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A Novel Competition-Based Coordination Model With Dynamic Feedback for Multi-Robot Systems

IEEE/CAA Journal of Automatica Sinica 2023年第10期10卷 2029-2031页

作者： Bo Peng Xuerui Zhang Mingsheng Shang Chongqing Key Laboratory of Big Data and Intelligent Computing Chongqing Institute of Green and Intelligent TechnologyChinese Academy of SciencesChongqing 400714 Chongqing School University of Chinese Academy of SciencesChongqing 400714China Chongqing Key Laboratory of Big Data and Intelligent Computing Chongqing Institute of Green and Intelligent TechnologyChinese Academy of SciencesChongqing 400714China

Dear Editor, Task allocation strategies are important in multi-robot systems and have been intensely investigated by researchers because they are critical in determining the performance of the system. In this letter, a novel competition-based coordination model is proposed to solve the multi-robot task allocation problem and applied to a multi-robot object tracking scenario.

关键词： robot Robot Dynamic

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ES-GP: An Ensemble Surrogate-Assisted Genetic Programming Approach to Image Classification

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IEEE Transactions on Evolutionary Computation 2025年

作者： Fan, Qinglan Zhang, Yunfeng Yao, Xunxiang Bi, Ying Xue, Bing Zhang, Mengjie Shandong University of Finance and Economics School of Computing and Artificial Intelligence Shandong Key Laboratory of Lightweight Intelligent Computing and Visualization for Digital Economy Jinan250014 China Zhengzhou University School of Electrical and Information Engineering Zhengzhou450001 China State Key Laboratory of Intelligent Agricultural Power Equipment Luoyang471000 China Victoria University of Wellington Center for Data Science and Artificial Intelligence School of Engineering and Computer Science Wellington6140 New Zealand

Genetic Programming (GP) is a promising evolutionary machine learning technique for image classification, known for its ability to evolve flexible, effective, and interpretable models. However, the high computational cost of fitness evaluations in evolutionary learning restricts its practical applications. While Surrogate models offer efficient approximations for costly fitness evaluations, their application in GP-based image classification remains in its early stages, facing challenges such as handing flexible tree-based representations with variable lengths, designing an effective surrogate, and the limited performance of a single surrogate across various image classification tasks. To address these issues, this paper proposes an ensemble surrogate-assisted GP approach to image classification. The new approach constructs one global surrogate model to explore broad areas and three local surrogate models within specific subspaces to exploit local regions, enabling more accurate predictions of GP individuals' fitness. Moreover, a dynamic weighting strategy is developed to assign different weights to the base surrogate models in the ensemble, improving prediction accuracy. Additionally, the proposed approach refines the surrogate training set1 construction method, previously limited to single-tree GP, enabling it to accelerate both single-tree and multi-tree GP 2 for image classification. Experimental results on five datasets of varying difficulty demonstrate that the new ensemble surrogate method significantly reduces the number of expensive fitness evaluations of both single-tree and multi-tree GP-based image classification methods while achieving competitive performance. The comparisons with other state-of-the-art methods also confirm its effectiveness. © 1997-2012 IEEE.

关键词： Genetic algorithms

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DRL-Based Time-Varying Workload Scheduling With Priority and Resource Awareness

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IEEE Transactions on Network and Service Management 2025年

作者： Liu, Qifeng Fan, Qilin Zhang, Xu Li, Xiuhua Wang, Kai Xiong, Qingyu Chongqing University School of Big Data and Software Engineering Chongqing400044 China Chongqing University Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education Chongqing400044 China Nanjing University School of Electronic Science and Engineering Nanjing210023 China Haihe Laboratory of Information Technology Application Innovation Tianjin300072 China Harbin Institute of Technology School of Computer Science and Technology Weihai264209 China Shandong Key Laboratory of Industrial Network Security Weihai264209 China

With the proliferation of cloud services and the continuous growth in enterprises' demand for dynamic multi-dimensional resources, the implementation of effective strategy for time-varying workload scheduling has become increasingly significant. In this paper, we propose a deep reinforcement learning (DRL)-based method for time-varying workload scheduling, aiming to allocate resources efficiently across servers in the cluster. Specifically, we integrate a classifier and queue scorer to construct a priority queue that exploits temporal resource utilization patterns across different workload classes. Then, we design parallel graph attention layers to capture the dimensional features and temporal dynamics of cloud server cluster. Moreover, we propose a DRL algorithm to generate scheduling strategies that can adapt to dynamic environments. Validation on real-world traces from Google cluster demonstrates that our method outperforms existing approaches in key metrics of cloud server cluster management. © 2004-2012 IEEE.

关键词： Cloud platforms

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Spatiotemporal dynamics of ecological plantations of Camellia sinensis var. assamica: Synergistic effects of climate change and policy constraints in Yunnan, China

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Industrial Crops and Products 2025年 231卷

作者： Yang, Peirou Zhao, Zhipeng Nie, Lisha Xu, Weiheng Li, Yunhan Wang, Leiguang College of Big Data and Intelligent Engineering Southwest Forestry University Kunming650224 China College of Landscape Architecture and Horticulture Southwest Forestry University Kunming650224 China College of Forestry Southwest Forestry University Kunming650224 China Università degli Studi di Torino Dipartimento di Scienze Agrarie Forestali e Alimentari Largo Paolo Braccini 2 TO Grugliasco10095 Italy Key Laboratory of National Forestry and Grassland Administration on Forestry and Ecological Big Data Southwest Forestry University Kunming650224 China

Camellia sinensis var. assamica (C. assamica) is a variety widely used in commercial tea production across Yunnan Province, China. However, research on the potential distribution of over-a-century-old ecological tea plantations of C. assamica remains limited. Exploring this distribution can offer novel insights for the high-quality and sustainable development of the local tea industry. In this study, an ENMeval-optimized MaxEnt model was employed, incorporating policy and legal constraints to determine the potential distribution of C. assamica ecological tea plantations in Yunnan by integrating both natural and human factors. The Jackknife method was utilized to identify key environmental drivers. Finally, potential spatial changes in ecological tea plantations under climate change scenarios were quantified, revealing future distribution trends. The results reveal: (1) The potential distribution of ecological tea plantations is located in the western, southwestern, and southern parts of Yunnan, concentrated in the southwest. Over time, the overall potential distribution zone shifts northward. (2) Climate change has significantly impacted the distribution of ecological tea plantations. With climate change, the suitability levels of the region fluctuate across different periods. (3) Temperature seasonality (Bio4) and mean diurnal air temperature range (Bio2) were identified as the most important factors influencing the distribution of ecological tea plantations for C. assamica. The fluctuations of these two climatic factors have had a significant impact on the stability of ecological tea plantations. The results of this study provide new insights into the construction of ecological tea plantations and the sustainable development of local tea estates. © 2025 The Authors

关键词： Global warming

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FaceBench: A Multi-View Multi-Level Facial Attribute VQA dataset for Benchmarking Face Perception MLLMs

arXiv

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arXiv 2025年

作者： Wang, Xiaoqin Ma, Xusen Hou, Xianxu Ding, Meidan Li, Yudong Chen, Junliang Chen, Wenting Peng, Xiaoyang Shen, Linlin Computer Vision Institute College of Computer Science and Software Engineering Shenzhen University China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Guangdong Provincial Key Laboratory of Intelligent Information Processing China AIAC Xi’an Jiaotong-Liverpool University China Tsinghua University China The Hong Kong Polytechnic University Hong Kong City University of Hong Kong Hong Kong Sun Yat-sen University China

Multimodal large language models (MLLMs) have demonstrated remarkable capabilities in various tasks. However, effectively evaluating these MLLMs on face perception remains largely unexplored. To address this gap, we introduce FaceBench, a dataset featuring hierarchical multi-view and multi-level attributes specifically designed to assess the comprehensive face perception abilities of MLLMs. Initially, we construct a hierarchical facial attribute structure, which encompasses five views with up to three levels of attributes, totaling over 210 attributes and 700 attribute values. Based on the structure, the proposed FaceBench consists of 49,919 visual question-answering (VQA) pairs for evaluation and 23,841 pairs for fine-tuning. Moreover, we further develop a robust face perception MLLM baseline, Face-LLaVA, by training with our proposed face VQA data. Extensive experiments on various mainstream MLLMs and Face-LLaVA are conducted to test their face perception ability, with results also compared against human performance. The results reveal that, the existing MLLMs are far from satisfactory in understanding the fine-grained facial attributes, while our Face-LLaVA significantly outperforms existing open-source models with a small amount of training data and is comparable to commercial ones like GPT-4o and Gemini. The dataset will be released at https://***/CVI-SZU/FaceBench. Copyright © 2025, The Authors. All rights reserved.

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Burst-Sensitive Traffic Forecast Via Multi-Property Personalized Fusion in Federated Learning

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IEEE Transactions on Mobile computing 2025年

作者： Xue, Jingjing Sun, Sheng Liu, Min Wang, Yuwei Meng, Xuying Wang, Jingyuan Zhang, JunBo Xu, Ke Chinese Academy of Sciences University of Chinese Academy of Sciences Institute of Computing Technology Beijing China Chinese Academy of Sciences Institute of Computing Technology Beijing China Beihang University School of Computer Science and Engineering China Beihang University MIIT Key Laboratory of Data Intelligence and Management Beijing China JD Technology JD iCity China JD Intelligent Cities Research China Tsinghua University Department of Computer Science and Technology Beijing China Zhongguancun Laboratory Beijing China

For distributed network traffic prediction with data localization and privacy protection, Federated Learning (FL) enables collaborative training without raw data exchange across Base Stations (BSs). Nevertheless, traffic across BSs exhibit inherently heterogeneous trend burst and smooth fluctuation properties, but existing FL methods model single-scale series from only one view, which cannot simultaneously capture diverse trend and fluctuation properties, especially distinct burst distributions. In this paper, we propose Personalized Federated Forecasting with Multi-property Self-fusion (P2FMS), which can represent multi-scale traffic properties from different views. With precise multi-property representations, a fusion-level prediction decision is learned for each client in a personalized manner to promptly sense traffic bursts and improve forecasting performance in non-IID settings. Specifically, P2FMS decomposes the traffic series into distinct time scales, based on which, we effectively extract closeness, period, and trend properties from different views. The closeness and period are embedded through global-view representations with spatial correlations, while non-stationary trends are individually fitted from the client-side view. Furthermore, a personalized combiner is designed to accurately quantify the proportion of general fluctuation raws (i.e., closeness and period) and specific trend property in predictions, which enables multi-property self-fusion for each client to accommodate heterogeneous traffic patterns and enhance prediction accuracy. Besides, an alternant training mechanism is introduced to optimize property representation and fusion modules with the convergence guarantee. Extensive experiments on real-world datasets show that P2FMS outperforms status quo methods in both prediction performance and convergence time. © 2002-2012 IEEE.

关键词： Weather forecasting

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Jointly Optimizing the Energy and Time for Multi-UAV 3-D Coverage of Terrestrial Regions

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IEEE Transactions on Mobile computing 2025年

作者： Gong, Hao Huang, Baoqi Jia, Bing Hao, Lifei Shi, Zhenwei Inner Mongolia University Inner Mongolia Key Laboratory of Wireless Networking and Mobile Computing Engineering Research Center of Ecological Big Data Ministry of Education College of Computer Science Hohhot010021 China Inner Mongolia University College of Computer Science Hohhot010021 China Beihang University Image Processing Center School of Astronautics Beijing100191 China

Multi-rotor unmanned aerial vehicles (UAVs) have been widely employed in various sensing tasks, e.g., environmental monitoring and disaster rescuing, many of which often require full coverage of terrestrial regions by UAVs. Efforts have been devoted to minimizing one of two objectives, i.e., energy consumptions and time costs of UAVs fulfilling such tasks, whereas it is still challenging to jointly optimize both objectives due to their complicated interdependent relationship. Therefore, this paper deals with the tasks of sensing terrestrial regions with multiple UAVs, and focuses on the three-dimensional (3-D) coverage problem by formulating a multi-objective optimization problem of jointly minimizing both objectives. Specifically, in order to optimize energy consumption effectively, an advanced closed-form energy consumption model for multi-rotor UAVs is developed based on a rigorous theoretical analysis by introducing the influences of torque and acceleration, which are often ignored by existing heuristic models. Moreover, considering the NP-hardness of the problem, an innovative swarm intelligence optimization framework is established by leveraging a multitasking learning pattern to exploit cross-task knowledge transfer and adopting an improved multi-objective salp swarm algorithm. Therein, two novel operators, i.e., a variable characteristic-guided hybrid solution initialization operator and a large-scale search-space-oriented multi-mechanism solution update operator, are designed to handle continuous, discrete and even high-dimensional variables involved. Real-world experiments validate the proposed energy model due to the reduction of power consumption estimation error by up to 59% compared to baselines, and besides, extensive simulations demonstrate that the proposed algorithm significantly outperforms the benchmarks in terms of both energy consumptions and time costs. © 2002-2012 IEEE.

关键词： Energy utilization

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Utilizing semantically enhanced self-supervised graph convolution and multi-head attention fusion for herb recommendation

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Artificial Intelligence in Medicine 2025年 164卷 103112-103112页

作者： Tang, Xianlun Tang, Yuze Liu, Xinran Zhang, Haochuan Dang, Xiaoyuan Wang, Ying Xu, Zihui Chongqing Key Laboratory of Complex Systems and Autonomous Control Chongqing University of Posts and Telecommunications Chongqing400065 China School of Intelligent Engineering Chongqing College of Mobile Communication Chongqing401520 China Big Data and Internet of Things School Chongqing Vocational Institute of Engineering Chongqing402260 China Xinqiao Hospital Army Medical University Chongqing400037 China

Traditional Chinese herbal medicine has long been recognized as an effective natural therapy. Recently, the development of recommendation systems for herbs has garnered widespread academic attention, as these systems significantly impact the application of traditional Chinese medicine. However, existing herb recommendation systems are limited by data sparsity, insufficient correlation between prescriptions, and inadequate representation of symptoms and herb characteristics. To address these issues, this paper introduces an approach to herb recommendation based on semantically enhanced self-supervised graph convolution and multi-head attention fusion (BSGAM). This method involves efficient embedding of entities following fine-tuning of BERT;leveraging the attributes of herbs to optimize feature representation through a residual graph convolution network and self-supervised learning;and ultimately employing a multi-head attention mechanism for feature integration and recommendation. Experiments conducted on a publicly available traditional Chinese medicine prescription dataset demonstrate that our method achieves improvements of 6.80%, 7.46%, and 6.60% in F1-Score@5, F1-Score@10, and F1-Score@20, respectively, compared to baseline methods. These results confirm the effectiveness of our approach in enhancing the accuracy of herb recommendations. © 2025 Elsevier B.V.

关键词： Self-supervised learning

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SSAM: a span spatial attention model for recognizing named entities

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Scientific Reports 2025年第1期15卷 1-13页

作者： Wang, Kai Wen, Kunjian Chen, Yanping Qin, Yongbin Text Computing & Cognitive Intelligence Engineering Research Center of National Education Ministry College of Computer Science and Technology Guizhou University Guiyang China State Key Laboratory of Public Big Data Guizhou University Guiyang China ByteDance Ltd. Beijing China

Mapping a sentence into a two-dimensional (2D) representation can flatten nested semantic structures and build multi-granular span dependencies in named entity recognition. Existing approaches to recognizing named entities often classify each entity span independently, which ignores the spatial structures between neighboring spans. To address this issue, we propose a Span Spatial Attention Model (SSAM) that consists of a token encoder, a span generation module, and a 2D spatial attention network. The SSAM employs a two-channel span generation strategy to capture multi-granular features. Unlike traditional attention implemented on a sequential sentence representation, spatial attention is applied to a 2D sentence representation, enabling the model to learn the spatial structures of the sentence. This allows the SSAM to adaptively encode important features and suppress non-essential information in the 2D sentence representation. Experimental results on the GENIA, ACE2005, and ACE2004 datasets demonstrate that our proposed model achieves state-of-the-art performance, with F1-scores of 81.82%, 89.04%, and 89.24%, respectively. The code is available at https://***/Gzuwkj/SpatialAttentionForNer. © The Author(s) 2025.

关键词： Named entity recognition Natural language processing Spatial attention

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Learning Counterfactual Explanation of Graph Neural Networks via Generative Flow Network

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第9期5卷 4607-4619页

作者： He, Kangjia Liu, Li Zhang, Youmin Wang, Ye Liu, Qun Wang, Guoyin Chongqing University of Posts and Telecommunications Chongqing Key Laboratory of Computational Intelligence Key Laboratory of Big Data Intelligent Computing Chongqing400065 China

Counterfactual subgraphs explain graph neural networks (GNNs) by answering the question: 'How would the prediction change if a certain subgraph were absent in the input instance?' The differentiable proxy adjacency matrix is prevalent in current counterfactual subgraph discovery studies due to its ability to avoid exhaustive edge searching. However, a prediction gap exists when feeding the proxy matrix with continuous values and the thresholded discrete adjacency matrix to GNNs, compromising the optimization of the subgraph generator. Furthermore, the end-to-end learning schema adopted in the subgraph generator limits the diversity of counterfactual subgraphs. To this end, we propose CF-GFNExplainer, a flow-based approach for learning counterfactual subgraphs. CF-GFNExplainer employs a policy network with a discrete edge removal schema to construct counterfactual subgraph generation trajectories. Additionally, we introduce a loss function designed to guide CF-GFNExplainer's optimization. The discrete adjacency matrix generated in each trajectory eliminates the prediction gap, enhancing the validity of the learned subgraphs. Furthermore, the multitrajectories sampling strategy adopted in CF-GFNExplainer results in diverse counterfactual subgraphs. Extensive experiments conducted on synthetic and real-world datasets demonstrate the effectiveness of the proposed method in terms of validity and diversity. © 2020 IEEE.

关键词： Trajectories

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