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6th International Conference on Robotics and Automation Engineering, ICRAE 2021

作者： Su, Linyu Qiu, Guoping Tang, Wengming Chen, Min Shenzhen University College of Electronic and Information Engineering Guangdong Key Laboratory of Intelligent Information Processing Shenzhen Institute of Artificial Intelligence and Robotics for Society China Super-accurate Vision Science and Technology Ltd Shenzhen China

ISBN: (纸本)9781665406970

This paper presents an open source robot simulation environment based on the robot operating system (ROS). To help novice to learn robotics, we have designed several important experiments that most robotics beginners will need to practice. Our simulation environment provides an efficient, safe, and transferable testing and operating environment for the rapid verification of robot algorithms. Through practicing the experiments in this paper, robotics beginners can learn robotics knowledge faster, better and at a lower cost, which should great facilitate them to operate robots in real-world applications. Source code, simulation video and detailed wiki for the simulation environment are available online at https://***/Suyixiu/robot_sim. © 2021 IEEE.

关键词： Robotics

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Interpretable multi-view attention network for drug-drug interaction prediction

Interpretable multi-view attention network for drug-drug int...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Xuan Lin Qi Wen Sijie Yang Zu-Guo Yu Yahui Long Xiangxiang Zeng College of Computer Science Xiangtan University China Key Laboratory of Intelligent Computing and Information Processing of Ministry of Education Xiangtan University China Singapore Immunology Network (SIgN) Agency for Science Technology and Research(A*STAR) Singapore College of Information Science and Engineering Hunan University China

Drug-drug interaction (DDI) plays an increasingly crucial role in drug discovery. Predicting potential DDI is also essential for clinical research. Given the high cost and risk of wet-lab experiments, in-silico DDI prediction is an alternative choice. Recently, deep learning methods have been developed for DDI prediction. However, most of existing methods focus on feature extraction from either molecular SMILES sequences or drug interactive networks, ignoring the valuable complementary information that can be derived from these two views. In this paper, we propose a novel interpretable Multi-View Attention network (MVA-DDI) for DDI prediction. MVA-DDI can effectively extracts drug representations from different perspectives to improve DDI prediction. Specifically, for a given drug, we design a transformer-based encoder and a graph convolutional networkbased encoder to learn sequence and graph representations from SMILES sequence and molecular graph, respectively. To fully exploit the complementary information between the sequence and molecular views, an attention mechanism is further adopted to adaptively aggregate the sequence and graph representations by taking the importance of different views into accounts, generating the final drug representations. Comparison experiments demonstrated that our MVA-DDI 1 model achieved superior performance to state-of-the-art models on DDI prediction.

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Exploiting Mulit-Scale Hierarchical Feature Representation for Visual Tracking

SSRN

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SSRN 2022年

作者： Wang, Jun Yin, Peng Yang, Wenhui Wang, Yuanyun Wang, Shengqian Jiangxi Province Key Laboratory of Water Information Cooperative Sensing and Intelligent Processing Nanchang Institute of Technology Nanchang330099 China School of Information Engineering Nanchang Institute of Technology Nanchang330029 China

Convolutional Neural Networks (CNNs) have been the dominant architectures for feature extraction tasks, but CNNs do not look for and focus on some specific image features. Correlation operations play an important role in visual tracking. However, the correlation operation reserves a large amount of unfavourable background information. In this paper, we propose an effective feature recognizer including channel and spatial attention modules to generate a 3D attention map to focus on important feature information. A hierarchical attention is built by locating the feature recognizer at different convolution blocks to improve the network's representation power. Further, we design a two-branch multi-scale feature fusion network based on cross-attention. The fusion network is embedded in a transformer encoder to perform feature fusion of template feature branch and encoded feature branch via cross-attention. Then, the stronger image features are obtained. Experiments on five benchmarks demonstrate that the proposed tracker outperforms SOTA trackers. © 2022, The Authors. All rights reserved.

关键词： Convolutional neural networks

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Blockchain-Based Multi-Cloud Data Storage System Disaster Recovery

Blockchain-Based Multi-Cloud Data Storage System Disaster Re...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Feiyu Wang Jian-tao Zhou College of Computer Science Inner Mongolia University Hohhot Inner Mongolia China Inner Mongolia Engineering Laboratory for Cloud Computing and Service Software Inner Mongolia Key Laboratory of Social Computing and Data Processing Inner Mongolia Engineering Laboratory for Big Data Analysis Technology Engineering Research Center of Ecological Big Data Ministry of Education National & Local Joint Engineering Research Center of Intelligent Information Processing Technology for Mongolian China

Cloud storage services have been used by most businesses and individual users. However, data loss, service interruptions and cyber attacks often lead to cloud storage services not being provided properly, and these incidents have caused financial losses to users. Second, traditional and single-cloud model disaster recovery services are no longer suitable for the current complex cloud storage systems. Therefore, a scheme to provide disaster recovery for cloud storage services in a multi-cloud storage environment is needed in real production. In this paper, we propose a disaster recovery scheme based on blockchain technology. The proposed scheme outlined in this study aims to address the issue of data availability within the cloud storage landscape. The proposed scheme achieves this goal by dividing data into hot and cold categories, verifying the integrity of copy data via blockchain technology, and utilizing blockchain networks to manage multi-cloud storage systems. Experimental findings demonstrate that the proposed scheme yields superior results in terms of computation and time overheads.

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Named Entity Driven Zero-Shot Image Manipulation

Named Entity Driven Zero-Shot Image Manipulation

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Zhida Feng Li Chen Jing Tian JiaXiang Liu Shikun Feng School of Computer Science and Technology Wuhan University of Science and Technology Wuhan China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Wuhan China Baidu Inc. Institute of Systems Science National University of Singapore

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

We introduced StyleEntity, a zero-shot image manipulation model that utilizes named entities as proxies during its training phase. This strategy enables our model to manipulate images using unseen textual descriptions during inference, all within a single training phase. Additionally, we proposed an inference technique termed Prompt Ensemble Latent Averaging (PELA). PELA averages the manipulation directions derived from various named entities during inference, effectively eliminating the noise directions, thus achieving stable manipulation. In our experiments, StyleEntity exhibited superior performance in a zero-shot setting compared to other methods. The code, model weights, and datasets are available at https://***/feng-zhida/StyleEntity.

关键词： Training Adaptation models Computer vision Codes Computational modeling Noise Stability analysis

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Alleviating Shifted Distribution in Human Preference Alignment through Meta-Learning 39

Alleviating Shifted Distribution in Human Preference Alignme...

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39th Annual AAAI Conference on Artificial Intelligence, AAAI 2025

作者： Dou, Shihan Liu, Yan Zhou, Enyu Gao, Songyang Li, Tianlong Xiong, Limao Zhao, Xin Jia, Haoxiang Ye, Junjie Zheng, Rui Gui, Tao Zhang, Qi Huang, Xuanjing School of Computer Science Fudan University Shanghai China Ant Group Shanghai China School of Computer Science Peking University Beijing China Institute of Modern Languages and Linguistics Fudan University Shanghai China Key Laboratory of Intelligent Information Processing Fudan University Shanghai China Shanghai Collaborative Innovation Center of Intelligent Visual Computing Shanghai China

ISBN: (纸本)157735897X

The capability of the reward model (RM) is crucial for the success of Reinforcement Learning from Human Feedback (RLHF) in aligning with human preferences. However, as training progresses, the output space distribution of the policy model shifts. The RM, initially trained on responses sampled from the output distribution of the early policy model, gradually loses its ability to distinguish between responses from the newly shifted distribution. This issue is further compounded when the RM, trained on a specific data distribution, struggles to generalize to examples outside of that distribution. These two issues can be united as a challenge posed by the shifted distribution of the environment. To surmount this challenge, we introduce MetaRM, a novel method leveraging meta-learning to adapt the RM to the shifted environment distribution. MetaRM optimizes the RM in an alternating way, by preserving both the preferences of the original preference pairs, as well as maximizing discrimination power over new examples of the shifted distribution. Extensive experiments demonstrate that MetaRM can iteratively enhance the performance of human preference alignment by improving the RM’s capacity to identify subtle differences in samples of shifted distributions. Copyright © 2025, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Reinforcement learning

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Edge-Preserving Multi-Exposure Fusion with Guided Filtering for Structural Patch Decomposition

Edge-Preserving Multi-Exposure Fusion with Guided Filtering ...

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IEEE International Conference on Electronic information and Communication technology (ICEICT)

作者： Yang Zhen Junwei Qi Yingsong Li College of Information and Communication Engineering Harbin Engineering University Harbin China College of Computer Science and Technology Harbin Engineering University Harbin China Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education Anhui University Hefei China

Multi-exposure image fusion (MEF) is one of the effective ways to obtain high dynamic range (HDR) images. Multi-scale structural patch decomposition based MEF(MSPD) and edge-preserving structural patch decomposition (MESPD) have achieved state-of-the-art fusion quality. MESPD incorporates edge-preserving factors into MSPD to preserve details in a single-scale setting. However, we find that the edge-preserving factors put too much emphasis on the edge, resulting in artifacts on some edges and loss of details. To tackle this issue, guided filter is introduced into MSPD, which is directly used as an edge-preserving filter instead of mean filter to implicitly decompose images. In addition, we have designed a flexible adaptive weight, which can further maintain details of the light and dark areas. Likewise, we inherit MESPD and MSPD to extend our method to multi-scale framework. Extensive experimental results demonstrate our method can produce satisfactory results in both static and dynamic scenes with fewer artifacts and low computational cost.

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Vector Field-Guided Circumnavigation for an Unmanned Surface Vehicle With Boundary and Obstacle Constraints

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IEEE Transactions on Emerging Topics in computing 2025年

作者： Wu, Nailong Wang, Jigang Wang, Yueying He, Shuping Donghua University College of Information Science and Technology Shanghai201620 China Donghua University Engineering Research Center of Digitized Textile & Apparel Technology Ministry of Education Shanghai201620 China Shanghai University School of Mechatronic Engineering and Automation Shanghai200444 China Anhui University Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education School of Electrical Engineering and Automation Hefei230601 China

This article aims to tackle the challenge of rapid target circumnavigation by unmanned surface vehicles (USVs) under boundary and obstacle constraints through leveraging an emerging computing architecture specifically tailored for unmanned systems. Owing to the underactuation of USV dynamic systems and the presence of various time-varying surface disturbances, attaining rapid and accurate position control along with maneuverability poses a significant challenge to USVs. Therefore, when an USV maneuvers around a target in a confined search area with obstacles, it is essential for the guidance law to consider collision risks and environmental disturbances. This paper proposes a modified Lyapunov vector field with heading deviation compensation to circle the target in complex search regions. The vector field is designed to increase the radial velocity of the USV and accelerate convergence towards the target circle during the pursuit phase. By combining the proposed Lyapunov vector field with a boundary vector field, the USV can swiftly avoid boundaries and dynamic obstacles and then continue circling the target. The proposed computing architecture extends the application scope of the target circumnavigation to practical water surface environments, which is validated by extensive simulations and rigorous experiments. © 2025 IEEE.

关键词： Unmanned surface vehicles

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Learning Unified Embeddings for Recommendation via Meta-path Semantics 21

Learning Unified Embeddings for Recommendation via Meta-path...

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29th ACM International Conference on Multimedia, MM 2021

作者： Hao, Qianxiu Xu, Qianqian Yang, Zhiyong Huang, Qingming Key Laboratory of Intelligent Information Processing Institute of Computing Technology CAS Beijing China School of Computer Science and Technology University of Chinese Academy of Sciences Beijing China Key Laboratory of Big Data Mining and Knowledge Management Chinese Academy of Sciences Beijing China Artificial Intelligence Research Center Peng Cheng Laboratory Shenzhen China

ISBN: (纸本)9781450386517

Heterogeneous information networks (HINs) have become a popular tool to capture complicated user-item relationships in recommendation problems in recent years. As a typical instantiation of HINs, meta-path is introduced in search of higher-level representations of user-item interactions. Though remarkable success has been achieved along this direction, existing meta-path-based recommendation methods face at least one of the following issues: 1) existing methods merely adopt simple meta-path fusion rules, which might be insufficient to exclude inconsistent information of different meta-paths that may hurt model performance;2) the representative power is limited by shallow/stage-wise formulations. To solve these issues, we propose an end-to-end and unified embedding-based recommendation framework with graph-based learning. To address 1), we propose a flexible fusion module to integrate meta-path-based similarities into relative similarities between users and items. To address 2), we take advantage of the powerful representative ability of deep neural networks to learn more complicated and flexible latent embeddings. Finally, empirical studies on real-world datasets demonstrate the effectiveness of our proposed method. © 2021 ACM.

关键词： Embeddings

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Adaptive ELM-Based Time-Constrained Control of Uncertain Robotic Manipulators With Minimum Learning Computation

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IEEE Transactions on Emerging Topics in computing 2025年

作者： Jin, Xiaozheng Hou, Yuhan Wu, Xiaoming Chi, Jing Qilu University of Technology Shandong Academy of Sciences Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center National Supercomputer Center in Jinan Shandong Jinan250353 China Shandong Fundamental Research Center for Computer Science Shandong Provincial Key Laboratory of Computing Power Internet and Service Computing Shandong Jinan250013 China Qilu Institute of Technology School of Intelligent Manufacturing and Control Engineering Shandong Jinan250200 China Shandong University of Finance and Economics School of Computing and Artificial Intelligence Shandong Jinan250014 China

This paper studies the extreme learning machine (ELM)-based time-constrained trajectory tracking control of a class of robotic manipulator systems with model/input uncertainties, matched and mismatched disturbances. A uniform robust exact differentiator (URED) is developed to construct a multi-layer virtual control framework of the robotic manipulator system. Under the control framework, adaptive ELM-based control strategies are proposed to suppress the influence of the uncertainties and disturbances layer-by-layer, combining with the minimum learning parameter (MLP) technique which is employed to reduce the calculation complexity of ELM parameters. The significance of this study is that general model/input uncertainties, matched and mismatched disturbances can be effectively compensated within a limited time, so that bounded trajectory tracking of the robotic manipulator can be achieved avoiding the complexity explosion issue. The time-constrained stability of the closed-loop robotic error systems is proved through Lyapunov stability theory. Finally, comparative simulations are employed to display the feasibility and superiority of the designed robust adaptive ELM-based control schemes of a robotic manipulator system. © 2013 IEEE.

关键词： Robust control

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