Recently, neural network-based in-loop filters have been rapidly developed, effectively improving the reconstruction quality and compression efficiency in video coding. Existing deep in-loop filters typically employed...
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Dexterous robot manipulation has shone in complex industrial scenarios, where multiple manipulators, or fingers, cooperate to grasp and manipulate objects. When encountering multi-objective optimization with system co...
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Dexterous robot manipulation has shone in complex industrial scenarios, where multiple manipulators, or fingers, cooperate to grasp and manipulate objects. When encountering multi-objective optimization with system constraints in such scenarios, model predictive control(MPC) has demonstrated exceptional performance in complex multi-robot manipulation tasks involving multi-objective optimization with system constraints. However, in such scenarios, the substantial computational load required to solve the optimal control problem(OCP) at each triggering instant can lead to significant delays between state sampling and control application, hindering real-time performance. To address these challenges, this paper introduces a novel robust tube-based smooth MPC approach for two fundamental manipulation tasks: reaching a given target and tracking a reference trajectory. By predicting the successor state as the initial condition for imminent OCP solving, we can solve the forthcoming OCP ahead of time, alleviating delay effects. Additionally,we establish an upper bound for linearizing the original nonlinear system, reducing OCP complexity and enhancing response speed. Grounded in tube-based MPC theory, the recursive feasibility and closed-loop stability amidst constraints and disturbances are ensured. Empirical validation is provided through two numerical simulations and two real-world dexterous robot manipulation tasks, which shows that the seamless control input by our methods can effectively enhance the solving efficiency and control performance when compared to conventional time-triggered MPC strategies.
In the era of advanced machine learning techniques,the development of accurate predictive models for complex medical conditions,such as thyroid cancer,has shown remarkable *** predictivemodels for thyroid cancer enhan...
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In the era of advanced machine learning techniques,the development of accurate predictive models for complex medical conditions,such as thyroid cancer,has shown remarkable *** predictivemodels for thyroid cancer enhance early detection,improve resource allocation,and reduce ***,the widespread adoption of these models in clinical practice demands predictive performance along with interpretability and *** paper proposes a novel association-rule based feature-integratedmachine learning model which shows better classification and prediction accuracy than present *** study also focuses on the application of SHapley Additive exPlanations(SHAP)values as a powerful tool for explaining thyroid cancer prediction *** the proposed method,the association-rule based feature integration framework identifies frequently occurring attribute combinations in the *** original dataset is used in trainingmachine learning models,and further used in generating SHAP values *** the next phase,the dataset is integrated with the dominant feature sets identified through association-rule based *** new integrated dataset is used in re-training the machine learning *** new SHAP values generated from these models help in validating the contributions of feature sets in predicting *** conventional machine learning models lack interpretability,which can hinder their integration into clinical decision-making *** this study,the SHAP values are introduced along with association-rule based feature integration as a comprehensive framework for understanding the contributions of feature sets inmodelling the *** study discusses the importance of reliable predictive models for early diagnosis of thyroid cancer,and a validation framework of *** proposed model shows an accuracy of 93.48%.Performance metrics such as precision,recall,F1-score,and the area un
Let n≥2 be an integer. We give necessary and sufficient conditions for an integral quadratic form over dyadic local fields to be n-universal by using invariants from Beli's theory of bases of norm ***, we provide...
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Let n≥2 be an integer. We give necessary and sufficient conditions for an integral quadratic form over dyadic local fields to be n-universal by using invariants from Beli's theory of bases of norm ***, we provide a minimal set for testing n-universal quadratic forms over dyadic local fields, as an analogue of Bhargava and Hanke's 290-theorem(or Conway and Schneeberger's 15-theorem) on universal quadratic forms with integer coefficients.
Informational resources have significantly expanded as a result of the growth of the internet. Consequently, making personalized suggestions about different types of information, goods, and services is the best strate...
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This study provides a detailed study of a Сonvolutional Neural Network (СNN) model optimized for facial eхpression recognition with Fuzzy logic using Fuzzy2DPooling and Fuzzy Neural Networks (FNN), and discusses da...
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Matrix minimization techniques that employ the nuclear norm have gained recognition for their applicability in tasks like image inpainting, clustering, classification, and reconstruction. However, they come with inher...
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Matrix minimization techniques that employ the nuclear norm have gained recognition for their applicability in tasks like image inpainting, clustering, classification, and reconstruction. However, they come with inherent biases and computational burdens, especially when used to relax the rank function, making them less effective and efficient in real-world scenarios. To address these challenges, our research focuses on generalized nonconvex rank regularization problems in robust matrix completion, low-rank representation, and robust matrix regression. We introduce innovative approaches for effective and efficient low-rank matrix learning, grounded in generalized nonconvex rank relaxations inspired by various substitutes for the ?0-norm relaxed functions. These relaxations allow us to more accurately capture low-rank structures. Our optimization strategy employs a nonconvex and multi-variable alternating direction method of multipliers, backed by rigorous theoretical analysis for complexity and *** algorithm iteratively updates blocks of variables, ensuring efficient convergence. Additionally, we incorporate the randomized singular value decomposition technique and/or other acceleration strategies to enhance the computational efficiency of our approach, particularly for large-scale constrained minimization problems. In conclusion, our experimental results across a variety of image vision-related application tasks unequivocally demonstrate the superiority of our proposed methodologies in terms of both efficacy and efficiency when compared to most other related learning methods.
The perception in most existing vision-based reinforcement learning(RL) models for robotic manipulation relies heavily on static third-person or hand-mounted first-person cameras. In scenarios with occlusions and limi...
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The perception in most existing vision-based reinforcement learning(RL) models for robotic manipulation relies heavily on static third-person or hand-mounted first-person cameras. In scenarios with occlusions and limited maneuvering space, these carefully positioned cameras often struggle to provide effective visual observations during manipulation. Taking inspiration from human capabilities, we introduce a novel RL-based dual-arm active visual-guided manipulation model(DAVMM), which simultaneously infers “eye” actions and “hand” actions for two separate robotic arms(referred to as the vision-arm and the worker-arm) based on current observations, empowering the robot with the ability to actively perceive and interact with its environment. To handle the extensive redundant observation-action space, we propose a decouplable target-centric reward paradigm to offer stable guidance for the training process. For making fine-grained manipulation action decisions, alongside a global scene image encoder, we utilize an independent encoder to extract local target texture features,enabling the simultaneous acquisition of both global and detailed local information. Additionally, we employ residual-RL and curriculum learning techniques to further enhance our model's sample efficiency and training stability. We conducted comparative experiments and analyses of DAVMM against a set of strong baselines on three occluded and narrow-space manipulation tasks. DAVMM notably improves the success rates across all manipulation tasks and showcases rapid learning capabilities.
In this paper,a robust and consistent COVID-19 emergency decision-making approach is proposed based on q-rung linear diophantine fuzzy set(q-RLDFS),differential evolutionary(DE)optimization principles,and evidential r...
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In this paper,a robust and consistent COVID-19 emergency decision-making approach is proposed based on q-rung linear diophantine fuzzy set(q-RLDFS),differential evolutionary(DE)optimization principles,and evidential reasoning(ER)*** proposed approach uses q-RLDFS in order to represent the evaluating values of the alternatives corresponding to the *** optimization is used to obtain the optimal weights of the attributes,and ER methodology is used to compute the aggregated q-rung linear diophantine fuzzy values(q-RLDFVs)of each *** the score values of alternatives are computed based on the aggregated *** alternative with the maximum score value is selected as a better *** applicability of the proposed approach has been illustrated in COVID-19 emergency decision-making system and sustainable energy planning ***,we have validated the proposed approach with a numerical ***,a comparative study is provided with the existing models,where the proposed approach is found to be robust to perform better and consistent in uncertain environments.
This paper presents ScenePalette,a modeling tool that allows users to“draw”3D scenes interactively by placing objects on a canvas based on their contextual *** is inspired by an important intuition which was often i...
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This paper presents ScenePalette,a modeling tool that allows users to“draw”3D scenes interactively by placing objects on a canvas based on their contextual *** is inspired by an important intuition which was often ignored in previous work:a real-world 3D scene consists of the contextually reasonable organization of objects,*** typically place one double bed with several subordinate objects into a bedroom instead of different shapes of ***,abstracts 3D repositories as multiplex networks and accordingly encodes implicit relations between or among ***,basic statistics such as co-occurrence,in combination with advanced relations,are used to tackle object relationships of different *** experiments demonstrate that the latent space of ScenePalette has rich contexts that are essential for contextual representation and exploration.
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