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IEEE Conference on computer Communications Workshops, INFOCOM Wksps

作者： Yufeng Diao Yichi Zhang Philip G. Zhao Daniele De Martini School of Engineering University of Glasgow UK Department of Computer Science University of Manchester UK Oxford Robotics Institute (ORI) University of Oxford UK

ISBN: (数字)9798350384475

ISBN: (纸本)9798350384482

Image-based teleoperation offers significant flexibility and efficiency in several applications, such as teleoperated driving; still, it highly depends on reliable communication band-width and high Signal-to-Noise Ratio (SNR), which is hard to guarantee in uncontrolled environments. This poster tackles the challenge of reliable communication under limited bandwidth. We propose to leverage the context and task knowledge to guide the compression to favor task performance rather than image fidelity. In particular, we jointly designed source-channel coding with a task performer to present an end-to-end TAsk-Guided Image Communication (TAGIC) framework, which uses Soft Introspective Variational Autoencoder (S-IntroVAE) and prioritizes the task-critical image information with limited communication bandwidth in the low SNR region. We demonstrate the effectiveness of TAGIC in a teleoperated driving scenario through the CARLA simulation platform - a widely used simulator in the autonomous driving community. Given the equivalent value of bandwidth compression ratio, TAGIC achieves a 202.6% improvement in the driving score over existing methods at low SNR.

关键词： Resistance Knowledge engineering Image coding Image communication Conferences Bandwidth Reliability

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Recurrent Neural Network-based Modeling Approach for 4D Printing Design : Long sequence prediction based on short sequences

Recurrent Neural Network-based Modeling Approach for 4D Prin...

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2024 International Conference on Advanced Mechatronic Systems, ICAMechS 2024

作者： Xu, Yifan Wang, Mengtao Wang, Zhongkui Meng, Lin Ritsumeikan University Graduate School of Science and Engineering 1-1-1 Noji-higashi Kusatsu Shiga525-8577 Japan Ritsumeikan University Department of Robotics 1-1-1 Noji-higashi Kusatsu Shiga525-8577 Japan Ritsumeikan University Department of Electronic and Computer Engineering 1-1-1 Noji-higashi Kusatsu Shiga525-8577 Japan

ISBN: (纸本)9798350366204

This study presents a method for predicting the deformation of hydrogel models fabricated by four-dimensional printing technology using deep learning. In this method, a large number of hydrogel models with the same shape but different distributions of length and expansion ratio are first created using the modeling software Abaqus. Then, deformation simulations are performed based on finite element analysis using the thermal expansion method, and the simulation results are processed and organized to create a data set. Afterward, a recurrent neural network (RNN) was created and trained using a composite dataset consisting of multiple hydrogel model sequences of different lengths to enable the RNN to learn model deformation features and, accordingly, predict the deformation of various longer sequences of hydrogels in a very short period of time while recording the change in accuracy of the prediction for each length. This research provides a new approach to modeling and inverse design for 4D printing technology. © 2024 IEEE.

关键词： Prediction models

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Reactive Multi-agent Coordination using Auction-based Task Allocation and Behavior Trees

Reactive Multi-agent Coordination using Auction-based Task A...

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Control Technology and Applications (CCTA),

作者： Niklas Dahlquist Björn Lindqvist Akshit Saradagi George Nikolakopoulos Department of Computer Science Electrical and Space Engineering Robotics and AI Group Luleå University of Technology Luleå Sweden

This article presents an architecture for multi-agent task allocation and task execution, through the unification of a market-inspired task-auctioning system with Behavior Trees for managing and executing lower level behaviors. We consider the scenario with multi-stage tasks, such as ’pick and place’, whose arrival times are not known a priori. In such a scenario, a coordinating architecture is expected to be reactive to newly arrived tasks and the resulting rerouting of agents should be dependent on the stage of completion of their current multi-stage tasks. In the novel architecture proposed in this article, a central auctioning system gathers bids (cost-estimates for completing currently available tasks) from all agents, and solves a combinatorial problem to optimally assign tasks to agents. For every agent, it’s participation in the auctioning system and execution of an assigned multi-stage task is managed using behavior trees, which switch among several well-defined behaviors in response to changing scenarios. The auctioning system is run at a fixed rate, allowing for newly added tasks to be incorporated into the auctioning system, which makes the solution reactive and allows for rerouting of some agents (subject to the states of the behavior trees). We demonstrate that the proposed architecture is especially well-suited for multistage tasks, where high costs are incurred when rerouting agents who have completed one or more stages of their current tasks. The proposed framework is experimentally validated in multiple scenarios in a lab environment. A video of a demonstration can be found at: https://***/ZdEkoOOlB2g.

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Density-aware Domain Generalization for LiDAR Semantic Segmentation

Density-aware Domain Generalization for LiDAR Semantic Segme...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jaeyeul Kim Jungwan Woo Ukcheol Shin Jean Oh Sunghoon Im Department of Electrical Engineering and Computer Science DGIST Daegu Republic of Korea Robotics Institute Carnegie Mellon University Pittsburgh Pennsylvania United States

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

3D LiDAR-based perception has made remarkable advancements, leading to the widespread adoption of LiDAR in autonomous driving systems. Despite these technological strides, variations in LiDAR sensors and environmental conditions can significantly deteriorate the performance of perception models, primarily due to changes in the density of point clouds. Recent studies in domain generalization have aimed to mitigate this challenge; however, they often rely on the availability of sequential data and ego-motion, which limits their applicability. To address these limitations, we propose two novel methods that enable network operation in a density-aware fashion without any constraints, thereby ensuring consistent performance despite fluctuations in point cloud density. First, we design the network to be density-aware by utilizing the kernel occupancy information from the 3D sparse convolution as geometric features. Subsequently, we further enhance density awareness by incorporating voxel-wise density prediction as an auxiliary task in a self-supervised manner. Our method demonstrates superior performance over current state-of-the-art approaches, achieving this without the need for specific data prerequisites. Our approach is compatible with a variety of 3D backbone architectures, enhancing domain generalization performance by 18.4% while adding a minimal computational overhead of only 7ms.

关键词： Point cloud compression Three-dimensional displays Laser radar Fluctuations Convolution Semantic segmentation Robustness Sensors Kernel Intelligent robots

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Learnable Data Augmentation for One-Shot Unsupervised Domain Adaptation

arXiv

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arXiv 2023年

作者： Carrazco, Julio Ivan Davila Morerio, Pietro Del Bue, Alessio Murino, Vittorio Italian Institute of Technology Genoa Italy Department of Computer Science University of Verona Verona Italy Department of Computer Science and Technology Bioengineering Robotics and Systems Engineering University of Genova Genoa Italy Department of Marine Electrical Electronic and Telecommunications Engineering Robotics and Systems Engineering University of Genova Genoa Italy

This paper presents a classification framework based on learnable data augmentation to tackle the One-Shot Unsupervised Domain Adaptation (OS-UDA) problem. OS-UDA is the most challenging setting in Domain Adaptation, as only one single unlabeled target sample is assumed to be available for model adaptation. Driven by such single sample, our method LearnAug-UDA learns how to augment source data, making it perceptually similar to the target. As a result, a classifier trained on such augmented data will generalize well for the target domain. To achieve this, we designed an encoder-decoder architecture that exploits a perceptual loss and style transfer strategies to augment the source data. Our method achieves state-of-the-art performance on two well-known Domain Adaptation benchmarks, DomainNet and VisDA. The project code is available at https://***/IIT-PAVIS/LearnAug-UDA. © 2023, CC BY.

关键词： Benchmarking

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Textual training for the hassle-free removal of unwanted visual data: case studies on OOD and hateful image detection 24

Textual training for the hassle-free removal of unwanted vis...

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

作者： Saehyung Lee Jisoo Mok Sangha Park Yongho Shin Dahuin Jung Sungroh Yoon Department of Electrical and Computer Engineering Seoul National University Qualcomm Korea YH Seoul South Korea School of Computer Science and Engineering Soongsil University Department of Electrical and Computer Engineering and Interdisciplinary Program in Artificial Intelligence Seoul National University

ISBN: (纸本)9798331314385

In our study, we explore methods for detecting unwanted content lurking in visual datasets. We provide a theoretical analysis demonstrating that a model capable of successfully partitioning visual data can be obtained using only textual data. Based on the analysis, we propose Hassle-Free Textual Training (HFTT), a streamlined method capable of acquiring detectors for unwanted visual content, using only synthetic textual data in conjunction with pre-trained vision-language models. HFTT features an innovative objective function that significantly reduces the necessity for human involvement in data annotation. Furthermore, HFTT employs a clever textual data synthesis method, effectively emulating the integration of unknown visual data distribution into the training process at no extra cost. The unique characteristics of HFTT extend its utility beyond traditional out-of-distribution detection, making it applicable to tasks that address more abstract concepts. We complement our analyses with experiments in out-of-distribution detection and hateful image detection. Our codes are available at https://***/Saehyung-Lee/HFTT

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Aggregating Structural Features for Computational Analysis of Mutations in BRCT Domains of BRCA1 Protein

Aggregating Structural Features for Computational Analysis o...

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2023 International Conference on Informatics, Multimedia, Cyber and Information Systems, ICIMCIS 2023

作者： Hidayat, Alam Ahmad Nirwantono, Rudi Isnan, Mahmud Trinugroho, Joko Pebrianto Pardamean, Bens Bina Nusantara University School of Computer Science Bioinformatics and Data Science Research Center Mathematics Department Jakarta11480 Indonesia Bina Nusantara University Faculty of Engineering Bioinformatics and Data Science Research Center Biotechnology Department Jakarta11480 Indonesia Bina Nusantara University Bioinformatics and Data Science Research Center Jakarta11480 Indonesia Binus Graduate Program Bioinformatics and Data Science Research Center Computer Science Department Jakarta11480 Indonesia

ISBN: (纸本)9798350307306

Understanding the mechanistic interpretability of mutation effects in a protein can help predict the clinical implications of the genetic variants. Hence, computational variant effect predictions that involve protein structural features of the protein mutations might be suitable in this case. In this work, we focus on BRCT domains of BRCA1 gene that is widely studied in breast cancer studies. We retrieved 88 selected missense variants found in BRCT domains annotated in both ClinVar and gnomAD databases. To computationally characterize the pathogenic property of the mutations we used two types of features extracted from protein structures: a change in free Gibbs energy and a set of features derived from molecular dynamics simulations of each mutant. Using a dimensional reduction and Gaussian mixture model (GMM)-based clustering we demonstrate that the variants are segregated into two regions that may correspond to their pathogenic status. This method can be a potential computational pipeline for providing the preliminary mechanistic interpretation of mutation effects in terms of their thermodynamic and structural features. © 2023 IEEE.

关键词： Proteins

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HADR: APPLYING DOMAIN RANDOMIZATION FOR GENERATING SYNTHETIC MULTIMODAL DATASET FOR HAND INSTANCE SEGMENTATION IN CLUTTERED INDUSTRIAL ENVIRONMENTS

arXiv

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arXiv 2023年

作者： Grushko, Stefan Vysocký, Aleš Chlebek, Jakub Prokop, Petr Department of Robotics Faculty of Mechanical Engineering VSB - Technical University of Ostrava Czech Republic Department of Computer Science Faculty of Electrical Engineering and Computer Science VSB - Technical University of Ostrava Czech Republic

This study uses domain randomization to generate a synthetic RGB-D dataset for training multimodal instance segmentation models, aiming to achieve colour-agnostic hand localization in cluttered industrial environments. Domain randomization is a simple technique for addressing the "reality gap" by randomly rendering unrealistic features in a simulation scene to force the neural network to learn essential domain features. We provide a new synthetic dataset for various hand detection applications in industrial environments, as well as ready-to-use pretrained instance segmentation models. To achieve robust results in a complex unstructured environment, we use multimodal input that includes both colour and depth information, which we hypothesize helps to improve the accuracy of the model prediction. In order to test this assumption, we analyze the influence of each modality and their synergy. The evaluated models were trained solely on our synthetic dataset;yet we show that our approach enables the models to outperform corresponding models trained on existing state-of-the-art datasets in terms of Average Precision and Probability-based Detection Quality. © 2023, CC BY-SA.

关键词： Random processes

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Optimization Model of Housing Construction Project Scheduling Based on Optimized Ant Colony Algorithm 2

Optimization Model of Housing Construction Project Schedulin...

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2nd International Conference on Smart Technologies for Smart Nation, SmartTechCon 2023

作者： Srinivasa, Gowda G.K. Krishna, G.R. Sanjay Rex, J. Kumar, K. Sambath Kumar, Madhan Mohan Manikandan, N. Department of Computer Science and Engineering ACS College of Engineering Tamilnadu Bangalore India Department: Mechanical Engineering Koneru Lakshmaiah Education foundation Green fields Andhra Pradesh Vaddeswaram India Department of Civil Engineering Malla Reddy Engineering College Tamilnadu Hyderabad India Department of Electronics and Communication Engineering Vel Tech Rangarajan Dr.Sagunthala R&D Institute of Science and Technology Chennai India Department of Robotics and Automation Easwari Engineering College Bharathi salai Ramapuram Tamilnadu Chennai India Dept of Mechanical Engineering School of Engineering Mohan Babu University Andhra Pradesh Tirupati India

ISBN: (纸本)9798350305418

Construction management is a standardized means of project management. The construction project takes a long time and has many links, and the construction workers involved are complicated. Poor quality buildings will not only affect the construction enterprises’ brand, but also threaten the safety of people's lives and property. In this paper, an optimization model of housing construction project scheduling based on ant colony algorithm (ACA) is put forward. By studying the relationship among various sub-projects in the construction system of building projects, the management of building projects can be better realized. The results show that compared with the other two algorithms, the optimized ACA has certain advantages in recall and accuracy. There are many contents involved in the building construction process, and there are many uncontrollable factors in the building process, which greatly impact the project's construction quality. The construction industry can use this technology to strengthen the building construction management, solve the problems existing in the construction management, and improve the construction quality. © 2023 IEEE.

关键词： ant colony algorithm Building engineering Construction supervision Optimization Model Project scheduling

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External-Wrench Estimation for Aerial Robots Exploiting a Learned Model

External-Wrench Estimation for Aerial Robots Exploiting a Le...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Ayham Alharbat Gabriele Ruscelli Roberto Diversi Abeje Mersha Smart Mechatronics and Robotics research group Saxion University of Applied Science Enschede The Netherlands Robotics and Mechatronics research group Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede The Netherlands Department of Electrical Electronic and Information Engineering University of Bologna Bologna Italy

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

This paper presents an external wrench estimator that uses a hybrid dynamics model consisting of a firstprinciples model and a neural network. This framework addresses one of the limitations of the state-of-the-art modelbased wrench observers: the wrench estimation of these observers comprises the external wrench (e.g. collision, physical interaction, wind); in addition to residual wrench (e.g. model parameters uncertainty or unmodeled dynamics). This is a problem if these wrench estimations are to be used as wrench feedback to a force controller, for example. In the proposed framework, a neural network is combined with a first-principles model to estimate the residual dynamics arising from unmodeled dynamics and parameters uncertainties, then, the hybrid trained model is used to estimate the external wrench, leading to a wrench estimation that has smaller contributions from the residual dynamics, and affected more by the external wrench. This method is validated with numerical simulations of an aerial robot in different flying scenarios and different types of residual dynamics, and the statistical analysis of the results shows that the wrench estimation error has improved significantly compared to a model-based wrench observer using only a firstprinciples model.

关键词： Uncertain systems Analytical models Statistical analysis Atmospheric modeling Dynamics Neural networks Observers Autonomous aerial vehicles Numerical simulation Numerical models

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