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Proceedings of the 41st International Conference on Machine Learning

作者： Pengying Wu Yao Mu Bingxian Wu Yi Hou Ji Ma Shanghang Zhang Chang Liu Department of Advancded Manufacturing and Robotics College of Engineering Peking University Beijing China The University of Hong Kong and OpenGVLab Shanghai AI Laboratory National Key Laboratory for Multimedia Information Processing School of Computer Science Peking University Beijing China

In the realm of household robotics, the Zero-Shot Object Navigation (ZSON) task empowers agents to adeptly traverse unfamiliar environments and locate objects from novel categories without prior explicit training. This paper introduces VoroNav, a novel semantic exploration framework that proposes the Reduced Voronoi Graph to extract exploratory paths and planning nodes from a semantic map constructed in real time. By harnessing topological and semantic information, VoroNav designs text-based descriptions of paths and images that are readily interpretable by a large language model (LLM). In particular, our approach presents a synergy of path and farsight descriptions to represent the environmental context, enabling LLM to apply commonsense reasoning to ascertain waypoints for navigation. Extensive evaluation on HM3D and HSSD validates VoroNav surpasses existing benchmarks in both success rate and exploration efficiency (absolute improvement: +2.8% Success and +3.7% SPL on HM3D, +2.6% Success and +3.8% SPL on HSSD). Additionally introduced metrics that evaluate obstacle avoidance proficiency and perceptual efficiency further corroborate the enhancements achieved by our method in ZSON planning. Project page: https://***

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CLIMS++: Cross Language Image Matching with Automatic Context Discovery for Weakly Supervised Semantic Segmentation

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International Journal of computer vision 2025年 1-20页

作者： Xie, Jinheng Deng, Songhe Hou, Xianxu Luo, Zhaochuan Shen, Linlin Huang, Yawen Zheng, Yefeng Shou, Mike Zheng Computer Vision Institute School of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China Department of Computer Science Wenzhou-Kean University Wenzhou325060 China Guangdong Provincial Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen China Show Lab National University of Singapore Singapore639798 Singapore School of AI and Advanced Computing Xi’an Jiaotong-Liverpool University Suzhou215400 China Jarvis Research Center Tencent YouTu Lab Shenzhen518703 China

While promising results have been achieved in weakly-supervised semantic segmentation (WSSS), limited supervision from image-level tags inevitably induces discriminative reliance and spurious relations between target classes and background regions. Thus, Class Activation Map (CAM) usually tends to activate discriminative object regions and falsely includes lots of class-related backgrounds. Without pixel-level supervisions, it could be very difficult to enlarge the foreground activation and suppress those false activation of background regions. In this paper, we propose a novel framework of Cross Language Image Matching with Automatic Context Discovery (CLIMS++), based on the recently introduced Contrastive Language-Image Pre-training (CLIP) model, for WSSS. The core idea of our framework is to introduce natural language supervision to activate more complete object regions and suppress class-related background regions in CAM. In particular, we design object, background region, and text label matching losses to guide the model to excite more reasonable object regions of each category. In addition, we propose to automatically find spurious relations between foreground categories and backgrounds, through which a background suppression loss is designed to suppress the activation of class-related backgrounds. The above designs enable the proposed CLIMS++ to generate a more complete and compact activation map for the target objects. Extensive experiments on PASCAL VOC 2012 and MS COCO 2014 datasets show that our CLIMS++ significantly outperforms the previous state-of-the-art methods. © The Author(s), under exclusive licence to Springer science+Business Media, LLC, part of Springer Nature 2025.

关键词： Semantic Segmentation

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Efficiently Approaching Groups of People in a Socially Acceptable Manner in Environments with Obstacles

Efficiently Approaching Groups of People in a Socially Accep...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Aline F. F. Silva Luciano E. Almeida Douglas G. Macharet Department of Computer Science Computer Vision and Robotics Laboratory (VeRLab) Universidade Federal de Minas Gerais Brazil Laboratório de Inteligência Computacional e Robótica (LICRo) Instituto Federal do Triângulo Mineiro (IFTM) Brazil

Advancements in mobile robotics have allowed humans and robots to interact in different environments and ways. A problem of great interest in Human-Robot Interaction is how to approach individuals, e.g., to gather information, in a socially acceptable manner. We present a new method for planning sequential visits to various groups of people in cluttered environments. The problem is formulated as a Set Orienteering Problem, where each group denotes a cluster with a set of possible approaching points considering different F-formations. We use the concept of a social probabilistic roadmap to determine safe paths between groups. Simulations considering different cases show that methodology produces efficient tours that maximize the number of approached individuals while respecting social norms of distance and a limited budget.

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Ghost Swarms: Learning Swarm Rules from Environmental Changes Alone 28th

Ghost Swarms: Learning Swarm Rules from Environmental Chang...

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28th European Conference on Genetic Programming, EuroGP 2025, Held as Part of EvoStar 2025

作者： Alharthi, Khulud Abdallah, Zahraa S. Hauert, Sabine Bristol Robotics Laboratory University of Bristol Bristol United Kingdom School of Engineering Mathematics and Technology University of Bristol Bristol United Kingdom Department of Computer Science College of Computers and Information Technology Taif University Taif Saudi Arabia

ISBN: (纸本)9783031899904

Swarm behaviours emerge from agents interacting with their local environment following simple rules. While directly observing each agent can be challenging, their collective behaviour leaves detectable environmental imprints that could offer insights into the underlying swarm dynamics. However, this task is complex due to the hidden and interconnected relationships between the rules governing agent interactions, the emergent swarm behaviour, and the environmental changes generated by this behaviour. In this work, we propose a method for extracting human-readable controllers from demonstrations showing only observable environmental imprints caused by the swarm. This approach explores whether these environmental imprints can reveal the swarm’s actions, even when the individual agents are challenging to track. Our approach eliminates the need for prior knowledge about the controller or its structure, enabling the successful learning of controllers from a single demonstration. We provide a novel method for understanding and managing both natural and engineered swarms by utilising the environmental imprints left by swarm behaviours, even when direct observation of the swarm’s actions is not feasible. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Environmental Imprints Imitation Learning Swarm Behaviour

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Optimizing Forest Fire Prevention: Intelligent Scheduling Algorithms for Drone-Based Surveillance System 27

Optimizing Forest Fire Prevention: Intelligent Scheduling Al...

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27th International Conference on Knowledge Based and Intelligent information and Engineering Sytems, KES 2023

作者： Jemmali, Mahdi Melhim, Loai Kayed B. Boulila, Wadii Amdouni, Hajer Alharbi, Mafawez T. College of Computing and Informatics University of Sharjah Sharjah United Arab Emirates MARS Laboratory University of Sousse Sousse Tunisia Department of Computer Science Higher Institute of Computer Science and Mathematics Monastir University Monastir5000 Tunisia Department of Health Information Management and Technology College of Applied Medical Sciences University of Hafr Al Batin Hafr Al Batin39524 Saudi Arabia Robotics and Internet-of-Things Laboratory Prince Sultan University Riyadh12435 Saudi Arabia RIADI Laboratory National School of Computer Sciences University of Manouba Manouba Tunisia Ecole Supérieure des Sciences Economiques et Commerciales de Tunis Université de Tunis Tunisia Unit of Scientific Research Applied College Qassim University Buraydah51452 Saudi Arabia

Given the importance of forests and their role in maintaining the ecological balance, which directly affects the planet, the climate, and the life on this planet, this research presents the problem of forest fire monitoring using drones. The forest monitoring process is performed continuously to track any changes in the monitored region within the forest. During fires, drones' capture data is used to increase the follow-up speed and enhance the control process of these fires to prevent their spread. The time factor in such problems determines the success rate of the fire extinguishing process, as appropriate data at the right time may be the decisive factor in controlling fires, preventing their spread, extinguishing them, and limiting their losses. Therefore, this research presented the problem of monitoring task scheduling for drones in the forest monitoring system. This problem is solved by developing several algorithms with the aim of minimizing the total completion time required to carry out all the drones' assigned tasks. System performance is measured by using 990 instances of three different classes. The performed experimental results indicated the effectiveness of the proposed algorithms and their ability to act efficiently to achieve the desired goal. The algorithm RID achieved the best performance with a percentage rate of up to 90.3% with a time of 0.088 seconds. © 2023 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0)

关键词： algorithms drone fire Forest monitoring

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Frequency-driven Imperceptible Adversarial Attack on Semantic Similarity

arXiv

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arXiv 2022年

作者： Luo, Cheng Lin, Qinliang Xie, Weicheng Wu, Bizhu Xie, Jinheng Shen, Linlin Computer Vision Institute School of Computer Science & Software Engineering Shenzhen University2Shenzhen Institute of Artificial Intelligence & Robotics for Society3Guangdong Key Laboratory of Intelligent Information Processing

Current adversarial attack research reveals the vulnerability of learning-based classifiers against carefully crafted perturbations. However, most existing attack methods have inherent limitations in cross-dataset generalization as they rely on a classification layer with a closed set of categories. Furthermore, the perturbations generated by these methods may appear in regions easily perceptible to the human visual system (HVS). To circumvent the former problem, we propose a novel algorithm that attacks semantic similarity on feature representations. In this way, we are able to fool classifiers without limiting attacks to a specific dataset. For imperceptibility, we introduce the low-frequency constraint to limit perturbations within high-frequency components, ensuring perceptual similarity between adversarial examples and originals. Extensive experiments on three datasets (CIFAR-10, CIFAR-100, and ImageNet-1K) and three public online platforms indicate that our attack can yield misleading and transferable adversarial examples across architectures and datasets. Additionally, visualization results and quantitative performance (in terms of four different metrics) show that the proposed algorithm generates more imperceptible perturbations than the state-of-the-art methods. Code is made available at https://***/LinQinLiang/SSAH-adversarial-attack. © 2022, CC BY.

关键词： Classification (of information)

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GNN-Assisted BiG-AMP: Joint Channel Estimation and Data Detection for Massive MIMO Receiver

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IEEE Transactions on Wireless Communications 2025年第6期24卷 4631-4646页

作者： Liu, Zishen Wu, Nan He, Dongxuan Yuan, Weijie Li, Yonghui Quek, Tony Q. S. School of Information and Electronics Beijing Institute of Technology Beijing100081 China School of System Design and Intelligent Manufacturing Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China School of Electrical and Information Engineering The University of Sydney SydneyNSW2008 Australia Singapore University of Technology and Design 487372 Singapore Department of Electronic Engineering Kyung Hee University Yongin17104 Korea Republic of

In this paper, we develop a graph neural network (GNN)-assisted bilinear inference approach to enhance the receiver performance of the MIMO system through message passing-based joint channel estimation and data detection (JCD). Specifically, based on the bilinear generalized approximate message passing (BiG-AMP) framework and conditional correlation of signal, we propose a GNN-assisted BiG-AMP (GNN-BiGAMP) approach, which integrates a GNN module into the data-detection-loop to compensate the inaccurate marginal likelihood approximation. By leveraging the coupling between the channel and received symbols, a bilinear GNN-assisted BiG-AMP (BiGNN-BiGAMP) JCD receiver is further proposed. This method incorporates two GNNs with similar graph representation into the bilinear posterior estimation loops, which not only compensates for approximation errors but also alleviates performance loss due to premature variance convergence, thereby enhancing the receiver performance significantly. To fully exploit the supervised information from channel estimation and data detection, we propose a multitask learning based training scheme, which coordinates GNNs with different tasks in two loops. Simulation results show that our proposed GNN-assisted JCD receivers significantly outperform other JCD counterparts in terms of both channel estimation and data detection. © 2025 IEEE. All rights reserved.

关键词： Graph neural networks

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DOZE: A Dataset for Open-Vocabulary Zero-Shot Object Navigation in Dynamic Environments

arXiv

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arXiv 2024年

作者： Ma, Ji Dai, Hongming Mu, Yao Wu, Pengying Wang, Hao Chi, Xiaowei Fei, Yang Zhang, Shanghang Liu, Chang The Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing100871 China The State Key Laboratory of Multimedia Information Processing School of Computer Science Peking University Beijing100871 China The Department of Computer Science The University of Hong Kong Pokfulam Hong Kong The Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong

Zero-Shot Object Navigation (ZSON) requires agents to autonomously locate and approach unseen objects in unfamiliar environments and has emerged as a particularly challenging task within the domain of Embodied AI. Existing datasets for developing ZSON algorithms lack consideration of dynamic obstacles, object attribute diversity, and scene texts, thus exhibiting noticeable discrepancies from real-world situations. To address these issues, we propose a Dataset for Open-Vocabulary Zero-Shot Object Navigation in Dynamic Environments (DOZE) that comprises ten high-fidelity 3D scenes with over 18k tasks, aiming to mimic complex, dynamic real-world scenarios. Specifically, DOZE scenes feature multiple moving humanoid obstacles, a wide array of open-vocabulary objects, diverse distinct-attribute objects, and valuable textual hints. Besides, different from existing datasets that only provide collision checking between the agent and static obstacles, we enhance DOZE by integrating capabilities for detecting collisions between the agent and moving obstacles. This novel functionality enables the evaluation of the agents' collision avoidance abilities in dynamic environments. We test four representative ZSON methods on DOZE, revealing substantial room for improvement in existing approaches concerning navigation efficiency, safety, and object recognition accuracy. Our dataset can be found at https://***/. Copyright © 2024, The Authors. All rights reserved.

关键词： Zero-shot learning

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arXiv

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arXiv 2024年

作者： Lin, Zhenchao He, Li Yang, Hongqiang Sun, Xiaoqun Zhang, Guojin Chen, Weinan Guan, Yisheng Zhang, Hong School of Electromechanical Engineering Guangdong University of Technology Guangzhou China Department of Electronic and Electrical Engineering Southern University of Science and Technology China Shenzhen Key Laboratory of Robotics and Computer Vision China Meituan Technology Co. Ltd Shenzhen China

Large-scale point cloud consists of a multitude of individual objects, thereby encompassing rich structural and underlying semantic contextual information, resulting in a challenging problem in efficiently segmenting a point cloud. Most existing researches mainly focus on capturing intricate local features without giving due consideration to global ones, thus failing to leverage semantic context. In this paper, we propose a Similarity-Weighted Convolution and local-global Fusion Network, named SWCF-Net, which takes into account both local and global features. We propose a Similarity-Weighted Convolution (SWConv) to effectively extract local features, where similarity weights are incorporated into the convolution operation to enhance the generalization capabilities. Then, we employ a downsampling operation on the K and V channels within the attention module, thereby reducing the quadratic complexity to linear, enabling Transformer to deal with large-scale point cloud. At last, orthogonal components are extracted in the global features and then aggregated with local features, thereby eliminating redundant information between local and global features and consequently promoting efficiency. We evaluate SWCF-Net on large-scale outdoor datasets SemanticKITTI and Toronto3D. Our experimental results demonstrate the effectiveness of the proposed network. Our method achieves a competitive result with less computational cost, and is able to handle large-scale point clouds efficiently. The code is available at https://***/Sylva-Lin/SWCF-Net Copyright © 2024, The Authors. All rights reserved.

关键词： Convolution

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Data-Driven Analysis of Skin Cancer Classification with Convolutional Neural Networks for E-Health Applications

Data-Driven Analysis of Skin Cancer Classification with Conv...

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IEEE Conference on Global Communications (GLOBECOM)

作者： Imran Ahmed Misbah Ahmad Abdellah Chehri Gwanggil Jeon School of Computing and Information Science Anglia Ruskin University Cambridge UK Animal and Agriculture Department Hartpury University Gloucester UK Centre for Machine Vision Bristol Robotics Laboratory University of the West of England Bristol UK Department of Mathematics and Computer Science The Royal Military College of Canada (RMC) Canada Department of Embedded Systems Engineering Incheon National University Incheon Korea

ISBN: (数字)9798350351255

ISBN: (纸本)9798350351262

This study explores the effectiveness of Convolutional Neural Networks (CNNs) in automatically classifying skin cancer for e-health applications. The trained model showcases impressive performance by leveraging the HAM10000 dataset, which includes a wide range of skin lesion images from seven different classes. The parameters and architecture of the CNN model are presented in a systematic manner, providing valuable insights into the reasoning behind its design. The model is optimized using the Adam optimizer and annealing techniques to ensure efficient convergence. The model’s performance is assessed on validation and test datasets, showcasing an accuracy of 78.55% and 76.49%, respectively, for skin cancer classification. This study highlights the significant potential of CNN as a powerful tool for automating the diagnosis of skin cancer, which is in line with the growing trend of using deep learning for medical image analysis.

关键词： Deep learning Systematics Image analysis Market research Skin Convolutional neural networks Lesions Global communication Medical diagnostic imaging Skin cancer

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