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arXiv 2018年

作者： Liu, Fanghui Huang, Xiaolin Gong, Chen Yang, Jie Li, Li Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information Ministry of Education School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing210094 China Department of Automation Tsinghua University

Kernel methods have been extensively used in a variety of machine learning tasks such as classification, clustering, and dimensionality reduction. For complicated practical tasks, the traditional kernels, e.g., Gaussian kernel and sigmoid kernel, or their combinations are often not sufficiently flexible to fit the data. In this paper, we present a Data-Adaptive Nonparametric Kernel (DANK) learning framework in a data-driven manner. To be specific, in model formulation, we impose an adaptive matrix on the kernel/Gram matrix in an entry-wise strategy. Since we do not specify the formulation of the adaptive matrix, each entry in the adaptive matrix can be directly and flexibly learned from the data. Therefore, the solution space of the learned kernel is largely expanded, which makes our DANK model flexible to capture the data with different local statistical properties. Specifically, the proposed kernel learning framework can be seamlessly embedded to support vector machines (SVM) and support vector regression (SVR), which has the capability of enlarging the margin between classes and reducing the model generalization error. Theoretically, we demonstrate that the objective function of our DANK model embedded in SVM/SVR is gradient-Lipschitz continuous. Thereby, the training process for kernel and parameter learning in SVM/SVR can be efficiently optimized in a unified framework. Further, to address the scalability issue in nonparametric kernel learning framework, we decompose the entire optimization problem in DANK into several smaller easy-to-solve problems, so that our DANK model can be efficiently approximated by this partition. The effectiveness of this approximation is demonstrated by both empirical studies and theoretical guarantees. Experimentally, the proposed DANK model embedded in SVM/SVR achieves encouraging performance on various classification and regression benchmark datasets when compared with other representative kernel learning based algorithms. Copyrig

关键词： Matrix algebra

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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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A Late-Stage Bitemporal Feature Fusion Network for Semantic Change Detection

arXiv

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arXiv 2024年

作者： Zhou, Chenyao Zhang, Haotian Guo, Han Zou, Zhengxia Shi, Zhenwei 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 The Department of Guidance Navigation and Control School of Astronautics Beihang University Beijing100191 China

Semantic change detection is an important task in geoscience and earth observation. By producing a semantic change map for each temporal phase, both the land use land cover categories and change information can be interpreted. Recently some multi-task learning based semantic change detection methods have been proposed to decompose the task into semantic segmentation and binary change detection subtasks. However, previous works comprise triple branches in an entangled manner, which may not be optimal and hard to adopt foundation models. Besides, lacking explicit refinement of bitemporal features during fusion may cause low accuracy. In this letter, we propose a novel late-stage bitemporal feature fusion network to address the issue. Specifically, we propose local global attentional aggregation module to strengthen feature fusion, and propose local global context enhancement module to highlight pivotal semantics. Comprehensive experiments are conducted on two public datasets, including SECOND and Landsat-SCD. Quantitative and qualitative results show that our proposed model achieves new state-of-the-art performance on both datasets. Copyright © 2024, The Authors. All rights reserved.

关键词： Semantics

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Cell-Free Massive MIMO-OFDM for High-Speed Train Communications

arXiv

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arXiv 2022年

作者： Zheng, Jiakang Zhang, Jiayi Björnson, Emil Li, Zhetao Ai, Bo The School of Electronic and Information Engineering Beijing Jiaotong University Beijing100044 China The Department of Computer Science KTH Royal Institute of Technology Kista Sweden The Hunan International Scientific and Technological Cooperation Base of Intelligent Network Key Laboratory of Intelligent Computing & Information Processing Ministry of Education Xiangtan University Hunan411105 China The State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China

Cell-free (CF) massive multiple-input multiple-output (MIMO) systems show great potentials in low-mobility scenarios, due to cell boundary disappearance and strong macro diversity. However, the great Doppler frequency offset (DFO) leads to serious inter-carrier interference in orthogonal frequency division multiplexing (OFDM) technology, which makes it difficult to provide high-quality transmissions for both high-speed train (HST) operation control systems and passengers. In this paper, we focus on the performance of CF massive MIMO-OFDM systems with both fully centralized and local minimum mean square error (MMSE) combining in HST communications. Considering the local maximum ratio (MR) combining, the large-scale fading decoding (LSFD) cooperation and the practical effect of DFO on system performance, exact closed-form expressions for uplink spectral efficiency (SE) expressions are derived. We observe that cooperative MMSE combining achieves better SE performance than uncooperative MR combining. In addition, HST communications with small cell and cellular massive MIMO-OFDM systems are compared in terms of SE. Numerical results reveal that the CF massive MIMO-OFDM system achieves a larger and more uniform SE than the other systems. Finally, the train antenna centric (TA-centric) CF massive MIMO-OFDM system is designed for practical implementation in HST communications, and three power control schemes are adopted to optimize the propagation of TAs for reducing the impact of the DFO. Copyright © 2022, The Authors. All rights reserved.

关键词： MIMO systems

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An Integrated Neural Unmanned System for Multi-Domain Perception and Decision-Making

An Integrated Neural Unmanned System for Multi-Domain Percep...

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IEEE International Conference on Robotics and Biomimetics

作者： Qiming Liu Neng Xu Jinpeng Zhang Hesheng Wang Department of Automation Shanghai Jiao Tong University Shanghai China SJTU Paris Elite Institute of Technology Shanghai Jiao Tong University Shanghai China Second Academy of China Aerospace Science and Industry Corporation (CASIC) Beijing China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781665481106

Most recent intelligent systems study the perception or policy modules independently but ignore the inter-connection between them, which results in low information efficiency and high network redundancy, in the end, leads to the incomplete utilization of network potential and poor system-level end-to-end intelligence. This paper proposes an integrated end-to-end network that adapts to multi-domain inputs and multi-function outputs. “Integration” is defined in this paper in mainly three aspects: network structure level, optimization level, and functional level. The integrated network architecture is capable of fusing multiple raw sensory inputs and outputting multiple perceptions and decisions simultaneously. We first implement the integrated system in a virtual simulation environ-ment and investigate the domain transformation methods to real world. Comprehensive experiment results in both virtual and real environments show that our proposed system can behave normally under exploration, target-driven navigation and target shooting tasks.

关键词： Training Point cloud compression Target tracking Navigation Robot kinematics Redundancy Robot sensing systems

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Adaptive Estimation for Environmental Monitoring Using an Autonomous Underwater Vehicle

Adaptive Estimation for Environmental Monitoring Using an Au...

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IEEE Conference on Decision and control

作者： Ziwen Yang Joana Fonseca Shanying Zhu Cailian Chen Xinping Guan Karl H. Johansson Department of Automation 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 China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Digital Futures

This paper considers the problem of monitoring and adaptively estimating an environmental field, such as temperature or salinity, using an autonomous underwater vehicle (AUV). The AUV moves in the field and persistently measures environmental scalars and its position in its local coordinate frame. The environmental scalars are approximately linearly distributed over the region of interest, and an adaptive estimator is designed to estimate the gradient. By orthogonal decomposition of the velocity of the AUV, a linear time-varying system is equivalently constructed, and the sufficient conditions on the motion of the AUV are established, under which the global exponential stability of the estimation error system is rigorously proved. Furthermore, an estimate of the exponential convergence rate is given, and a reference trajectory that maximizes the estimate of the convergence rate is obtained for the AUV to track. Numerical examples verify the stability and efficiency of the system.

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Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy

Robotic Electrospinning Actuated by Non-Circular Joint Conti...

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2021 IEEE International Conference on Robotics and Automation, ICRA 2021

作者： Wu, Zicong Lou, Chuqian Jin, Zhu Huang, Shaoping Liu, Ning Zou, Yun Kovac, Mirko Gao, Anzhu Yang, Guang-Zhong The Institute of Medical Robotics Department of Bioengineering Shanghai Jiao Tong University Shanghai200240 China Imperial College London Empa-Swiss Federal Laboratories for Materials Science and Technology United Kingdom Limited 999077 Hong Kong Aerial Robotics Laboratory Imperial College London LondonSW7 2AZ United Kingdom The Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China The Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781728190778

Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper develops a robotic electrospinning platform for endoluminal therapy. The platform consists of a continuum manipulator, the electrospinning device, and the actuation unit. The continuum manipulator has two bending sections to facilitate the steering of the tip needle for a controllable spinning direction. Non-circular joint profile is carefully designed to enable a constant length of the centreline of a continuum manipulator for stable fluid transmission inside it. Experiments are performed on a bronchus phantom, and the steering ability and bending limitation in each direction are also investigated. The endoluminal electrospinning is also fulfilled by a trajectory following and points targeting experiments. The effective adhesive area of the produced fibre is also illustrated. The proposed robotic electrospinning shows its feasibility to precisely spread more therapeutic drug to construct fibrous structure for potential endoluminal treatments. © 2021 IEEE

关键词： Electrospinning

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Dense Pixel-to-Pixel Harmonization via Continuous image Representation

arXiv

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arXiv 2023年

作者： Chen, Jianqi Zhang, Yilan Zou, Zhengxia Chen, keyan Shi, Zhenwei Image Processing Center School of Astronautics Beihang University Beijing100191 China State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing100191 China Shanghai Artificial Intelligence Laboratory Shanghai200232 China Department of Guidance Navigation and Control School of Astronautics Beihang University Beijing100191 China

High-resolution (HR) image harmonization is of great significance in real-world applications such as image synthesis and image editing. However, due to the high memory costs, existing dense pixel-to-pixel harmonization methods are mainly focusing on processing low-resolution (LR) images. Some recent works resort to combining with color-to-color transformations but are either limited to certain resolutions or heavily depend on hand-crafted image filters. In this work, we explore leveraging the implicit neural representation (INR) and propose a novel image Harmonization method based on Implicit neural Networks (HINet), which to the best of our knowledge, is the first dense pixel-to-pixel method applicable to HR images without any handcrafted filter design. Inspired by the Retinex theory, we decouple the MLPs into two parts to respectively capture the content and environment of composite images. A Low-Resolution image Prior (LRIP) network is designed to alleviate the Boundary Inconsistency problem, and we also propose new designs for the training and inference process. Extensive experiments have demonstrated the effectiveness of our method compared with state-of-the-art methods. Furthermore, some interesting and practical applications of the proposed method are explored. Our code is available at https://***/WindVChen/INR-Harmonization. Copyright © 2023, The Authors. All rights reserved.

关键词： Pixels

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Learning of long-horizon sparse-reward robotic manipulator tasks with base controllers

arXiv

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arXiv 2020年

作者： Wang, Guangming Xin, Minjian Wu, Wenhua Liu, Zhe Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Department of Computer Science and Engineering University of California San Diego La Jolla CA92093 United States Department of Computer Science and Technology University of Cambridge CambridgeCB2 1TN United Kingdom

Deep Reinforcement Learning (DRL) enables robots to perform some intelligent tasks end-to-end. However, there are still many challenges for long-horizon sparse-reward robotic manipulator tasks. On the one hand, a sparse-reward setting causes exploration inefficient. On the other hand, exploration using physical robots is of high cost and unsafe. In this paper, we propose a method of learning long-horizon sparse-reward tasks utilizing one or more existing traditional controllers named base controllers in this paper. Built upon Deep Deterministic Policy Gradients (DDPG), our algorithm incorporates the existing base controllers into stages of exploration, value learning, and policy update. Furthermore, we present a straightforward way of synthesizing different base controllers to integrate their strengths. Through experiments ranging from stacking blocks to cups, it is demonstrated that the learned state-based or image-based policies steadily outperform base controllers. Compared to previous works of learning from demonstrations, our method improves sample efficiency by orders of magnitude and improves the performance. Overall, our method bears the potential of leveraging existing industrial robot manipulation systems to build more flexible and intelligent controllers. Copyright © 2020, The Authors. All rights reserved.

关键词： Deep learning

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Multi-View broad learning system for primate oculomotor decision decoding

arXiv

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arXiv 2019年

作者： Shi, Zhenhua Chen, Xiaomo Zhao, Changming He, He Stuphorn, Veit Wu, Dongrui Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Zanvyl Krieger Mind and Brain Institute Johns Hopkins University School of Medicine Department of Neurobiology Stanford University StanfordCA United States Department of Neuroscience Johns Hopkins University BaltimoreMD United States

Multi-view learning improves the learning performance by utilizing multi-view data: data collected from multiple sources, or feature sets extracted from the same data source. This approach is suitable for primate brain state decoding using cortical neural signals. This is because the complementary components of simultaneously recorded neural signals, local field potentials (LFPs) and action potentials (spikes), can be treated as two views. In this paper, we extended broad learning system (BLS), a recently proposed wide neural network architecture, from single-view learning to multi-view learning, and validated its performance in monkey oculomotor decision decoding from medial frontal LFPs and spikes. We demonstrated that medial frontal LFPs and spikes in non-human primate do contain complementary information about the oculomotor decision, and that the proposed multi-view BLS is a more effective approach to classify the oculomotor decision, than several classical and state-of-the-art single-view and multi-view learning approaches. Copyright © 2019, The Authors. All rights reserved.

关键词： Electrophysiology

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