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arXiv 2024年

作者： Wu, Xiuen Wang, Tao Cai, Yuanzheng Liang, Lingyu Papageorgiou, George Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou China College of Computer and Data Science Fuzhou University Fuzhou China School of Electronic and Information Engineering South China University of Technology Guangzhou China SYSTEMA Research Center European University Cyprus Nicosia Cyprus

Pedestrian trajectory prediction plays a pivotal role in ensuring the safety and efficiency of various applications, including autonomous vehicles and traffic management systems. This paper proposes a novel method for pedestrian trajectory prediction, called multi-stage goal-driven network (MGNet). Diverging from prior approaches relying on stepwise recursive prediction and the singular forecasting of a long-term goal, MGNet directs trajectory generation by forecasting intermediate stage goals, thereby reducing prediction errors. The network comprises three main components: a conditional variational autoencoder (CVAE), an attention module, and a multi-stage goal evaluator. Trajectories are encoded using conditional variational autoencoders to acquire knowledge about the approximate distribution of pedestrians' future trajectories, and combined with an attention mechanism to capture the temporal dependency between trajectory sequences. The pivotal module is the multistage goal evaluator, which utilizes the encoded feature vectors to predict intermediate goals, effectively minimizing cumulative errors in the recursive inference process. The effectiveness of MGNet is demonstrated through comprehensive experiments on the JAAD and PIE datasets. Comparative evaluations against state-of-the-art algorithms reveal significant performance improvements achieved by our proposed method. Copyright © 2024, The Authors. All rights reserved.

关键词： Trajectories

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Latent multi-view subspace clustering based on Laplacian regularized representation

Latent multi-view subspace clustering based on Laplacian reg...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Wei Guo Hangjun Che Man-Fai Leung Nankun Mu Xiangguang Dai Yuming Feng School of Electronic and Information Engineering Southwest University Chongqing China School of Electronic Information Engineering Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing Southwest University Chongqing China School of Computing and Information Science Faculty of Science and Engineering Anglia Ruskin University Cambridge UK Key Laboratory of Dependable Service Computing in Cyber Physical Society Ministry of Education College of Computer Science Chongqing University Chongqing China School of Computer Science and Engineering Chongqing Three Gorges University Chongqing China Key Laboratory of Intelligent Information Processing and Control Chongqing Three Gorges University Chongqing China

We propose a latent multi-view subspace clustering model based on Laplacian regularized representation. To emphasize the information of the representation matrix at the local level and reflect the grouping effect of clustering, a Laplacian regularization is imposed on the representation matrix. Additionally, To boost the efficiency o f c lustering, we apply nonnegative constraints on the representation matrix. A unified framework is designed to solve the proposed model by using ALM and LADMAP methods. The proposed model has excellent performance, as demonstrated by a number of experimental findings.

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Autonomous Exploration and Mapping for Mobile Robots via Cumulative Curriculum Reinforcement Learning

Autonomous Exploration and Mapping for Mobile Robots via Cum...

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

作者： Zhi Li Jinghao Xin Ning Li Department of Automation Shanghai Jiao Tong University Shanghai P.R. China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai China Shanghai Engi-neering Research Center of Intelligent Control and Management Shanghai China

Deep reinforcement learning (DRL) has been widely applied in autonomous exploration and mapping tasks, but often struggles with the challenges of sampling efficiency, poor adaptability to unknown map sizes, and slow simulation speed. To speed up convergence, we combine curriculum learning (CL) with DRL, and first propose a Cumulative Curriculum Reinforcement Learning (CCRL) training framework to alleviate the issue of catastrophic forgetting faced by general CL. Besides, we present a novel state representation, which considers a local egocentric map and a global exploration map resized to the fixed dimension, so as to flexibly adapt to environments with various sizes and shapes. Additionally, for facilitating the fast training of DRL models, we develop a lightweight grid-based simulator, which can substantially accelerate simulation compared to popular robot simulation platforms such as Gazebo. Based on the customized simulator, comprehensive experiments have been conducted, and the results show that the CCRL framework not only mitigates the catastrophic forgetting problem, but also improves the sample efficiency and generalization of DRL models, compared to general CL as well as without a curriculum. Our code is available at https://***/BeamanLi/CCRL_Exploration.

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Unsupervised Time Series Anomaly Detection Based on Adversarial Interpolation and Pseudo-anomaly Calibration

Unsupervised Time Series Anomaly Detection Based on Adversar...

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International Conference on control, Automation and Robotics (ICCAR)

作者： Xinwei Chen Xiaohui Lin Zuoyong Li Haoyi Fan Fujian Provincial Key Laboratory of Information Processing and Intelligent Control College of Computer and Control Engineering Minjiang University Fuzhou China College of Computer and Data Science Fuzhou University Fuzhou China School of Computer and Artificial Intelligence Zhengzhou University Zhengzhou China

Existing work on unsupervised time series anomaly detection relies on clean training datasets (free of anomalies), which is often violated in practice. In this work, we propose an unsupervised time series anomaly detection method based on adversarial interpolation and pseudo-anomaly calibration for training an anomaly detector under data con-tamination. Specifically, the normality description learned from the model is improved by using the following two proposed calibration methods: (1) by enforcing adversarial interpolation to learn an effective normality description from the typical samples rather than the edge or abnormal samples, and (2) by discriminating the original samples from the simulated pseudo-anomaly samples to learn the exact normality description boundary. These two calibration ways result in the normality description that prevents data contamination. Experimental results compared with baselines on public time series datasets demonstrate the effectiveness of our proposed method.

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Construction of Three-Dimensional Nickel-Vanadium Hydrotalcite with Ball-Flower Architecture for Screen-Printed Asymmetric Supercapacitor

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SSRN 2022年

作者： Tu, Qian Zhang, Qiang Sun, Xinyu Wang, Jinglu Lin, Baoying Liu, Jin Liu, Zhonghua Chen, Liangzhe School of Electronic Information Engineering Jingchu University of Technology Jingmen448000 China School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control of Education Ministry Huazhong University of Science and Technology Wuhan430074 China

As a promising energy storage matter, two-dimensional (2D) layered double hydroxides (LDHs) suffer from a lower specific capacitance and poor retention. Morphology engineering is deemed to be an effective means. Herein, three-dimensional (3D) nickel-vanadium hydrotalcite (NiV-LDHs) with ball-flower structure are synthesized successfully via a facile dynamic-refluxing route, such a green strategy dispenses with template and high pressure and generates a specific surface area as high as 61.6 m 2 /g. Then, the screen-printed inks with outstanding rheological performances are formulated and the resulting electrodes display superior hydrophilic performance. Benefitted from the 3D architecture and shear flow process, the NiV-LDHs electrode can deliver an enhanced specific capacitance of 1069 F/g at 1 A/g with cycling stability of ~68.0% after 1500 cycles at 20 A/g, in contrast with that of NiV-LDHs prepared by coprecipitation (848 F/g and ~5.1%). Furthermore, an asymmetric NiV-LDHs//activated carbon supercapacitor (ASC) is assembled, which can yield a remarkable energy density of 75.8 μWh/cm2 at a power density of 0.80 mW/cm2, and two ASCs in series can illuminate a red light (2.5 V) for more than 270 s. Therefore, this study proposes a facile and economic strategy to prepare 3D nanomaterial for advanced and flexible printable energy storage devices. © 2022, The Authors. All rights reserved.

关键词： Screen printing

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Local Neighbor Propagation on Graphs for Robust Feature Matching

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SSRN 2023年

作者： Guo, Hanlin Xiao, Guobao Su, Lumei Zhou, Jiaxing Wang, Dahan Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control School of Electrical Engineering and Automation Xiamen University of Technology China Fujian Key Laboratory of Sensing and Computing for Smart Cities School of Information Science and Engineering Xiamen University China College of Computer and Control Engineering Minjiang University China Fujian Key Laboratory of Pattern Recognition and Image Understanding School of Computer and Information Engineering Xiamen University of Technology China

Establishing reliable correspondences between two sets of feature points is a critical preprocessing step in many computer vision and pattern recognition tasks. In this paper, we propose a novel robust Local Neighbor Propagation on Graphs based feature matching (LNPG) method, to obtain good correspondences for feature matching. LNPG starts from a novel neighborhood graph construction strategy. The strategy leverages the spatial consistency constraint to generate a series of neighborhood sets, and employs the residual information to preserve the local neighborhood relationships of potential inliers (i.e., true matches). Subsequently, LNPG incorporates local neighbor propagation into the graph to enhance connections between data in different neighborhoods, by using the path-based similarity measurement and the adaptive graph partition. In addition, LNPG includes a novel consistency-filtering-based clustering algorithm for robust feature matching. This clustering algorithm introduces a reliable neighborhood consistency measure function and an effective cluster merging criterion for cluster detection and cluster merging during the clustering process, respectively. Overall, LNPG not only effectively distinguishes inliers from outliers, but also reliably classifies inliers into different transformation models between pairs of images. Experiments on publicly available datasets with different types of image transformations show the superiority of our LNPG in comparison with other state-of-the-art methods. © 2023, The Authors. All rights reserved.

关键词： Clustering algorithms

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AoI-Reliability Analysis with Block Length over Erasure Channels Using Rateless Codes

AoI-Reliability Analysis with Block Length over Erasure Chan...

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International Conference on Communication Technology (ICCT)

作者： Haobo Huang Yusun Fu Yue Qiao Junpeng Yin Weiwu Yan Ningbo Artificial Intelligence Institute Shanghai Jiao Tong University Ningbo China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350363760

ISBN: (纸本)9798350363777

As a metric to measure the information freshness, Age of information (AoI) is widely used to evaluate low-latency high-reliability communication. Since the communication in Industrial Internet of Things (IIoT) often has the special requirements, the relationship among AoI, reliability and block length in time-critical scenarios with bounded latency and non-time-critical scenarios without bounded latency is explored respectively in this paper, based on erasure channels using rateless codes. We build a model using LT codes over erasure channels and consider two metrics: average AoI and bounded AoI. Theoretical analysis and simulation results show that AoI has a minimum value with different block lengths. Furthermore, we draw a conclusion that the minimum value of AoI under different reliability is monotonically decreasing functioned with reliability. Finally, the impact of overhead on reliability and AoI of LT codes in time-critical scenarios is studied.

关键词： Measurement Codes Simulation Reliability theory information age Communications technology Time factors Low latency communication Industrial Internet of Things

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Semi-Supervised Classification of Data Streams by BIRCH Ensemble and Local Structure Mapping

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Journal of Computer Science & Technology 2020年第2期35卷 295-304页

作者： Yi-Min Wen Shuai Liu Guangxi Key Laboratory of Image and Graphic Intelligent Processing Guilin University of Electronic Technology Guilin 541004China Guangxi Key Laboratory of Trusted Software Guilin University of Electronic TechnologyGuilin 541004China School of Computer Science and Information Security Guilin University of Electronic TechnologyGuilin 541004China

Many researchers have applied clustering to handle semi-supervised classification of data streams with concept ***,the generalization ability for each specific concept cannot be steadily improved,and the concept drift detection method without considering the local structural information of data cannot accurately detect concept *** paper proposes to solve these problems by BIRCH(Balanced Iterative Reducing and Clustering Using Hierarchies)ensemble and local structure *** local structure mapping strategy is utilized to compute local similarity around each sample and combined with semi-supervised Bayesian method to perform concept *** a recurrent concept is detected,a historical BIRCH ensemble classifier is selected to be incrementally updated;otherwise a new BIRCH ensemble classifier is constructed and added into the classifier *** extensive experiments on several synthetic and real datasets demonstrate the advantage of the proposed algorithm.

关键词： semi-supervised classification clustering data stream concept drift

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Enhancing the McEliece Scheme Based on Concatenation of Polar Codes and Blocked QC-LDPC Codes

Enhancing the McEliece Scheme Based on Concatenation of Pola...

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IEEE Conference on Communications and Network Security (CNS)

作者： Xin Lin Yusun Fu Zihao Wang Junpeng Yin Ningbo Artificial Intelligence Institute Shanghai Jiao Tong University Ningbo China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350375961

ISBN: (纸本)9798350375978

This paper proposes an enhanced McEliece cryptosystem, leveraging a concatenation scheme of Polar codes and blocked QC-LDPC codes. During the key generation phase, the generator matrices for both Polar and blocked QC-LDPC codes are employed as private keys. These matrices are subsequently multiplied by reversible and random permutation matrices respectively. The products of these multiplications are then combined to form the public key, effectively concealing the structural properties of the generator matrices. In the encryption phase, the plaintext is encrypted sequentially through the Polar codes and the blocked QC-LDPC codes. This process introduces two layers of random error vectors, culminating in the generation of the encrypted ciphertext. The proposed scheme reduces the public key length by 54% and doubles the security level compared to the original McEliece scheme with similar parameters. It also significantly reduces the total key length compared to improved schemes based on Polar codes and QC-LDPC/MDPC codes at an 80-bit security level, and shortens the private key length compared to schemes based on Polar-LDPC concatenated codes. Notably, the scheme is secure against known structural and decoding attacks while increases resistance to information set decoding (ISD) attacks. Through the randomization and hashing of the plaintext, the proposed scheme can achieve IND-CCA2 security.

关键词： Resistance Codes Public key Network security Generators Vectors Decoding Encryption Concatenated codes Polar codes

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Boltzmann Robust Soliton Distribution for Rateless Codes

Boltzmann Robust Soliton Distribution for Rateless Codes

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International Conference on Communication Technology (ICCT)

作者： Jinhui Tang Yusun Fu Yue Qiao Junpeng Yin Haobo Huang School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Ningbo Artificial Intelligence Institute Shanghai Jiao Tong University Ningbo China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350363760

ISBN: (纸本)9798350363777

The decoding success rate may be worse when classical degree distributions are used in short-packet transmission of rateless codes, especially in industrial communication scenarios. A novel Boltzmann degree distribution is proposed for Luby Transform (LT) codes. The Boltzmann degree distribution has a high decoding success rate for short-packet transmission but a lower decoding success rate in long-packet transmission. To balance the performance of rateless codes for short and long packet transmission, the Boltzmann degree distribution and the robust soliton distribution (RSD) are combined with a new joint degree distribution, called Boltzmann Robust Soliton Distribution (BRSD). Simulation results show that compared with RSD and Poisson robust soliton distribution (PRSD), the proposed joint distribution can achieve a higher decoding success rate and reduce the average degree, especially in short-packet transmission of industrial communication.

关键词： Codes Simulation Industrial communication Symbols Solitons Transforms Robustness Decoding Complexity theory Physics

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