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38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： Wang, Xinlei Feng, Maike Qiu, Jing Gu, Jinjin Zhao, Junhua School of Electrical and Computer Engineering The University of Sydney Australia School of Science and Engineering The Chinese University of Hong Kong Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society China

This paper introduces a novel approach that leverages Large Language Models (LLMs) and Generative Agents to enhance time series forecasting by reasoning across both text and time series data. With language as a medium, our method adaptively integrates social events into forecasting models, aligning news content with time series fluctuations to provide richer insights. Specifically, we utilize LLM-based agents to iteratively filter out irrelevant news and employ human-like reasoning to evaluate predictions. This enables the model to analyze complex events, such as unexpected incidents and shifts in social behavior, and continuously refine the selection logic of news and the robustness of the agent's output. By integrating selected news events with time series data, we fine-tune a pre-trained LLM to predict sequences of digits in time series. The results demonstrate significant improvements in forecasting accuracy, suggesting a potential paradigm shift in time series forecasting through the effective utilization of unstructured news data. © 2024 Neural information processing systems foundation. All rights reserved.

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Multi Agent Coordination Strategy for Collaborative Exploration of GPS-denied Environments

Multi Agent Coordination Strategy for Collaborative Explorat...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Patel, Akash Kanellakis, Christoforos Nikolakopoulos, George Luleå University of Technology Robotics & Ai Team Department of Computer Electrical and Space Engineering LuleåSE-97187 Sweden

ISBN: (纸本)9798350325706

Autonomous exploration and mapping of unknown subterranean areas using fleet of Micro Aerial Vehicles (MAVs) have achieved great interest in the past decade. The application of such research direction is extended beyond mining industry for example the exploration of potential lava tubes and caves on Mars using Martian MAVs. In this article we present a Collaborative Exploration and Mapping approach for exploration of large scale multi-branched virtual cave environment using multiple MAVs. An important aspect of such approach is to establish a decent collaboration with minimal information exchange among agents such that the exploration area can be maximized by preventing multiple agents covering overlapping parts of the environment. The collaborative exploration approach in this article is based on sharing local traversable frontier points as information among agents such that the each agent can identify the target areas in order to extend global map in an efficient manner. This work proposes a novel baseline collaborative exploration approach for optimal target area selection with a resource constrained MAVs in order to efficiently as well as rapidly explore subterranean environment. Extensive simulations are performed to validate the proposed collaborative strategy in order to establish a multi agent coordinated exploration-coverage mission. © 2023 IEEE.

关键词： Coordinated Exploration Navigation Unmanned Aerial Vehicles

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UniSaT: Unified-Objective Belief Model and Planner to Search for and Track Multiple Objects

UniSaT: Unified-Objective Belief Model and Planner to Search...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Santos, Leonardo Moon, Brady Scherer, Sebastian Nguyen, Hoa Van School of Engineering Federal University of Minas Gerais MG Belo Horizonte Brazil Robotics Institute School of Computer Science Carnegie Mellon University PittsburghPA United States Department of Electrical and Computer Engineering Curtin University BentleyWA6102 Australia

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

Path planning for autonomous search and tracking of multiple objects is a critical problem in applications such as reconnaissance, surveillance, and data gathering. Due to the inherent competing objectives of searching for new objects while maintaining tracks for found objects, most current approaches rely on multi-objective planning methods, leaving it up to the user to tune parameters to balance between the two objectives, usually based on heuristics or trial and error. In this paper, we introduce UniSaT (Unified Search and Track), a novel unifiedobjective formulation for the search and track problem based on Random Finite Sets (RFS). Our approach models unknown and known objects using a combined generalized labeled multi-Bernoulli (GLMB) filter. For unseen objects, UniSaT leverages both cardinality and spatial prior distributions, allowing it to operate without prior knowledge of the exact number of objects in the search space. The planner maximizes the mutual information of this unified belief model, creating balanced search and tracking behaviors. We demonstrate our work in a simulated environment, presenting both qualitative results and quantitative improvements over a multi-objective method. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Object tracking

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Revolutionizing Marine Stability: A Review of Cutting-Edge Gyro Stabilizer Designs and Techniques for Vessels

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IEEE Access 2025年 13卷 89542-89555页

作者： Rahiman, Wan Ghazali, Mohamad Hazwan Mohd Mahmood, Iskandar Al-Thani Universiti Sains Malaysia Engineering Campus School of Electrical and Electronic Engineering Penang Nibong Tebal14300 Malaysia Daffodil International University Daffodil Robotics Lab Department of Computer Science and Engineering Dhaka1216 Bangladesh Universiti Kebangsaan Malaysia Faculty of Engineering and Built Environment Department of Mechanical and Manufacturing Engineering Selangor Bangi43600 Malaysia PETRONAS Research Sdn Bhd Selangor Kajang43000 Malaysia

Advancement in marine vessel stabilization technologies has greatly improved the safety and comfort for crews, cargo, and passengers, while also lowering the risk of capsizing. Marine vessels operating in open waters experience disturbances from unpredictable waves and strong winds, leading to instability and potential accidents. To mitigate these risks, stabilizers are integrated into ships to maintain stability, safety, and seaworthiness. As modern vessels evolve, stabilizers play an increasingly vital role, with gyro stabilizers emerging as a highly effective solution for mitigating roll motion without external appendages. This paper provides a comprehensive review of gyro stabilizer designs and techniques, covering their historical development, mathematical modeling, advantages, limitations, and case studies. A review of current research highlights a strong emphasis on simulating gyro stabilizer control systems, demonstrating their potential in enhancing vessel stability. However, key challenges persist, including accurate wave moment prediction during the design phase and gyroscopic drift, which can impact long-term performance and efficiency. Despite these challenges, recent advancements in control algorithms and optimization techniques have improved gyro stabilizer adaptability under varying sea conditions. By exploring the latest developments, this review serves as a valuable reference for researchers, engineers, and maritime professionals seeking to advance marine stabilization technologies. The findings underscore the potential of next-generation gyro stabilizers, including fiber optic gyros, in achieving higher precision, stability, and operational efficiency. © 2013 IEEE.

关键词： Warships

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Deep Reinforcement Learning for Solving the Vehicle Routing Problem in Practical Logistics 13

Deep Reinforcement Learning for Solving the Vehicle Routing ...

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13th IEEE Congress on Evolutionary Computation, CEC 2024

作者： Cai, Junchuang Zhang, Xinzhi Lin, Qiuzhen Dong, Lisha Chen, Weineng Ming, Zhong Shenzhen University College of Computer Science and Software Engineering Shenzhen518060 China Shenzhen Institute of Information Technology College of Sino-German Robotics Shenzhen China SSouth China University of Technology College of Computer Science and Engineering Guangzhou China

ISBN: (纸本)9798350308365

The vehicle routing problem with simultaneous pickup-delivery and time windows (VRPPDTW) is applicable to a wide range of practical scenarios within the domains of transportation and logistics. When addressing this complex problem, conventional heuristic algorithms have exhibited limitations in effectiveness, primarily due to the need for expert knowledge in heuristic design, which often prioritizes immediate improvements and leads to convergence towards local optima. To overcome this challenge, we propose a deep Q-network-based iterated local search algorithm (DQN-ILS). This algorithm employs a deep Q-learning network to automatically learn a policy for selecting heuristics to improve the current solution. Simultaneously, an adaptive perturbation strategy is designed to avoid becoming trapped in local optima. In this way, our algorithm can better balance the trade-off between exploration and exploitation when solving VRPPDTW. Experimental studies conducted on a real test suite of large-scale VRPPDTW instances validate the superiority of the proposed DQN-ILS over several recently proposed methods. © 2024 IEEE.

关键词： Deep reinforcement learning

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Decision-Making in Robotic Grasping with Large Language Models 16th

Decision-Making in Robotic Grasping with Large Language Mo...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Liao, Jianfeng Zhang, Haoyang Qian, Haofu Meng, Qiwei Sun, Yinan Sun, Yao Song, Wei Zhu, Shiqiang Gu, Jason Research Center for Intelligent Robotics Zhejiang Lab Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Zhejiang University Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax Canada

ISBN: (纸本)9789819964949

Recent advances in large language models have highlighted their potential to encode massive amounts of semantic knowledge for long-term autonomous decision-making, positioning them as a promising solution for powering the cognitive capabilities of future home-assistant robots. However, while large language models can provide high-level decision, there is still no unified paradigm for integrating them with robots’ perception and low-level action. In this paper, we propose a framework centered around a large language model, integrated with visual perception and motion planning modules, to investigate the robotic grasping task. Unlike traditional methods that only focus on generating stable grasps, our proposed approach can handle personalized user instructions and perform tasks more effectively in home scenarios. Our approach integrates existing state-of-the-art models in a simple and effective way, without requiring any fine-tuning, which makes it low-cost and easy to deploy. Experiments on a physical robot system demonstrate the feasibility of our approach. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Decision making

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V-TX: A VR-Based Deployment and Evaluation System for Wearable Telexistence Robotic Systems 23

V-TX: A VR-Based Deployment and Evaluation System for Wearab...

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23rd International Conference on Cyberworlds, CW 2024

作者： Iskandar, Abdullah Aburajouh, Hala Khazer Shebli Al-Shaer, Eman Hussain Al-Yafei, Fatima Thabit Al-Arqaban, Bushra Ahmad Al-Yousef, Moneera Yang, Pinchu Halabi, Osama Al-Sada, Mohammed Nakajima, Tatsuo Waseda University Computer Science and Engineering Japan Telkom University School of Computing Indonesia Qatar University Computer Science and Engineering Qatar Waseda University Future Robotics Organization Japan Qatar University KINDI Computing Research Center Qatar

ISBN: (纸本)9798331527174

Wearable telexistence robotic systems have risen in prominence after the COVID-19 pandemic, being vital for various applications. However, their design, fabrication, and evaluation require substantial resources and are unsupported by robot simulation systems. Therefore, we present V-TX, which is a VR-based system for deploying and evaluating wearable telexistence systems. V-TX extends key telexistence systems' components with versatility for customizing different attributes based on the intended application. To demonstrate the potential of V-TX, we replicated a real telexistence robot in V-TX, called Piton, and showed a novel potential use for exploring and evaluating different robot designs, interaction methods, and deployments. We conducted a comparative evaluation between the real Piton robot and its V-TX implementation. The results show that V-TX gave results that match those of the real counterpart across the main factors of telexistence, indicating its viability as an alternative to traditional evaluation approaches using real robots. Lastly, we discuss the limitations and present future research directions. © 2024 IEEE.

关键词： Machine design

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Design and Development of the Dual-Arm Robot DARO 5

Design and Development of the Dual-Arm Robot DARO

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5th World Robot Conference Symposium on Advanced robotics and Automation, WRC SARA 2023

作者： Liu, Yun Huang, Qiulang Zhang, Pu Yan, Mindong Liang, Dingkun Kong, Lingyu Wang, Xin Xie, Anhuan Gu, Jason Zhu, Shiqiang Research Institute of Interdisciplinary Innovation Zhejiang Lab Research Center for Intelligent Robotics Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Dalhousie University Electrical and Computer Engineering HalifaxNS Canada

ISBN: (纸本)9798350307320

This paper presents the design and development of a humanoid dual-arm robot called DARO, along with its improved version, DARO-N. DARO and DARO-N consist of two arms and humanoid hands, each with 6/7 degrees of freedom for the arms and 7 active degrees of freedom for the hands. Modular commercial actuators are employed as the driving joints of the arms, allowing for reduced development time and cost. The design principles of modularity, simplicity, lightweight construction, human likeness, information perception capability, and scalability are incorporated into the design. Furthermore, this work establishes a control framework for the humanoid dual-arm robot and conducts simulations and multiple physical experiments to validate the performance of the robots. © 2023 IEEE.

关键词： Degrees of freedom (mechanics)

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Robot Arm Control System via Ethernet with Kinect V2 Camera for use in Hazardous Areas 1

Robot Arm Control System via Ethernet with Kinect V2 Camera ...

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1st International Conference on robotics, engineering, Science, and Technology, RESTCON 2024

作者： Suphalak, Kanok Klanpet, Nattapol Sikaressakul, Nuttakit Prongnuch, Sethakarn Suan Sunandha Rajabhat University Faculty of Industrial Technology Department of Computer Engineering Bangkok Thailand Suan Sunandha Rajabhat University Faculty of Industrial Technology Department of Robotics Engineering Bangkok Thailand

ISBN: (纸本)9798350348842

This paper introduces the Ethernet robot arm control system with Kinect V2 camera for use in hazardous areas. The goal is to evaluate the performance of Ethernet communication and robot arm control in picking and placing objects. This system is divided into two architectures. Hardware includes an AMBER B1 robot arm and gripper, a Kinect V2 camera, AMBER robot arm control system, a router, and a PC/laptop. Software includes the C# software client, ROS2, Kinect for Windows SDK 2.0, and ARS. The experiment is separated into two parts: An Ethernet UDP performance evaluation and an object pick and place test. Maximum Ethernet UDP bandwidth is 4.20 Mbits/sec and there is no packet loss. There is a 15% error for picking objects. The movement of the robot arm follows the user's movement and object placement with 100% success. The robot arm control system from this research can help access dangerous areas after accidents. © 2024 IEEE.

关键词： Ethernet

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Development and Evaluation of a Cost-effective IMU System for Gait Analysis: Comparison with Vicon and VideoPose3D Algorithms

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Current Directions in Biomedical engineering 2023年第1期9卷 254-257页

作者： Wilhelm, Nikolas Haddadin, Sami Micheler, Carina M. Lang, Jan J. Hinterwimmer, Florian Schaack, Victor Smits, Ricardo Burgkart, Rainer Department of Orthopedics and Sports Orthopedics Klinikum Rechts der Isar School of Medicine and Munich Institute of Robotics and Machine Intelligence Department of Electrical and Computer Engineering Technical University of Munich Munich Germany Munich Institute of Robotics and Machine Intelligence Department of Electrical and Computer Engineering Technical University of Munich Munich Germany Department of Orthopedics and Sports Orthopedics Klinikum Rechts der Isar School of Medicine Munich Germany

This study aimed to develop and evaluate a costeffective Inertial Measurement Unit (IMU) system for gait analysis, comparing its performance with the Vicon system and the VideoPose3D algorithm. The system comprises five calibrated sensors and a mobile app to measure lower body orientation during gait and stair climbing. Eight healthy participants were involved in the experiment, each performing ten repetitions to analyze hip and knee flexion angles. The IMU system demonstrated significantly lower mean square error than deep learning-based approaches and comparable results to the Vicon system, indicating its potential for clinical and research applications. © 2023 the author(s), published by Walter de Gruyter Berlin/Boston.

关键词： Gait analysis

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