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arXiv 2025年

作者： Xin, Jinghao Liang, Zhichao Zhang, Zihuan Wang, Peng Li, Ning Department of Automation Shanghai Jiao Tong University Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

Deep Reinforcement Learning (DRL) has demonstrated potential in addressing robotic local planning problems, yet its efficacy remains constrained in highly unstructured and dynamic environments. To address these challenges, this study proposes the ColorDynamic framework. First, an end-to-end DRL formulation is established, which maps raw sensor data directly to control commands, thereby ensuring compatibility with unstructured environments. Under this formulation, a novel network, Transqer, is introduced. The Transqer enables online DRL learning from temporal transitions, substantially enhancing decision-making in dynamic scenarios. To facilitate scalable training of Transqer with diverse data, an efficient simulation platform E-Sparrow, along with a data augmentation technique leveraging symmetric invariance, are developed. Comparative evaluations against state-of-the-art methods, alongside assessments of generalizability, scalability, and real-time performance, were conducted to validate the effectiveness of ColorDynamic. Results indicate that our approach achieves a success rate exceeding 90% while exhibiting real-time capacity (1.2–1.3 ms per planning). Additionally, ablation studies were performed to corroborate the contributions of individual components. Building on this, the OkayPlan-ColorDynamic (OPCD) navigation system is presented, with simulated and real-world experiments demonstrating its superiority and applicability in complex scenarios. The codebase and experimental demonstrations have been open-sourced on our website1 to facilitate reproducibility and further research. Copyright © 2025, The Authors. All rights reserved.

关键词： Decision making

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Securing Mobile Robotic Networks Against Replacement Attack

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IEEE Transactions on Automatic control 2025年

作者： Li, Yushan He, Jianping Chen, Cailian Guan, Xinping Cai, Lin Shanghai Jiao Tong University Dept. of Automation China Ministry of Education of China The Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China University of Victoria Dept. of Electrical and Computer Engineering BC Canada

The security of mobile robotic networks (MRNs) has been an active research topic in recent years. This paper aims to secure the ubiquitous formation control of MRNs against the replacement attack, where an external robot can replace a formation robot by compromising the communication and physically interfering with the victim simultaneously. To counter this advanced attack, the novel idea of this work is to leverage the physical proximity of the formation shape and the interaction topology among robots for defense design. First, from the physical proximity perspective, we propose the convex neighbor polygon (CNP) to capture the geometric characteristic of the formation robots, and design a CNP-based security mechanism for the robots during the replacement attack. Then, from the interaction perspective, we introduce the indirect controllability to characterize the possibility that the attacker leverages the interaction between robots to deactivate the CNP mechanism, and establish the conditions regarding the topology structure and the attack input to counter the replacement. Finally, based on the obtained conditions, we demonstrate how to design the initiatory topology among the formation robots to enhance the defense performance. Comparative simulations verify the effectiveness of the proposed method. © 1963-2012 IEEE.

关键词： Topology

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Subsampling Decomposition based k-Space Refinement for Accelerated MRI Reconstruction

Subsampling Decomposition based k-Space Refinement for Accel...

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International Conference on Acoustics, Speech, and Signal processing (ICASSP)

作者： Xiaoyu Qiao Weisheng Li Bin Xiao Yuping Huang Lijian Yang Chongqing Key Laboratory of Image Cognition Chongqing University of Posts and Telecommunications Chongqing China Key Laboratory of Cyberspace Big Data Intelligent Security Chongqing University of Posts and Telecommunications Ministry of Education Chongqing China

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

In accelerated MRI reconstruction problem, directly recovering all the missing k-space data from undersampled measurements is highly ill-posed and often leads to suboptimal performance. To address the problem, we propose a novel deep unfolding network (DUN) with subsampling decomposition (SD) based k-space refinement to mitigate the ill-posedness. Our method employs a parallel network architecture with a primary branch unfolded by gradient descent-inspired optimization process (GD-PB) for reconstruction. Additionally, we introduce an SD-based auxiliary branch (SD-AB) that decompose the inverse problem into moderately corrupted subproblems. We design a novel subsampling mask predictor that captures both global and local spatial correlations in k-space, ensuring the SD-AB effectively preserves the most well-reconstructed subsets as reliable region (RR). The RR in SD-AB is used to periodically refine the intermediate outputs of the GD-PB, achieving improved accuracy. Experimental results reveal that our method significantly outperforms conventional and SD-based DUN techniques, achieving superior PSNR and SSIM results compared with cutting-edge methods.

关键词： Correlation Inverse problems Magnetic resonance imaging Signal processing Network architecture Reliability engineering Sensors Speech processing image reconstruction Optimization

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Learning Preconditioners in Gates-controlled Deep Unfolding Networks based on Quasi-Newton Methods For Accelerated MRI Reconstruction

Learning Preconditioners in Gates-controlled Deep Unfolding ...

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International Conference on Acoustics, Speech, and Signal processing (ICASSP)

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

Deep unfolding networks (DUNs) have made significant progress in MRI reconstruction, successfully tackling the problem of prolonged imaging time. However, the ill-conditioned nature of MRI reconstruction often causes slow convergence in iterative optimization, potentially compromising the performance of DUNs. In this study we propose a preconditioned and gates-controlled DUN (PGDUN) to address these challenges. Our approach starts with optimizing the step size of proximal gradient descent (PGD) through a preconditioner. To improve flexibility and adaptability, we relax the constrains on quasi-newton-based optimization procedure. We design ConvLSTM-based modules, where the gate units automatically preserve necessary long- and short-term information, facilitating the learning of optimized variables and their combinations. Furthermore, we design gate units to modulate the features fed to regularizers across different iterations, boosting their robustness against potential accumulated errors. Evaluations using PSNR and SSIM metrics reveal that our approach outperforms existing state-of-the-art methods, achieving superior reconstruction results across various sequences.

关键词： Measurement Magnetic resonance imaging Logic gates Signal processing Robustness Sensors Iterative methods Speech processing image reconstruction Optimization

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Spiking Neural Network for Intra-cortical Brain Signal Decoding

arXiv

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arXiv 2025年

作者： Yang, Song Fu, Haotian Zhang, Herui Zhang, Peng Li, Wei Wu, Dongrui Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Hubei Key Laboratory of Brain-inspired Intelligent Systems Huazhong University of Science and Technology Wuhan430074 China Department of Biomedical Engineering College of Life Science and Technology Huazhong University of Science and Technology Wuhan430074 China

Decoding brain signals accurately and efficiently is crucial for intra-cortical brain-computer interfaces. Traditional decoding approaches based on neural activity vector features suffer from low accuracy, whereas deep learning based approaches have high computational cost. To improve both the decoding accuracy and efficiency, this paper proposes a spiking neural network (SNN) for effective and energy-efficient intra-cortical brain signal decoding. We also propose a feature fusion approach, which integrates the manually extracted neural activity vector features with those extracted by a deep neural network, to further improve the decoding accuracy. Experiments in decoding motor-related intra-cortical brain signals of two rhesus macaques demonstrated that our SNN model achieved higher accuracy than traditional artificial neural networks;more importantly, it was tens or hundreds of times more efficient. The SNN model is very suitable for high precision and low power applications like intracortical brain-computer interfaces. © 2025, CC BY.

关键词： Deep neural networks

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Cross-Modal Mask and Detail Alignment for Text-Based Person Retrieval 24th

Cross-Modal Mask and Detail Alignment for Text-Based Perso...

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24th International Conference on Algorithms and Architectures for Parallel processing, ICA3PP 2024

作者： Guo, Ao Liu, Xuan Liu, Xianggan Hu, Bingmeng Yuan, Jie Chu, Chiawei Key Laboratory of Ethnic Language Intelligent Analysis and Security Governance Ministry of Education Minzu University of China Beijing100081 China Hainan International College of Minzu University of China Li’an International Education Innovation pilot Zone Hainan Lingshui Li572499 China Natural Language Processing and Knowledge Graph Lab School of Computer Science and Technology Huazhong University of Science and Technology Wuhan430074 China City University of Macau China

ISBN: (纸本)9789819615278

Text-based person retrieval primarily aims to retrieve the images of target persons represented by a given text query. In this task, how to effectively align images and text globally and locally is an important challenge. At the same time, since multiple modalities are involved, reducing the differences between different modalities is also an important challenge. Existing work has focused more on reconstructing an image rather than the semantic consistency between the image and text modalities. Therefore, we introduce the Cross-Modal Mask and Detail Alignment (CMDA) framework to address these challenges. Under this framework, our proposed Cross-Modal Mask Alignment module (CMA) semantically aligns features generated by supplementing randomly masked image/text with another modality text/image. Additionally, to narrow the gap between the image and text modalities, we designed the Cross-Modal Detail Alignment module (CDA), which establishes connections between images and texts and facilitates interactions between these two different modalities. Experimental results show that our model exhibits outstanding performance across multiple public datasets, i.e., CUHK-PEDES, ICFG-PEDES, and RSTPReID. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Semantics

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Stacking U-Nets in U-shape: Redesigning the Information Flow in Model-based Networks for MRI Reconstruction

Stacking U-Nets in U-shape: Redesigning the Information Flow...

引用

International Conference on Acoustics, Speech, and Signal processing (ICASSP)

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

Model-based networks have shown convincing performance in MRI reconstruction. However, the unrolled cascades within the networks are constrained to solely obtain information from the preceding counterpart, resulting in potential error accumulation. Moreover, the linear structure fails to address the challenge of recovering fine-grained details. To tackle these problems, we propose to redesign the information flow in model-based networks. Our method features a large U-shaped network, where the nodes are built with unrolled cascades and U-Net-based regularizers. We design an input-level integration module to help the cascades acquire information from adjacent and skip-connected counterparts, building robust mappings to the target. We further design a coarse-to-fine feature-level integration module, aiming at guiding the network to progressively recover fine details. Intermediate reconstructions produced by subnetworks of different scales are integrated, enabling the extraction of complementary information to enhance the final performance. Compared with cutting-edge methods on different datasets, our method exhibits superior performances.

关键词： Magnetic resonance imaging Stacking Buildings Signal processing Feature extraction Acoustics Sensors Data mining Speech processing

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A Parallel Read-Write Circuit With Fast Amplitude-Adaptive Matching Scheme to Memristor Crossbar Array

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IEEE Transactions on Circuits and Systems I: Regular Papers 2025年

作者： Jiang, Ningye Jiang, Mingxuan Huang, Haoen Yang, Le Huang, Yi Zeng, Zhigang Huazhong University of Science and Technology School of Artificial Intelligence and Automation Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education of China Wuhan430074 China Wuhan Institute of Technology School of Electrical and Information Engineering Wuhan430205 China University of Massachusetts Amherst Department of Electrical and Computer Engineering AmherstMA01003 United States

Memristor crossbar array (MCA) is a computing-in-memory (CIM) module for computational acceleration. However, conventional read-write (R-W) circuits for MCA rely heavily on external components and have shortcoming in long writing times. To address these issues, we propose a parallel R-W circuit with a fast amplitude-adaptive matching (AAM) scheme. The fast AAM scheme is designed to accelerate time of writing memristors in MCA by adaptively adjusting the writing voltage to match an optimal amplitude. The architecture of parallel R-W circuit are outlined with the implementation of R-W processes. The design principles of parallel R-W unit, fast AAM unit, and associated control logic are described for analyzing their functions within the circuit. By integrating the parallel R-W circuit with MCA, a computing block is leveraged in a neural network for classification tasks. The experimental results demonstrate that the neural network with multiple computing blocks maintains high accuracy across various datasets (over 80%). Furthermore, the proposed AAM scheme achieves an average 54% reduction in writing time compared to that one without AAM scheme. Compared to the pulse-width scheme, the parallel R-W circuit exhibits an average 3.05× speedup in adjusting a 5×5 MCA, and the speedup efficiency is higher as the increases of MCA size. © 2025 IEEE.

关键词： Memristors

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Comments and extensions on "State-equivalent form and minimum-order compensator design for rectangular descriptor systems"

arXiv

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arXiv 2025年

作者： Shi, Shuo Zhang, Juan Hunan Key Laboratory for Computation and Simulation in Science and Engineering Key Laboratory of Intelligent Computing and Information Processing Ministry of Education School of Mathematics and Computational Science Xiangtan University Xiangtan411105 China

This technical note presents a counterexample showing that the equivalence conditions proposed by Geng et al. (IEEE Trans. Automat. control, 2024), which use a minimum-order compensator (MOC) to achieve desired designs, including generalized regularity or both generalized regularity and free of impulse, are sufficient but not necessary. Furthermore, revised equivalence conditions are introduced, along with an equivalence condition ensuring the closed-loop system remains generalized regular, impulse-free, and stable using MOC. Additionally, it is shown that output feedback can replace the MOC, achieving the same design without increasing dimensionality. These findings are validated through a circuit *** Codes 93B05, 93B52, 15A03 Copyright © 2025, The Authors. All rights reserved.

关键词： Feedback

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MindEye-OmniAssist: A Gaze-Driven LLM-Enhanced Assistive Robot System for Implicit Intention Recognition and Task Execution

arXiv

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arXiv 2025年

作者： Zhang, Zejia Yang, Bo Chen, Xinxing Shi, Weizhuang Wang, Haoyuan Luo, Wei Huang, Jian Hubei Key Laboratory of Brain-Inspired Intelligent Systems Huazhong University of Science and Technology Wuhan430074 China Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China State key laboratory of intelligent vehicle safety technology chongqing changan automobile co ltd Chongqing400023 China Science and technology innovation center China ship development and design centre Wuhan430060 China

A promising effective human-robot interaction in assistive robotic systems is gaze-based control. However, current gaze-based assistive systems mainly help users with basic grasping actions, offering limited support. Moreover, the restricted intent recognition capability constrains the assistive system’s ability to provide diverse assistance functions. In this paper, we propose an open implicit intention recognition framework powered by Large Language Model (LLM) and Vision Foundation Model (VFM), which can process gaze input and recognize user intents that are not confined to predefined or specific scenarios. Furthermore, we implement a gaze-driven LLM-enhanced assistive robot system (MindEye-OmniAssist) that recognizes user’s intentions through gaze and assists in completing task. To achieve this, the system utilizes open vocabulary object detector, intention recognition network and LLM to infer their full intentions. By integrating eye movement feedback and LLM, it generates action sequences to assist the user in completing tasks. Real-world experiments have been conducted for assistive tasks, and the system achieved an overall success rate of 41/55 across various undefined tasks. Preliminary results show that the proposed method holds the potential to provide a more user-friendly human-computer interaction interface and significantly enhance the versatility and effectiveness of assistive systems by supporting more complex and diverse task. Copyright © 2025, The Authors. All rights reserved.

关键词： Eye movements

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