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Deep reinforcement learning for path planning of autonomous mobile robots in complicated environments

Complex and intelligent Systems 2025年第6期11卷 1-15页

作者： Zhang, Zhijie Fu, Hao Yang, Juan Lin, Yunhan School of Computer Science and Technology Wuhan University of Science and Technology No. 947 Heping Avenue Hubei Wuhan 430081 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System No. 947 Heping Avenue Hubei Wuhan 430081 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology No. 947 Heping Avenue Hubei Wuhan 430081 China

In complicated environments, which include dynamic and narrow areas, the path planning of Autonomous Mobile Robots (AMRs) encounters challenges, like slow model convergence and limited representational capabilities, often resulting in the robot taking longer, less efficient paths or even colliding with obstacles. To tackle these challenges, the Gated Attention Prioritized Experience Replay Soft Actor-Critic (GAP_ SAC) algorithm is proposed. key improvements include expanding the state space for better perception, designing a dynamic heuristic reward function to more effectively guide the AMR in achieving its path planning objectives and integrating Prioritized Experience Replay (PER) to improve sample efficiency and accelerate convergence. Additionally, a gated attention mechanism is also introduced to focus on critical environmental features, enhancing the models’ perception capability. Comparative experiments validate that the proposed GAP_SAC algorithm outperforms TD3, SAC and SAC’s variant, demonstrating superior robustness and generalization in complicated environments. © The Author(s) 2025.

关键词： Autonomous mobile robot (AMR) Deep reinforcement learning (DRL) Dynamic and narrow areas Gated attention mechanism Path planning

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Underwater Image Restoration Based on Improved SwinIR Model

Underwater Image Restoration Based on Improved SwinIR Model

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International Conference on intelligent Control and information processing (ICICIP)

作者： Yanke Lu Fang Li Xiaonan Luo Guangxi Key Laboratory of Image and and Graphic Intelligent Processing Guilin University of Electronic Technology Guilin China School of Computer Science and Information Security Guilin University of Electronic Technology Guilin China Center for Applied Mathematics of Guangxi (GUET) Guilin China Guangxi Key Laboratory of Image and Graphic Intelligent Processing Guilin China Guangxi Key Laboratory of Image and Graphic Intelligent Processing Guilin University of Electronic Technology Guilin China

ISBN: (数字)9798331516147

ISBN: (纸本)9798331516154

Image restoration is a classic foundational visual task, aimed at recovering damaged images, such as those affected by compression, blurring, or noise, to high-definition clarity. Although current image enhancement techniques largely rely on convolutional neural networks, the efficient capabilities of Transformers demonstrated in complex visual tasks have not yet been extensively applied in the field of image restoration. This paper presents an optimized image restoration strategy based on the SwinlR model, which is applied to the task of underwater image restoration. In the shallow feature extraction phase, deep separable convolution technology is employed; while in the deep feature extraction phase, a Spatial Gated Feedforward Network (SGFN) is utilized. The experimental data suggests that the novel approach surpasses conventional techniques in effectiveness and has effectively minimized both the model's parameter quantity and computational demands.

关键词： Visualization Convolution Computational modeling Noise information processing Logic gates Feature extraction Transformers Image restoration intelligent control

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Divide-and-Conquer: Dual-Hierarchical Optimization for Semantic 4D Gaussian Spatting

arXiv

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arXiv 2025年

作者： Yan, Zhiying Liang, Yiyuan Cai, Shilv Zhang, Tao Zhong, Sheng Yan, Luxin Zou, Xu Huazhong University of Science and Technology China National Key Laboratory of Multispectral Information Intelligent Processing Technology China Nanyang Technological University Singapore

Semantic 4D Gaussians can be used for reconstructing and understanding dynamic scenes, with temporal variations than static scenes. Directly applying static methods to understand dynamic scenes will fail to capture the temporal features. Few works focus on dynamic scene understanding based on Gaussian Splatting, since once the same update strategy is employed for both dynamic and static parts, regardless of the distinction and interaction between Gaussians, significant artifacts and noise appear. We propose Dual-Hierarchical Optimization (DHO), which consists of Hierarchical Gaussian Flow and Hierarchical Gaussian Guidance in a divide-and-conquer manner. The former implements effective division of static and dynamic rendering and features. The latter helps to mitigate the issue of dynamic foreground rendering distortion in textured complex scenes. Extensive experiments show that our method consistently outperforms the baselines on both synthetic and real-world datasets, and supports various downstream tasks. Project Page: https://***/DHO. Copyright © 2025, The Authors. All rights reserved.

关键词： 3D reconstruction

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Morphotectonic Analyses of LiDAR-Derived DEMs:Insights into Tectonic Activity of the Xinhua Fault within the Three Gorges Area(Central China)

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Journal of Earth Science 2025年第2期36卷 823-829页

作者： Xiaofeng Wang Xiaohan Yin Tonghui Liu Xuan Li Hongming Wang Yaqi Zhong Gang Rao School of Computer and the Hubei Key Laboratory of Intelligent Geo-Information Processing China University of Geosciences(Wuhan)Wuhan 430078China School of Geoscience and Technology Southwest Petroleum UniversityChengdu 610500China School of Earth Sciences China University of Geosciences(Wuhan)Wuhan 430074China Hubei Communications Planning and Design Institute Co. Ltd.Wuhan 430051China School of Economics and Management Shandong Jiaotong UniversityJinan 250357China

0 *** global availability of digital elevation model(DEM)data,such as 90-m Shuttle Radar Topography Mission(SRTM)DEM and 30-m Advanced Spaceborne Thermal Emission and Reflection Radiometer Global Digital Elevation Model(ASTER GDEM),has been extensively utilized in morphotectonic analyses(e.g.,Wang et al.,2024;Cheng et al.,2018;Pérez-Pe?a et al.,2010;El Hamdouni et al.,2008).

关键词： xinhua fault morphotectonic analyses egwang three gorges area digital elevation model aster lidar derived dems tectonic activity morphotectonic analyses digital elevation model dem datasuch

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M2-Net: Multi-Task Learning-Based Multi-Band Signal Recognition Network

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IEEE Internet of Things Journal 2025年

作者： Zhang, Xingjian Wang, Pengxu Ma, Yuan Jiao, Jian Wu, Shaohua Zhang, Qinyu Harbin Institute of Technology Shenzhen Guangdong Provincial Key Laboratory of ACNT Shenzhen518055 China Pengcheng Laboratory Shenzhen518055 China Guangdong Provincial Key Laboratory of ACNT Shenzhen518055 China Shenzhen University State Key Laboratory of Radio Frequency Heterogeneous Integration Guangdong Key Laboratory of Intelligent Information Processing the College of Electronic and Information Engineering Shenzhen518060 China

Traditional signal recognition requires the design of multiple different deep neural networks to handle different signal recognition tasks, which not only fails to take into account the correlation among different subtasks, but also leads to large model size and higher computational complexity. In this work, we propose a multi-task learning-based multi-band signal recognition network (M2-Net) to simultaneously recognize the location of occupied frequency bands, modulation types, and signal types. The proposed M2-Net consists of two main parts: shared feature extraction network (SFEN) and multi-task classification header (MCH). In SFEN, a plug-and-play multi-task feature extraction convolution and an adaptive threshold denoising module are introduced to provide better shared feature extraction and denoising performance. In MCH, the shared features obtained from SFEN are further processed for different recognition tasks. Furthermore, during the multi-task model training, homoscedastic uncertainty is introduced as a task-dependent weight to adaptively balance the training loss of different tasks. To evaluate the recognition performance of the proposed method, we construct a multi-band signal dataset and compare M2-Net with several state-of-the-art models in signal recognition field. Experiment results show that the proposed M2-Net has significant performance improvements in terms of recognition accuracy and model complexity, especially under low signal-to-noise ratio conditions. © 2025 IEEE.

关键词： Deep neural networks

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A comprehensive survey on shadow removal from document images: datasets, methods, and opportunities

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Vicinagearth 2025年第1期2卷 1-18页

作者： Wang, Bingshu Li, Changping Zou, Wenbin Zhang, Yongjun Chen, Xuhang Chen, C.L. Philip School of Software Northwestern Polytechnical University Xi’an China Guangdong Provincial Key Laboratory of Intelligent Information Processing & Shenzhen Key Laboratory of Media Security Shenzhen University Shenzhen China Guangdong Key Laboratory of Intelligent Information Processing College of Electronics and Information Engineering Shenzhen University Shenzhen China Yongjun Zhang is with the State Key Laboratory of Public Big Data College of Computer Science and Technology Guizhou University Guiyang China School of Computer Science and Engineering Huizhou University Huizhou China School of Computer Science and Engineering South China University of Technology and Pazhou Lab Guangzhou China

With the rapid development of document digitization, people have become accustomed to capturing and processing documents using electronic devices such as smartphones. However, the captured document images often suffer from issues like shadows and noise due to environmental factors, which can affect their readability. To improve the quality of captured document images, researchers have proposed a series of models or frameworks and applied them in distinct scenarios such as image enhancement, and document information extraction. In this paper, we primarily focus on shadow removal methods and open-source datasets. We concentrate on recent advancements in this area, first organizing and analyzing nine available datasets. Then, the methods are categorized into conventional methods and neural network-based methods. Conventional methods use manually designed features and include shadow map-based approaches and illumination-based approaches. Neural network-based methods automatically generate features from data and are divided into single-stage approaches and multi-stage approaches. We detail representative algorithms and briefly describe some typical techniques. Finally, we analyze and discuss experimental results, identifying the limitations of datasets and methods. Future research directions are discussed, and nine suggestions for shadow removal from document images are proposed. To our knowledge, this is the first survey of shadow removal methods and related datasets from document images.

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DASC-SPT: Towards Self-Supervised Panoramic Semantic Segmentation

DASC-SPT: Towards Self-Supervised Panoramic Semantic Segment...

引用

IEEE Workshop on Applications of Computer Vision (WACV)

作者： Tianlong Tan Bin Chen Hongliang Cao Chenggang Yan Yike Ma Feng Dai Key Laboratory of Intelligent Information Processing of Chinese Academy of Sciences Institute of Computing Technology Chinese Academy of Sciences Beijing China Shandong University University of Chinese Academy of Sciences Beijing China Hangzhou Dianzi University

ISBN: (数字)9798331510831

ISBN: (纸本)9798331510848

Self-Supervised Semantic Segmentation, aiming to leverage masses of unlabeled data for boosting semantic segmentation, has been rapidly emerging as an active task in recent years. However, existing self-supervised semantic segmentation approaches mainly focus on planar images, leaving multiple distorted objects encountered in panoramic images unexplored due to the formidable challenge of handling heterogeneous degrees of distortions across different locations. In this paper, we propose a novel Self-Supervised Panoramic Semantic Segmentation model, termed DASC-SPT, built upon the mainstream contrastive learning framework. Towards distortions in panoramic images, we present two structures to better learn from distorted features by applying planar images. For the input images of self-supervision, we design a Spherical Projection Transformation (SPT) strategy that involves randomly projecting planar images onto various locations of the sphere to introduce the distortions. For pixel-wise distorted features, we construct a Deformation-aware Sampling Consistency (DASC) framework to further utilize the shared content and discrepancies caused by different distortions of paired views, where the deformation-aware consistency can be quantified on pixel-wise features. Both of the two components facilitate the model to adapt to distortions and boost panoramic semantic segmentation. Extensive comprehensive experiments on three panoramic datasets demonstrate the effectiveness and superiority of DASC-SPT approach.

关键词： Training Deformable models Adaptation models Computer vision Semantic segmentation Computational modeling Crops Contrastive learning Distortion Boosting

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Leveraging Timbre Semantic Descriptors for Cross-Dataset Instrument Recognition

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IEEE Transactions on Audio, Speech and Language processing 2025年 33卷 1196-1207页

作者： Shenyang Xu Yuan Wang Zijin Li Feng Yu Wei Li Department of Music AI and Information Technology Central Conservatory of Music Beijing China School of Computer Science and Technology Fudan University Shanghai China Shanghai Key Laboratory of Intelligent Information Processing Fudan University Shanghai China

Timbre, a perceptual attribute of musical sound, plays a critical role in both instrument recognition and timbre perception research. However, these fields are rarely integrated, and as a result, their findings rarely benefit one another. This study investigates how integrating timbre semantic descriptors as an auxiliary task can enhance musical instrument recognition under challenging cross-dataset conditions via multi-task learning (MTL). A standard flat MTL framework is introduced, alongside an asymmetric MTL proposed to amplify the influence of timbre semantic descriptors on instrument recognition. Experiments are conducted on Western and Chinese instrument datasets to evaluate cross-cultural performance. The results demonstrate significant improvements on both datasets using the flat MTL, with further analysis revealing the varying contributions of individual timbre descriptors and demonstrating its robustness across different hyperparameter settings. The asymmetric MTL achieves additional performance gains on Western datasets but not on Chinese ones. A dedicated analysis is carried out to investigate this discrepancy, offering insights into potential dataset-specific or cultural challenges.

关键词： Instruments Timbre Semantics Vectors Training Accuracy Testing Multitasking Standards Speech processing

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A small object detection algorithm for mine environment

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Engineering Applications of Artificial Intelligence 2025年 153卷

作者： Liu, Dong Zhao, Xin Fan, Weiqiang School of Electronic Information Engineering Inner Mongolia University Hohhot010021 China Inner Mongolia Key Laboratory of Intelligent Communication and Sensing and Signal Processing Hohhot010021 China

The detection of protective equipment carried by underground mine operators is a crucial measure for preventing safety accidents and safeguarding personal life and property. However, current challenges include low object detection accuracy and difficulty detecting small objects, we propose a small object detection algorithm based on the improved You Only Look Once Version 8 (YOLOv8) for the mine environment. To minimize the semantic gap between features at different levels and enhance the feature fusion effect, the Asymptotic Feature Pyramid Network-Four (AFPN-F) has been designed to replace the Neck component of YOLOv8, enabling the detection model to better adapt to semantic information across varying levels. To enhance the model's sensitivity to small objects in the mine environment, a superficial feature output layer has been added to the model. This addition helps to prevent the loss of small-sized objects, which may contain limited feature information, during successive convolution operations. To address the significant differences in the scales of various objects in the mine, the More Focused Intersection over Union Loss (Focaler-IoU) is introduced as a loss function. This modification is intended to improve the handling of different types of regression samples, enhance training accuracy, and ensure that the model is more focused on small objects in the mine environment. The experimental results show that the proposed model outperforms other mainstream models. Compared to the baseline model YOLOv8, achieving an improvement of 3.7 percent in mean Average Precision (mAP), the number of parameters has been reduced by 30 percent, resulting in a model size of only 5 Megabytes. This study provides an effective solution for detecting small objects in underground mines. © 2025 Elsevier Ltd

关键词： Protective clothing

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Data-Driven Digital Adaptive Timing Mismatch Calibration for Sub-Nyquist Wideband Sampling

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IEEE Transactions on Cognitive Communications and Networking 2025年

作者： Ma, Yuan Zheng, Yiling Zhang, Xingjian Liao, Bin Shenzhen University State Key Laboratory of Radio Frequency Heterogeneous Integration Guangdong Provincial Key Laboratory of Intelligent Information Processing Shenzhen518060 China Pengcheng Laboratory Shenzhen518055 China Shenzhen University College of Electronic and Information Engineering Shenzhen518060 China Harbin Institute of Technology Guangdong Provincial Key Laboratory of Aerospace Communication and Networking Technology Shenzhen518055 China Shenzhen University Guangdong Provincial Key Laboratory of Intelligent Information Processing Shenzhen518060 China State Key Laboratory of Radio Frequency Heterogeneous Integration Shenzhen518060 China Fudan University Institute of Space Internet Shanghai China

The employment of sub-Nyquist sampling enables the adaptation to the ever-increasing bandwidth demands of wireless communication systems. Multicoset sampling is a nonuniform sub-Nyquist sampling technique that can be realized by using a multi-channel architecture. Nevertheless, the performance of multicoset sampling is significantly affected by timing mismatches among sub-ADCs. Traditional analog calibration scheme mitigates timing mismatch errors by adjusting the sampling clock in the front-end, but its performance is suboptimal due to the difficulty in selecting an appropriate initial step size and the sequential calibration process. In this paper, a data-driven digital adaptive timing mismatch calibration approach is proposed that uses real-time measurement data only to calculate calibration parameters without changing hardware circuits, making it effective for tracking variations in mismatches among multiple channels. Based on the nonlinear relationship between the timing mismatches and the normalized mean squared error of the output spectrum, the proposed data-driven calibration scheme jointly computes calibration parameters among multiple channels in parallel through a series of dynamic linearization data models with a time-varying pseudo-partial derivative parameter estimation procedure, and then adaptively adjusts the sampling matrix in the reconstruction to correct unwanted distortions in the output spectrum. To further improve the calibration performance, particle swarm optimization algorithm is exploited to generate parameter vectors used in the proposed data-driven calibration scheme. Numerical analyses indicate that the proposed data-driven digital calibration scheme can eliminate timing mismatches with fewer calibration iterations and enhanced accuracy. © 2015 IEEE.

关键词： Particle swarm optimization (PSO)

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