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Modality Unified Attack for Omni-Modality Person Re-Identification

IEEE Transactions on Information Forensics and Security 2025年

作者： Bian, Yuan Liu, Min Yi, Yunqi Wang, Xueping Ma, Yunfeng Wang, Yaonan Hunan University National Engineering Research Center of Robot Visual Perception and Control Technology College of Electrical and Information Engineering Hunan Changsha China Hunan Normal University Hunan Provincial Key Laboratory of Intelligent Computing and Language Information Processing College of Information Science and Engineering Hunan Changsha China

Deep learning based person re-identification (re-id) models have been widely employed in surveillance systems. Recent studies have demonstrated that black-box single-modality and cross-modality re-id models are vulnerable to adversarial examples (AEs), leaving the robustness of multi-modality re-id models unexplored. Due to the lack of knowledge about the specific type of model deployed in the target black-box surveillance system, we aim to generate modality unified AEs for omni-modality (single-, cross- and multi-modality) re-id models. Specifically, we propose a novel Modality Unified Attack method to train modality-specific adversarial generators to generate AEs that effectively attack different omni-modality models. A multi-modality model is adopted as the surrogate model, wherein the features of each modality are perturbed by metric disruption loss before fusion. To collapse the common features of omnimodality models, Cross Modality Simulated Disruption approach is introduced to mimic the cross-modality feature embeddings by intentionally feeding images to non-corresponding modality-specific subnetworks of the surrogate model. Moreover, Multi Modality Collaborative Disruption strategy is devised to facilitate the attacker to comprehensively corrupt the informative content of person images by leveraging a multi modality feature collaborative metric disruption loss. Extensive experiments show that our MUA method can effectively attack the omni-modality re-id models, achieving 55.9%, 24.4%, 49.0% and 62.7% mean mAP Drop Rate, respectively. © 2005-2012 IEEE.

关键词： Modality unified attack Multi Modality Collaborative Disruption Omni-Modality re-id

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Tackling Real-world Complexity: Hierarchical Modeling and Dynamic Prompting for Multimodal Long Document Classification

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IEEE Transactions on Circuits and Systems for Video technology 2025年

作者： Liu, Tengfei Hu, Yongli Li, Mingjie Yi, Junfei Chang, Xiaojun Gao, Junbin Yin, Baocai Beijing University of Technology Beijing Key Laboratory of Multimedia and Intelligent Software Technology Beijing Institute of Artificial Intelligence School of Information Science and Technology Beijing100124 China Stanford University Department of Radiation Oncology StanfordCA94305 United States Hunan University National Engineering Laboratory of Robot Visual Perception and Control Technology College of Electrical and Information Engineering Hunan Changsha410082 China University of Technology Sydney ReLER Laboratory Australian Artificial Intelligence Institute Faculty of Engineering and Information Technology UltimoNSW2007 Australia The University of Sydney Business School The University of Sydney Discipline of Business Analytics CamperdownNSW2006 Australia

With the rapid growth of internet content, multimodal long document data has become increasingly prominent, drawing significant attention from researchers. However, most existing methods primarily focus on scenarios where all modalities are present, often overlooking more challenging and realistic cases involving missing image modality. To address this limitation, we propose a robust multimodal long document classification (MLDC) framework that integrates hierarchical modeling and dynamic prompting to handle complex multimodal long document data. Our approach begins by leveraging hierarchical modeling combined with an Adaptive Correlation Multimodal Transformer (ACMT) to effectively capture relationships between text and images at both section and sentence levels. We also introduce a Dynamic Prompt Generation (DPG) module at both levels to enhance the model's robustness in handling missing image data. By evaluating sample uncertainty, the DPG module dynamically adjusts both the number of prompts and the prompts themselves, allowing the model to better adapt to the varying needs of different samples. Finally, a Hierarchical Heterogeneous Graph (HHG) is introduced to enhance feature interactions across levels, further improving the coherence and accuracy of the model. Extensive experiments on four multi-modal long document datasets demonstrate that our model shows superior performance compared to existing state-of-the-art MLDC classification methods in various conditions. © 1991-2012 IEEE.

关键词： dynamic prompt generation hierarchical heterogeneous graph Multimodal long document classification

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Mobile robot Navigation Using ORB-SLAM3: A Multi-Modal Autonomous System

Mobile Robot Navigation Using ORB-SLAM3: A Multi-Modal Auton...

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Electrical Automation and Artificial Intelligence (ICEAAI), International Conference on

作者： Ariano Da Conceicao Lianfang Tian Qiliang Du Ling Yuan School of Automation Science and Engineering South China University of Technology Guangzhou China Research Institute of Modern Industrial Innovation South China University of Technology Guangzhou China Guangdong Engineering Research Center of Cloud-Edge-End Collaboration Technology for Smart City Guangzhou China Key Laboratory of Autonomous Systems and Network Control of Ministry of Education Guangzhou China Key Laboratory of Large-Model Embodied-Intelligent Humanoid Robot (2024KSYS004) Guangzhou China Sino-Singapore International Joint Research Institute Guangzhou China

ISBN: (数字)9798331506797

ISBN: (纸本)9798331506803

Indoor mobile robots require reliable solutions for mapping, localization, and navigation tasks. This paper presents a mobile robot system that implements the ability to realize mapping using visual SLAM with ORB-SLAM3 and LiDAR-based mapping with Gmapping for indoor perception and navigation through a modular ROS architecture. The framework also implements autonomous navigation and an autonomous Rapidly-exploring Random Trees (RRT) exploration module with adaptive reset mechanisms. The system operates on a ROS-based platform equipped with an Intel RealSense D435i RGB-D camera and LDS-02 LiDAR scanner. Experimental validation in simulated indoor environments demonstrates the system's capabilities and the presented architecture achieves computational efficiency through selective utilization of mapping modules while maintaining mapping accuracy through complementary sensor modalities.

关键词： Visualization Simultaneous localization and mapping Accuracy Laser radar Navigation Service robots Heuristic algorithms Computer architecture Mobile robots Autonomous robots

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Graph-geometric message passing via a graph convolution transformer for FKP regression

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Science China(Information Sciences) 2024年第12期67卷 176-190页

作者： Huizhi ZHU Wenxia XU Jian HUANG Baocheng YU Hubei Key Laboratory of Intelligent Robot Wuhan Institute of Technology School of Artificial Intelligence and Automation Huazhong University of Science and Technology

In this paper, the forward kinematics problem(FKP) of the Gough-Stewart platform(GSP) with six degrees of freedom(6 DoFs) is estimated via deep learning. We propose a graph convolution transformer model by systematically analyzing some challenges encountered with using deep learning regression on largescale data. We attempt to leverage the graph-geometric message as input and singular value decomposition(SVD) orthogonalization for SO(3) manifold learning. This study is the first in which a robot with a sophisticated closed-loop mechanism is described by a graph structure and a specific deep learning model is proposed to solve the FKP of the GSP. Qualitative and quantitative experiments on our dataset demonstrate that our model is feasible and superior to other methods. Our method can guarantee error percentages of translation and rotation less than 1 mm and 1° of 81.9% and 96.7%, respectively.

关键词： deep learning graph-structured learning graph convolution transformer forward kinematics problem Gough-Stewart platform

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Salient Object Detection in Traffic Scene through the TSOD10K Dataset

arXiv

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arXiv 2025年

作者： Qiu, Yu Sun, Yuhang Mei, Jie Xiao, Lin Xu, Jing College of Information Science and Engineering Hunan Normal University Changsha410081 China National Key Laboratory of Intelligent Tracking and Forecasting for Infectious Diseases College of Artificial Intelligence Nankai University Tianjin300350 China National Engineering Research Center of Robot Visual Perception and Control Technology School of Robotics Hunan University Changsha410082 China

Traffic Salient Object Detection (TSOD) aims to segment the objects critical to driving safety by combining semantic (e.g., collision risks) and visual saliency. Unlike SOD in natural scene images (NSI-SOD), which prioritizes visually distinctive regions, TSOD emphasizes the objects that demand immediate driver attention due to their semantic impact, even with low visual contrast. This dual criterion, i.e., bridging perception and contextual risk, re-defines saliency for autonomous and assisted driving systems. To address the lack of task-specific benchmarks, we collect the first large-scale TSOD dataset with pixel-wise saliency annotations, named TSOD10K. TSOD10K covers the diverse object categories in various real-world traffic scenes under various challenging weather/illumination variations (e.g., fog, snowstorms, low-contrast, and low-light). Methodologically, we propose a Mamba-based TSOD model, termed Tramba. Considering the challenge of distinguishing inconspicuous visual information from complex traffic backgrounds, Tramba introduces a novel Dual-Frequency Visual State Space module equipped with shifted window partitioning and dilated scanning to enhance the perception of fine details and global structure by hierarchically decomposing high/low-frequency components. To emphasize critical regions in traffic scenes, we propose a traffic-oriented Helix 2D-Selective-Scan (Helix-SS2D) mechanism that injects driving attention priors while effectively capturing global multi-direction spatial dependencies. We establish a comprehensive benchmark by evaluating Tramba and 22 existing NSI-SOD models on TSOD10K, demonstrating Tramba’s superiority. Our research establishes the first foundation for safety-aware saliency analysis in intelligent transportation systems. Copyright © 2025, The Authors. All rights reserved.

关键词： Risk perception

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Resilient Formation Control Based on Watermarks for Networked Quadrotors under Deception Attacks

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IEEE Transactions on Vehicular technology 2025年

作者： Zhan, Weiwei Miao, Zhiqiang Zeng, Jianxin Chen, Yanjie Wu, Zheng-Guang He, Wei Wang, Yaonan Hunan University College of Electrical and Information Engineering Changsha410082 China Fuzhou University School of Mechanical Engineering and Automation Fuzhou350108 China National Engineering Research Center of Robot Visual Perception and Control Technology Changsha410082 China Zhejiang University Institute of Cyber-Systems and Control Hangzhou310027 China University of Science and Technology Beijing Key Laboratory of Intelligent Bionic Unmanned Systems Ministry of Education School of Intelligence Science and Technology Institute of Artificial Intelligence Beijing100083 China

This article addresses the problem of formation control of networked UAVs under deception attacks. A lightweight resilient formation control framework based on watermarks is proposed to achieve the desired formation configuration without extra monitoring attack status. Since deception attacks are covert, the shared information is watermarked before transmission to establish the protocol among networked UAVs. To facilitate the resilient formation controller design, a decoder is first developed to decipher the inverse transformation of deception attacks, where the watermark is the criterion for approximating the inverse transformation. The Gauss error function is introduced to eliminate some unrealistic input commands under deception attacks, obtaining the predefined input performance. Then, a resilient formation controller is developed to guarantee the global boundedness of all signals within the inner-loop and outerloop system, while the formation error converges to a small neighborhood of zero by solving the linear matrix inequality. Two challenging deception attack examples in simulations and experiments are conducted to verify the effectiveness and performance of the proposed resilient formation control framework. © 1967-2012 IEEE.

关键词： Inverse transforms

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Fine-grained permutation entropy as a measure of natural complexity for time series

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Chinese Physics B 2009年第7期18卷 2690-2695页

作者：刘小峰王越 The Key Laboratory of Robot and Intelligent Technology of Shandong Province and College of Information and Electrical EngineeringShandong University of Science and Technology Institute of Artificial Intelligence and Robot Xi'an Jiaotong University

In a recent paper [2002 Phys. Rev. Lett. 88 174102], Bandt and Pompe propose permutation entropy （PE） as a natural complexity measure for arbitrary time series which may be stationary or nonstationary,deterministic or *** method is based on a comparison of neighbouring *** paper further develops PE,and proposes the concept of fine-grained PE （FGPE） defined by the order pattern and magnitude of the difference between neighbouring values. This measure excludes the case where vectors with a distinct appearance are mistakenly mapped onto the same permutation type,and consequently FGPE becomes more sensitive to the dynamical change of time series than does PE,according to our simulation and experimental results.

关键词： complexity entropy dynamical change fine-grained symbolization

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Influence of laser powder bed fusion of high-entropy alloy transition layer on the wetting and spreading behaviour of Al alloy on steel substrate surface

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Journal of Materials Processing technology 2025年 340卷

作者： Zeng, Yijian Yang, Jin Dou, Tianyu Zheng, Min Zhao, Yixuan Oliveira, J.P. Shen, Jiajia Tan, Caiwang Xia, Hongbo Zhang, Hua School of Materials Science and Engineering Shanghai University of Engineering Science Shanghai201620 China School of Materials Science and Engineering Nanchang Hangkong University Nanchang330063 China CENIMAT|I3N Department of Materials Science School of Science and Technology NOVA University Lisbon Caparica Portugal State Key Laboratory of Precision Welding & Joining of Materials and Structures Harbin Institute of Technology Harbin150001 China Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components Shanghai201620 China

The high-quality joining of Al alloys to steel is widely used in automotive manufacturing. However, because of the significant differences in their thermophysical properties, the wetting of Al alloys on steel is very limited, which affects the joining quality. To address this challenge, the laser powder bed fusion (LPBF) technique was used to prepare an FeCoNiCrMn high entropy alloy (HEA) with a dense transition layer (DTL) and micropillar transition layer (MTL) on a steel substrate for the first time. Then, the dynamic wetting and spreading behaviours of Al-12Si alloy over the transition layer-free, DTL, and MTL steels were comparatively studied. The spreading mechanisms were revealed by the spreading dynamics and an analysis of the interfacial microstructure. This study investigated a new method to improve the wetting of Al alloys on steel substrates and elucidated the mechanism of the effect of the HEA transition layer formed using LPBF on Al/steel wetting, which may provide some guidance for improving brazing, welding, coating, and other processes involving solid/liquid interfacial interactions. © 2025

关键词： Aluminum alloys

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THE PIT BOSS

引用

IEEE SPECTRUM 2017年第5期54卷 32-50页

作者： Perry, Tekla S. School of Computer Science and Engineering Hubei Key Laboratory of intelligent robot Wuhan Institute of Technology Wuhan China

Remember vinyl records? More specifically, do you remember the way vinyl records skip when they're dusty or scratched? Let me assume you're old enough to recall that annoyance, or perhaps you've experienced that vintage technology more recently. Now think back to when you got your first CD. Small and shiny, packing 74 minutes of music, it seemed magical, even more magical when you noticed that you could treat a disc pretty badly before physical damage affected the way it played. A lot of different kinds of engineering, of course, went into figuring out how to put music on a CD and play it back so reliably. There's hardware, including a laser, optics to focus it, and mechanical systems to move the laser and turn the disc. And there’s software-including pulse-code modulation, which turns regular samples of an analog signal into bits, and error-correcting codes, which make sure those bits don't get corrupted.

关键词： Encoding Companies Servomotors Patents Logic gates DVD Laser theory

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Kalman Filtering for Delayed Singular Systems with Multiplicative Noise

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IEEE/CAA Journal of Automatica Sinica 2016年第1期3卷 51-58页

作者： Xiao Lu Linglong Wang Haixia Wang Xianghua Wang Key Laboratory for Robot and Intelligent Technology of Shandong Province Shandong University of Science and Technology College of Transportation Shandong University of Science and Technology

Kalman filtering problem for singular systems is dealt with, where the measurements consist of instantaneous measurements and delayed ones, and the plant includes multiplicative noise. By utilizing standard singular value decomposition, the restricted equivalent delayed system is presented, and the Kalman filters for the restricted equivalent system are given by using the well-known re-organization of innovation analysis lemma. The optimal Kalman filter for the original system is given based on the above Kalman filter by recursive Riccati equations, and a numerical example is presented to show the validity and efficiency of the proposed approach, where the comparison between the filter and predictor is also given. © 2014 Chinese Association of Automation.

关键词： Estimation Filtration Phase noise Riccati equations Singular value decomposition

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