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Attention Guided 6D Object Pose Estimation with Multi-constraints Voting Network 1

7th International Conference on Interactive Collaborative Robotics, ICR 2022

作者： Zuo, Guoyu Gu, Zonghan Huang, Gao Gong, Daoxiong Faculty of Information Technology Beijing University of Technology Beijing100124 China Beijing Key Laboratory of Computing Intelligence and Intelligent Systems Beijing100124 China

ISBN: (数字)9783031236099

ISBN: (纸本)9783031236082

For visual-based robotic manipulation, it has always been a challenging task to perform real-time and accurate pose estimation of target objects under cluttered background, illumination variations, occlusion, and weak texture, especially under severe occlusion conditions. In recent years, the RGB-based methods based on vector field prediction are proved to be robustness on 6D object pose estimation under occlusion. At the same time, network with attention mechanism has achieved outstanding performance in 2D object detection. In this paper, we propose an attention-driven 6D pose estimation method with multi-constraints loss and pixel-wise voting. We calculate the distance weighted unit vector length and included angle length based on prediction results to regularize unit vectors prediction. Moreover, we introduce Dense Atrous Spatial Pyramid Pooling (DenseASPP) and Channel-wise Cross Attention (CCA) mechanisms into the network structure to improve the accuracy of output prediction. Experiments on LINEMOD and Occlusion LINEMOD datasets manifest that our method outperforms state-of-the-art two-stage sparse 2D keypoints prediction methods without pose refinement. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Forecasting

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Improving Fake News Detection of Influential Domain via Domain- and Instance-Level Transfer 29

Improving Fake News Detection of Influential Domain via Doma...

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29th International Conference on Computational Linguistics, COLING 2022

作者： Nan, Qiong Wang, Danding Zhu, Yongchun Sheng, Qiang Shi, Yuhui Cao, Juan Li, Jintao Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences China University of Chinese Academy of Sciences China

Both real and fake news in various domains, such as politics, health, and entertainment are spread via online social media every day, necessitating fake news detection for multiple domains. Among them, fake news in specific domains like politics and health has more serious potential negative impacts on the real world (e.g., the infodemic led by COVID-19 misinformation). Previous studies focus on multi-domain fake news detection, by equally mining and modeling the correlation between domains. However, these multi-domain methods suffer from a seesaw problem: the performance of some domains is often improved at the cost of hurting the performance of other domains, which could lead to an unsatisfying performance in specific domains. To address this issue, we propose a Domain- and Instance-level Transfer Framework for Fake News Detection (DITFEND), which could improve the performance of specific target domains. To transfer coarse-grained domain-level knowledge, we train a general model with data of all domains from the meta-learning perspective. To transfer fine-grained instance-level knowledge and adapt the general model to a target domain, we train a language model on the target domain to evaluate the transferability of each data instance in source domains and re-weigh each instance’s contribution. Offline experiments on two datasets demonstrate the effectiveness of DITFEND. Online experiments show that DITFEND brings additional improvements over the base models in a real-world scenario. © 2022 Proceedings - International Conference on Computational Linguistics, COLING. All rights reserved.

关键词： Fake detection

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Disentangled latent factors for muti-cause treatment effect estimation 6

Disentangled latent factors for muti-cause treatment effect ...

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2024 6th International Conference on Artificial Intelligence Technologies and Applications, ICAITA 2024

作者： Zhao, Zhuoyue Wang, Haotian Xu, Liyang Wang, Qian Tang, Yuhua Department of Intelligent Data Science National University of Defense Technology Changsha410073 China Intelligent Game and Decision Lab. Academy of Military Science Beijing100071 China Institute for Quantum Information State Key Laboratory of High-Performance Computing College of Computer Science and Technology National University of Defense Technology Changsha410073 China

Existing methods estimate treatment effects from observational data and assume that covariates are all confounders. However, observed covariates may not directly represent confounding variables that influence both treatment and outcome. They always include variables that only affect the treatment or the outcome. In addition, for multi-dimensional binary treatments, disentangled methods are mainly designed for binary variables and ignore the impact of multi-cause treatment variables on the inference of latent factors. To address these two issues, based on variable decomposition and proxy inference, we propose the Disentangled Latent Factors for Multi-cause Treatment Estimation (DEMTE) algorithm. It utilizes an identifiable autoencoder to infer and disentangle latent factors based on the joint distribution of variables in observational data. DEMTE evaluates the treatment effect on the disentangled factors. Synthetic experiments and semi-synthetic experiments demonstrate the effectiveness of the inference and disentanglement techniques and our method achieves more accurate treatment effect estimation. © 2024 Institute of Physics Publishing. All rights reserved.

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Sample-Efficient Reinforcement Learning Based on Dynamics Models via Meta-policy Optimization 6th

Sample-Efficient Reinforcement Learning Based on Dynamics Mo...

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6th International Conference on Cognitive Systems and Signal Processing, ICCSIP 2021

作者： Zuo, Guoyu Tian, Zhipeng Huang, Shuai Gong, Daoxiong Faculty of Information Technology Beijing University of Technology Beijing100124 China Beijing Key Laboratory of Computing Intelligence and Intelligent Systems Beijing100124 China

ISBN: (纸本)9789811692468

Model-based reinforcement learning (RL) can acquire remarkable sample efficiency, which makes it a suitable choice for applications where experiment data is hard to collect. However, it is difficult to learn an accurate dynamics model fully matched with the real-world, and the accuracy of the model usually affects the agent’s final performance. In this paper, we propose a novel model-based RL approach called Meta-policy Optimization method with branched rollouts (MPOBR), which gets rid of strong dependency on an accurate model. In MPOBR, meta-learning is used to train a policy prior on an ensemble of learned dynamics models, so that this prior can be rapidly adapted to the environment when combined with environment rollouts. To reduce the affect of model compounding bias, short model-generated rollouts branched from real data are used to update the meta-policy. The experiments on simulated robotic tasks are designed to verify the effectiveness of our method. Results show that our approach can achieve the same asymptotic performance of state-of-the-art model-free algorithms while significantly reducing sample complexity. © 2022, Springer Nature Singapore Pte Ltd.

关键词： Reinforcement learning

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Trajectory diffusion for objectgoal navigation 24

Trajectory diffusion for objectgoal navigation

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Proceedings of the 38th International Conference on Neural information Processing Systems

作者： Xinyao Yu Sixian Zhang Xinhang Song Xiaorong Qin Shuqiang Jiang Key Lab of Intelligent Information Processing Laboratory of the Chinese Academy of Sciences (CAS) Institute of Computing Technology Beijing and University of Chinese Academy of Sciences Beijing Key Lab of Intelligent Information Processing Laboratory of the Chinese Academy of Sciences (CAS) Institute of Computing Technology Beijing and University of Chinese Academy of Sciences Beijing and Institute of Intelligent Computing Technology Suzhou CAS

ISBN: (纸本)9798331314385

Object goal navigation requires an agent to navigate to a specified object in an unseen environment based on visual observations and user-specified goals. Human decision-making in navigation is sequential, planning a most likely sequence of actions toward the goal. However, existing ObjectNav methods, both end-to-end learning methods and modular methods, rely on single-step planning. They output the next action based on the current model input, which easily overlooks temporal consistency and leads to myopic planning. To this end, we aim to learn sequence planning for ObjectNav. Specifically, we propose trajectory diffusion to learn the distribution of trajectory sequences conditioned on the current observation and the goal. We utilize DDPM and automatically collected optimal trajectory segments to train the trajectory diffusion. Once the trajectory diffusion model is trained, it can generate a temporally coherent sequence of future trajectory for agent based on its current observations. Experimental results on the Gibson and MP3D datasets demonstrate that the generated trajectories effectively guide the agent, resulting in more accurate and efficient navigation. The code is available at https://***/sx-zhang/***.

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SRv6-INT Enabled Network Monitoring and Measurement: Toward High-Yield Network Observability for Digital Twin 3rd

SRv6-INT Enabled Network Monitoring and Measurement: Toward...

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3rd International Conference on Machine Learning, Cloud computing and intelligent Mining, MLCCIM 2024

作者： Zhang, Xu Feng, Chuan Han, Pengchao Liu, Wei Gong, Xiaoxue Zhang, Qiupei Guo, Lei School of Communications and Information Engineering Chongqing University of Posts and Telecommunications Chongqing400065 China Institute of Intelligent Communication and Network Security Chongqing University of Posts and Telecommunications Chongqing400065 China Key Laboratory of Big Data Intelligent Computing Chongqing University of Posts and Telecommunications Chongqing400065 China School of Information Engineering Guangdong University of Technology Guangzhou510006 China

ISBN: (纸本)9789819616978

Network monitoring and measurement is an important part of realizing the network digital twin. However, it introduces the problem of high cost when obtaining the status data of physical networks. Therefore, to efficiently achieve network observability, we first introduce potential techniques and network scenarios for implementing network measurements. Then, a High-Yield Segment Routing over IPv6 based In-band Network Telemetry (HY-SRv6-INT) system is proposed in this paper. In particular, we design the HY-SRv6-INT system architecture. It consists of IPv6 switches implemented by the P4 language and a Software-Defined Networking (SDN) controller containing the HY-SRv6-INT application. Next, we experimentally demonstrate a packet-level path-associated network measurement process. In addition, the performance of the HY-SRv6-INT system is also quantitatively evaluated to verify its advantages. Finally, we discuss some research challenges and open issues for future network telemetry. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Internet protocols

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Cryptocurrency Transaction Network Embedding From Static and Dynamic Perspectives: An Overview

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IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1105-1121页

作者： Yue Zhou Xin Luo MengChu Zhou the School of Computer Science and Technology Chongqing University of Posts and TelecommunicationsChongqing 400065 the Chongqing Key Laboratory of Big Data and Intelligent Computing Chongqing Institute of Green and Intelligent TechnologyChinese Academy of SciencesChongqing 400714 the Chongqing School University of Chinese Academy of SciencesChongqing 400714China the College of Computer and Information Science Southwest UniversityChongqing 400715China the School of Information and Electronic Engineering Zhejiang Gongshang UniversityHangzhou 310018China the Helen and John C.Hartmann Department of Electrical and Computer Engineering New Jersey Institute of TechnologyNewark NJ 07102 USA

Cryptocurrency, as a typical application scene of blockchain, has attracted broad interests from both industrial and academic communities. With its rapid development, the cryptocurrency transaction network embedding(CTNE) has become a hot topic. It embeds transaction nodes into low-dimensional feature space while effectively maintaining a network structure,thereby discovering desired patterns demonstrating involved users' normal and abnormal behaviors. Based on a wide investigation into the state-of-the-art CTNE, this survey has made the following efforts: 1) categorizing recent progress of CTNE methods, 2) summarizing the publicly available cryptocurrency transaction network datasets, 3) evaluating several widely-adopted methods to show their performance in several typical evaluation protocols, and 4) discussing the future trends of CTNE. By doing so, it strives to provide a systematic and comprehensive overview of existing CTNE methods from static to dynamic perspectives,thereby promoting further research into this emerging and important field.

关键词： Big data analysis cryptocurrency transaction network embedding(CTNE) dynamic network network embedding network representation static network

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AlphaFold2 and its applications in the fields of biology and medicine

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Signal Transduction and Targeted Therapy 2023年第4期8卷 1630-1643页

作者： Zhenyu Yang Xiaoxi Zeng Yi Zhao Runsheng Chen West China Biomedical Big Data Center West China HospitalSichuan UniversityChengdu 610041China Key Laboratory of Intelligent Information Processing Advanced Computer Research CenterInstitute of Computing TechnologyChinese Academy of SciencesBeijing 100190China Key Laboratory of RNA Biology Center for Big Data Research in HealthInstitute of BiophysicsChinese Academy of SciencesBeijing 100101China Pingshan Translational Medicine Center Shenzhen Bay LaboratoryShenzhen 518118China

AlphaFold2(AF2)is an artificial intelligence(AI)system developed by DeepMind that can predict three-dimensional(3D)structures of proteins from amino acid sequences with atomic-level *** structure prediction is one of the most challenging problems in computational biology and chemistry,and has puzzled scientists for 50 *** advent of AF2 presents an unprecedented progress in protein structure prediction and has attracted much *** release of structures of more than 200 million proteins predicted by AF2 further aroused great enthusiasm in the science community,especially in the fields of biology and ***2 is thought to have a significant impact on structural biology and research areas that need protein structure information,such as drug discovery,protein design,prediction of protein function,et *** the time is not long since AF2 was developed,there are already quite a few application studies of AF2 in the fields of biology and medicine,with many of them having preliminarily proved the potential of *** better understand AF2 and promote its applications,we will in this article summarize the principle and system architecture of AF2 as well as the recipe of its success,and particularly focus on reviewing its applications in the fields of biology and *** of current AF2 prediction will also be discussed.

关键词： system fields Fold

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Speculative decoding with CTC-based draft model for LLM inference acceleration 24

Speculative decoding with CTC-based draft model for LLM infe...

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Proceedings of the 38th International Conference on Neural information Processing Systems

作者： Zhuofan Wen Shangtong Gui Yang Feng Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences and University of Chinese Academy of Sciences Beijing China Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences and State Key Lab of Processors Institute of Computing Technology Chinese Academy of Sciences and University of Chinese Academy of Sciences Beijing China Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences and Key Laboratory of Al Safety Chinese Academy of Sciences and University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798331314385

Inference acceleration of large language models (LLMs) has been put forward in many application scenarios and speculative decoding has shown its advantage in addressing inference acceleration. Speculative decoding usually introduces a draft model to assist the base LLM where the draft model produces drafts and the base LLM verifies the draft for acceptance or rejection. In this framework, the final inference speed is decided by the decoding speed of the draft model and the acceptance rate of the draft provided by the draft model. Currently the widely used draft models usually generate draft tokens for the next several positions in a non-autoregressive way without considering the correlations between draft tokens. Therefore, it has a high decoding speed but an unsatisfactory acceptance rate. In this paper, we focus on how to improve the performance of the draft model and aim to accelerate inference via a high acceptance rate. To this end, we propose a CTC-based draft model which strengthens the correlations between draft tokens during the draft phase, thereby generating higher-quality draft candidate sequences. Experiment results show that compared to strong baselines, the proposed method can achieve a higher acceptance rate and hence a faster inference speed.

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A New Predefined Time Stability Theorem and its Application in Multi-Modal Memristive Neural Network Synchronization

A New Predefined Time Stability Theorem and its Application ...

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2023 IEEE International Conference on Memristive computing and Applications, ICMCA 2023

作者： Zhao, Hui Zhou, Lei Wang, Qingjie Liu, Aidi Peng, Jingliang School of Information Science and Engineering University of Jinan Shandong Provincial Key Laboratory of Network Based Intelligent Computing Jinan China College of Information Science and Engineering Northeastern University Shenyang China Collaborative Innovation Center of Memristive Computing Application Qilu Institute of Technology Jinan China

ISBN: (纸本)9798350316230

This article proposes a new predefined-time (PDT) stability theorem, which offers more evident advantages compared to previous predefined-time stability. Firstly, based on the limitations of existing PDT stability, this theorem relaxed the limitations of sufficient conditions, which fill the gap in the research on PDT stability. Secondly, the PDT synchronization of multi-modal memristive neural networks (MM-MNN) is analyzed by the usability of the new judgment theorem. A matching PDT controller is designed and sufficient synchronization control conditions is obtained by utilizing generalized Lyapunov functional method, set-valued mapping, inequality analysis technique and differential inclusion theory. Meanwhile, the topological characteristics of multi-modal neuron and its impact on network synchronization behavior are presented. Finally, we provide some confirmatory numerical simulations. © 2023 IEEE.

关键词： Topology

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