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6-DOF grasp planning of manipulator combined with self-supervised learning

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6-DOF grasp planning of manipulator combined with self-super...

第33届中国控制与决策会议

作者： Zhenyu Ren Gang Peng Jin Yang Hao Wang School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Ministry of Education

To realize a robust robotic grasping system for unknown objects in an unstructured environment,large amounts of grasp data and 3D model data for the object are *** reduce the time cost of data acquisition and labeling and increase the rate of successful grasps,we developed a self-supervised learning mechanism to control grasp tasks performed by ***,a manipulator automatically collects the point cloud for the objects from multiple perspectives to increase the efficiency of data *** complete point cloud for the objects is obtained by utilizing the hand-eye vision of the manipulator,and the TSDF ***,the point cloud data for the objects is used to generate a series of six-degrees-of-freedom grasp poses,and the force-closure decision algorithm is used to add the grasp quality label to each grasp pose to realize the automatic labeling of grasp ***,the point cloud in the gripper closing area corresponding to each grasp pose is obtained;it is then used to train the grasp-quality classification model for the *** results of performing actual grasping experiments demonstrate that the proposed self-supervised learning method can increase the rate of successful grasps for the manipulator.

关键词： Manipulator Grasping Self-Supervised Learning 3D Reconstruction

On the Performance Trade-off of Distributed Integrated Sensing and Communication Networks

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arXiv 2023年

作者： Li, Xuran Guo, Shuaishuai Li, Tuo Zou, Xiaofeng Li, Dengwang Shandong Key Laboratory of Medical Physics and Image Processing School of Physics and Electronics Shandong Normal University Jinan250061 China School of Control Science and Engineering Shandong University Jinan250061 China Shandong Provincial Key Laboratory of Wireless Communication Technologies China Shandong Yunhai Guochuang Cloud Computing Equipment Industry Innovation Co. Ltd. China

In this letter, we analyze the performance tradeoff in distributed integrated sensing and communication (ISAC) networks. Specifically, with the aid of stochastic geometry theory, we derive the probability of detection of that of the coverage given user number. Based on the analytical derivations, we provide a quantitative description of the performance limits and the performance trade-off between sensing and communication in a distributed ISAC network under the given transmit power and bandwidth budget. Extensive simulations are conducted and the numerical results validate the accuracy of our derivations. Copyright © 2023, The Authors. All rights reserved.

关键词： Economic and social effects

Discovering the nuclear localization signal universe through a deep learning model with interpretable attention units

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Patterns 2025年第6期6卷

作者： Li, Yi-Fan Pan, Xiaoyong Shen, Hong-Bin Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

We describe NLSExplorer, an interpretable approach for nuclear localization signal (NLS) prediction. By utilizing the extracted information on nuclear-specific sites from the protein language model to assist in NLS detection, NLSExplorer achieves superior performance with greater than 10% improvement in the F1 score compared with existing methods on benchmark datasets and highlights other nuclear transport segments. We applied NLSExplorer to the nucleus-localized proteins in the Swiss-Prot database to extract valuable segments. A comprehensive analysis of these segments revealed a potential NLS landscape and uncovered features of nuclear transport segments across 416 species. This study introduces a powerful tool for exploring the NLS universe and provides a versatile network that can efficiently detect characteristic domains and motifs. © 2025 The Author(s)

关键词： Deep learning

MetaEarth: A Generative Foundation Model for Global-scale Remote Sensing image Generation

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arXiv 2024年

作者： Yu, Zhiping Liu, Chenyang Liu, Liqin Shi, Zhenwei Zou, Zhengxia The Image Processing Center School of Astronautics Beihang University Beijing100191 China The State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing100191 China The Shanghai Artificial Intelligence Laboratory Shanghai200232 China Shen Yuan Honors College Beihang University Beijing100191 China The Department of Guidance Navigation and Control School of Astronautics Beihang University Beijing100191 China

The recent advancement of generative foundational models has ushered in a new era of image generation in the realm of natural images, revolutionizing art design, entertainment, environment simulation, and beyond. Despite producing high-quality samples, existing methods are constrained to generating images of scenes at a limited scale. In this paper, we present MetaEarth - a generative foundation model that breaks the barrier by scaling image generation to a global level, exploring the creation of worldwide, multi-resolution, unbounded, and virtually limitless remote sensing images. In MetaEarth, we propose a resolution-guided self-cascading generative framework, which enables the generating of images at any region with a wide range of geographical resolutions. To achieve unbounded and arbitrary-sized image generation, we design a novel noise sampling strategy for denoising diffusion models by analyzing the generation conditions and initial noise. To train MetaEarth, we construct a large dataset comprising multi-resolution optical remote sensing images with geographical information. Experiments have demonstrated the powerful capabilities of our method in generating global-scale images. Additionally, the MetaEarth serves as a data engine that can provide high-quality and rich training data for downstream tasks. Our model opens up new possibilities for constructing generative world models by simulating Earth’s visuals from an innovative overhead perspective. © 2024, CC BY.

关键词： Generative adversarial networks

Sliding Mode control for Quadrotor-Slung Load Transportation System with State Constraints*

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Sliding Mode Control for Quadrotor-Slung Load Transportation...

IEEE International Conference on Cyborg and Bionic Systems (CBS)

作者： Feng Ding Chong Sun Yong Ai Jian Huang School of Computer Science South-Central Minzu University Hubei Provincial Engineering Research Center for Intelligent Management of Manufacturing Enterprises Wuhan Hubei China Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and automation Huazhong University of Science and Technology Wuhan Hubei China

Quadrotor-slung load transportation is an important way to transport goods, but the swing of the load bring a great deal of challenges to the stability of the system. In this paper, a barrier Lyapunov function based sliding mode controller is proposed to limit the load swing, which also satisfies the speed limitation of the quadrotor. An inner-outer loop control strategy is proposed, where the outer one is the virtual position controller which guarantees the stability of the quadrotor while eliminating the load swing, and the inner one is the attitude controller which driver the actual force to the position controller to ensure the effectiveness of the system. Specifically, the dynamics of quadrotor-slung load transportation system is reconstructed as a cascade form. Then, a barrier Lyapunov function based sliding mode controller is designed to ensure the trajectory tracking errors uniformly bounded with state constraints valid. Finally, comparative simulation results illustrate the effectiveness of the proposed method.

关键词： Attitude control Trajectory tracking Simulation Force Dynamics Transportation Stability analysis

Watch the Speakers: A Hybrid Continuous Attribution Network for Emotion Recognition in Conversation With Emotion Disentanglement

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arXiv 2023年

作者： Lei, Shanglin Wang, Xiaoping Dong, Guanting Li, Jiang Liu, Yingjian School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Key Laboratory of Image Processing and Intelligent Control Education Ministry of China Wuhan430074 China Wuhan430074 China School of Artificial Intelligence Beijing University of Posts and Telecommunications Beijing100876 China

Emotion Recognition in Conversation (ERC) has attracted widespread attention in the natural language processing field due to its enormous potential for practical applications. Existing ERC methods face challenges in achieving generalization to diverse scenarios due to insufficient modeling of context, ambiguous capture of dialogue relationships and overfitting in speaker modeling. In this work, we present a Hybrid Continuous Attributive Network (HCAN) to address these issues in the perspective of emotional continuation and emotional attribution. Specifically, HCAN adopts a hybrid recurrent and attention-based module to model global emotion continuity. Then a novel Emotional Attribution Encoding (EAE) is proposed to model intra- and inter-emotional attribution for each utterance. Moreover, aiming to enhance the robustness of the model in speaker modeling and improve its performance in different scenarios, A comprehensive loss function emotional cognitive loss LEC is proposed to alleviate emotional drift and overcome the overfitting of the model to speaker modeling. Our model achieves state-of-the-art performance on three datasets, demonstrating the superiority of our work. Another extensive comparative experiments and ablation studies on three benchmarks are conducted to provided evidence to support the efficacy of each module. Further exploration of generalization ability experiments shows the plug- and-play nature of the EAE module in our method. © 2023, CC BY-SA.

关键词： Emotion Recognition

Learning from Untrimmed Videos: Self-Supervised Video Representation Learning with Hierarchical Consistency

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arXiv 2022年

作者： Qing, Zhiwu Zhang, Shiwei Huang, Ziyuan Xu, Yi Wang, Xiang Tang, Mingqian Gao, Changxin Jin, Rong Sang, Nong Key Laboratory of Image Processing Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology China Alibaba Group China ARC National University of Singapore Singapore Dalian Unversity of Technology China

Natural videos provide rich visual contents for self-supervised learning. Yet most existing approaches for learning spatio-temporal representations rely on manually trimmed videos, leading to limited diversity in visual patterns and limited performance gain. In this work, we aim to learn representations by leveraging more abundant information in untrimmed videos. To this end, we propose to learn a hierarchy of consistencies in videos, i.e., visual consistency and topical consistency, corresponding respectively to clip pairs that tend to be visually similar when separated by a short time span and share similar topics when separated by a long time span. Specifically, a hierarchical consistency learning framework HiCo is presented, where the visually consistent pairs are encouraged to have the same representation through contrastive learning, while the topically consistent pairs are coupled through a topical classifier that distinguishes whether they are topic-related. Further, we impose a gradual sampling algorithm for proposed hierarchical consistency learning, and demonstrate its theoretical superiority. Empirically, we show that not only HiCo can generate stronger representations on untrimmed videos, it also improves the representation quality when applied to trimmed videos. This is in contrast to standard contrastive learning that fails to learn appropriate representations from untrimmed videos. Copyright © 2022, The Authors. All rights reserved.

关键词： Machine learning

Change-Agent: Towards Interactive Comprehensive Remote Sensing Change Interpretation and Analysis

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arXiv 2024年

作者： Liu, Chenyang Chen, keyan Zhang, Haotian Qi, Zipeng Zou, Zhengxia Shi, Zhenwei The Image Processing Center School of Astronautics Beihang University Beijing100191 China The Beijing Key Laboratory of Digital Media Beihang University Beijing100191 China The State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing100191 China The Shanghai Artificial Intelligence Laboratory Shanghai200232 China Shen Yuan Honors College of Beihang University Beijing100191 China The Department of Guidance Navigation and Control School of Astronautics Beihang University Beijing100191 China Shanghai Artificial Intelligence Laboratory Shanghai200232 China

Monitoring changes in the Earth’s surface is crucial for understanding natural processes and human impacts, necessitating precise and comprehensive interpretation methodologies. Remote sensing satellite imagery offers a unique perspective for monitoring these changes, leading to the emergence of remote sensing image change interpretation (RSICI) as a significant research focus. Current RSICI technology encompasses change detection and change captioning, each with its limitations in providing comprehensive interpretation. To address this, we propose an interactive Change-Agent, which can follow user instructions to achieve comprehensive change interpretation and insightful analysis, such as change detection and change captioning, change object counting, change cause analysis, etc. The Change-Agent integrates a multi-level change interpretation (MCI) model as the eyes and a large language model (LLM) as the brain. The MCI model contains two branches of pixel-level change detection and semantic-level change captioning, in which the BI-temporal Iterative Interaction (BI3) layer is proposed to enhance the model’s discriminative feature representation capabilities. To support the training of the MCI model, we build the LEVIR-MCI dataset with a large number of change masks and captions of changes. Experiments demonstrate the SOTA performance of the MCI model in achieving both change detection and change description simultaneously, and highlight the promising application value of our Change-Agent in facilitating comprehensive interpretation of surface changes, which opens up a new avenue for intelligent remote sensing applications. © 2024, CC BY.

关键词： Change detection

Computationally Expensive High-Dimensional Multiobjective Optimization via Surrogate-Assisted Reformulation and Decomposition

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IEEE Transactions on Evolutionary Computation 2024年 1-1页

作者： Pan, Linqiang Lin, Jianqing Wang, Handing He, Cheng Tan, Kay Chen Jin, Yaochu School of Artificial Intelligence and Automation Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China Huazhong University of Science and Technology Wuhan China School of Artificial Intelligence Xidian University Xi’an China School of Electrical and Electronic Engineering Huazhong University of Science and Technology Wuhan China Department of Computing The Hong Kong Polytechnic University Hong Kong Hong Kong School of Engineering Trustworth and General Artificial Intelligence Laboratory Westlake University Hangzhou China

In recent decades, various surrogate-assisted evolutionary algorithms (SAEAs) have been proposed to solve computationally expensive multiobjective optimization problems (EMOPs). Nevertheless, designing an SAEA to handle high-dimensional EMOPs and balance convergence, diversity, and computational complexity remains challenging. Here, we propose a two-phase SAEA (TP-SAEA), which follows the idea of convergence first and diversity second, for solving high-dimensional EMOPs. In Phase I, a surrogate-assisted problem reformulation method is proposed to fast-track the Pareto optimal set in association with some reference solutions. Specifically, the high-dimensional EMOP is reformulated into an expensive single-objective one with low-dimensional decision space. Then, the surrogate-assisted optimization is utilized to obtain well-converged solutions. In Phase II, the high-dimensional EMOP is decomposed into two subproblems to explore subregions of the decision space that can effectively promote the diversity of the solutions. The two subproblems are optimized independently via surrogate-assisted optimization, aiming to push the population towards different regions of the Pareto optimal front. Experiments are conducted on EMOPs with 100 to 500 decision variables compared with four state-of-the-art SAEAs. The proposed TP-SAEA obtains well-converged and diverse solutions with only 509 real function evaluations. Moreover, its superiority is examined in six real-world instances with up to 12,000 decision variables. IEEE

关键词： Iron