy Concept

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IEEE Transactions on Consumer Electronics 2025年

作者： Xin, Xianwei Zhao, Ye Wang, Chenyang Xu, Jiucheng Taleb, Tarik Henan Normal University School of Computer and Information Engineering Xinxiang453007 China Key Laboratory of Computational Intelligence and Chinese Information Processing Ministry of Education Taiyuan237016 China Computer and Software Engineering School of College of Shenzhen University Guangdong Shenzhen518060 China Key Laboratory of Artificial Intelligence and Personalized Learning in Education of Henan Province Henan Province 453007 China Ruhr University Bochum Faculty of Electrical Engineering and Information Technology Bochum44801 Germany

With the growing intelligence and personalization of consumer electronic products, extracting effective information has become a key challenge in Consumer Electronics (CE). Triadic Concept Analysis (TCA), an important extension of Formal Concept Analysis (FCA), is widely applied but often struggles to handle the hesitant fuzzy characteristics in real-world data. To address this gap, we propose a Triadic Hesitant Fuzzy Concept (THFC) model. First, we introduce the concept of a triadic hesitant fuzzy background, integrating the fuzzy and hesitant nature of data in the CE environment. We propose a knowledge acquisition method based on THFC, which constructs a multi-granularity knowledge space with a dynamic adjustment mechanism. This method captures subtle distinctions between different types of information and their hierarchical structures in the context of CE, offering significant support for knowledge discovery and decision-making in complex environments. Building on this, we design a variable-precision hybrid similarity measurement (VP-HSM) method to extract core, adjunct, and edge concepts, thus providing more precise and structured knowledge for data analysis and decision-making in CE. Experimental results on publicly available datasets show that the proposed method significantly improves classification accuracy and stability, effectively handling hesitant fuzzy data and improving the accuracy of concept extraction. © 1975-2011 IEEE.

关键词： Data accuracy

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IoT Service Description and Composition Method with Knowledge Graph

Journal of Network Intelligence

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Journal of Network Intelligence 2022年第4期7卷 1047-1065页

作者： Tang, Zheng-Yi Liu, Chuan Lian, Zhi-Zhu Wang, Jin-Shui Hossain, Md. Alamgir School of Computer Science and Mathematics Fujian University of Technology Xuefu South Road Fujian Province Fuzhou City350118 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Xiyuangong Road Fujian Province Fuzhou City350121 China Key Laboratory of Hunan Province for Mobile Business Intelligence Hunan University of Technology and Business Yuelu Road Hunan Province Changsha City410205 China Department of Management Hajee Mohammad Danesh Science and Technology University Dinajpur5200 Bangladesh

Service computing techniques have achieved remarkable results in solving the cohesiveness problem of Web applications and are therefore introduced into the IoT do-main to break the trend of inlining IoT systems. However, compared with the traditional Internet, IoT has richer elements and semantic connotations, so the existing service description framework needs to be improved and extended. In this paper, we propose an ontology description framework for IoT services, design corresponding inference rules, and give a storage method for IoT services by integrating the knowledge graph technology for the strongly associated characteristics of IoT services. On this basis, an algorithm for combining IoT services based on graph planning is proposed. The experimental results show that the proposed method in this paper can provide richer entity semantics and ef-fectively improve the efficiency and success rate of IoT service composition. © The Authors.

关键词： Ontology

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