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arXiv 2025年

作者： Wang, Naibang Shang, Deyong Gong, Yan Hu, Xiaoxi Song, Ziying Yang, Lei Huang, Yuhan Wang, Xiaoyu Lu, Jianli Beijing100083 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China State Key Laboratory of Intelligent Green Vehicle and Mobility Tsinghua University Beijing100084 China Beijing Key Laboratory of Traffic Data Mining and Embodied Intelligence School of Computer Science and Technology Beijing Jiaotong University China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore School of Mechatronics Engineering Harbin Institute of Technology 92 West Dazhi St. Harbin China Department of Electronic & Electrical Engineering University of Bath United Kingdom

Collaborative perception has attracted growing interest from academia and industry due to its potential to enhance perception accuracy, safety, and robustness in autonomous driving through multi-agent information fusion. With the advancement of Vehicle-to-Everything (V2X) communication, numerous collaborative perception datasets have emerged, varying in cooperation paradigms, sensor configurations, data sources, and application scenarios. However, the absence of systematic summarization and comparative analysis hinders effective resource utilization and standardization of model evaluation. As the first comprehensive review focused on collaborative perception datasets, this work reviews and compares existing resources from a multi-dimensional perspective. We categorize datasets based on cooperation paradigms, examine their data sources and scenarios, and analyze sensor modalities and supported tasks. A detailed comparative analysis is conducted across multiple dimensions. We also outline key challenges and future directions, including dataset scalability, diversity, domain adaptation, standardization, privacy, and the integration of large language models. To support ongoing research, we provide a continuously updated online repository of collaborative perception datasets and related literature: https://***/frankwnb/Collaborative-Perceptio n-Datasets-for-Autonomous-Driving. © 2025, CC BY-SA.

关键词： Sensor data fusion

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A Learner Model Integrating Cognitive and Metacognitive And Its Application on Scratch Programming Projects

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IFAC-PapersOnLine 2020年第5期53卷 644-649页

作者： Sifeng Jing Ying Tang Xiwei Liu Xiaoyan Gong The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Institute of Smart Education Systems Qingdao Academy of Intelligent Industries Qingdao 266044 China Department of Electrical and Computer Engineering Rowan University Glassboro NJ 08028 USA

learner’s cognitive and metacognitive are key personal profile for individualized teaching. To evaluate learner’s comprehensive characteristics, existing learner model were reviewed. Two challenges of constructing an accurate and comprehensive learner model integrating cognitive and metacognitive were summarized. A plan of constructing a comprehensive learner model was made based on analysis of existing massive online learning environment, sensor information technology and educational data-mining. As a case study, a method of how to map learning data onto learners’ cognitive and metacognitive was proposed based on an analysis of a number of pupils’ Scratch projects. Three mapping table were established. Pupil’s cognitive skill could be evaluated from technology shown from Scratch project, namely, data structure, algorithm, computational practices and overall evaluation. Content shown from Scratch project were used to infer pupil’s cognitive style. Meta-cognitive ability can be measured from computational practices and behavior in programming process.

关键词： learner model cognitive state metacognitive ability individualized teaching

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Continuity scaling: A rigorous framework for detecting and quantifying causality accurately

arXiv

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arXiv 2022年

作者： Ying, Xiong Leng, Si-Yang Ma, Huan-Fei Nie, Qing Lai, Ying-Cheng Lin, Wei School of Mathematical Sciences SCMS SCAM Fudan University Shanghai200433 China Research Institute for Intelligent Complex Systems CCSB LCNBI Fudan University Shanghai200433 China State Key Laboratory of Medical Neurobiology MOE Frontiers Center for Brain Science Institutes of Brain Science Fudan University Shanghai200032 China Institute of AI and Robotics Academy for Engineering and Technology Fudan University Shanghai200433 China School of Mathematical Sciences Soochow University Suzhou215006 China Department of Mathematics Department of Developmental and Cell Biology NSF-Simons Center for Multiscale Cell Fate Research University of California IrvineCA92697-3875 United States School of Electrical Computer and Energy Engineering Arizona State University TempeAZ85287-5706 United States Shanghai Artificial Intelligence Laboratory Shanghai200232 China

Data based detection and quantification of causation in complex, nonlinear dynamical systems is of paramount importance to science, engineering and beyond. Inspired by the widely used methodology in recent years, the cross-map-based techniques, we develop a general framework to advance towards a comprehensive understanding of dynamical causal mechanisms, which is consistent with the natural interpretation of causality. In particular, instead of measuring the smoothness of the cross map as conventionally implemented, we define causation through measuring the scaling law for the continuity of the investigated dynamical system directly. The uncovered scaling law enables accurate, reliable, and efficient detection of causation and assessment of its strength in general complex dynamical systems, outperforming those existing representative methods. The continuity scaling based framework is rigorously established and demonstrated using datasets from model complex systems and the real world. Copyright © 2022, The Authors. All rights reserved.

关键词： Dynamical systems

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Visualtracking based on moving monocular camera

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International Journal of Performability engineering 2020年第8期16卷 1215-1224页

作者： Kan, Xiu He, Jia Xi, Zhenghao School of Mathematics Southeast University Nanjing210096 China School of Electronic and Electrical Engineering Shanghai University of Engineering Science Shanghai201620 China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science Tsinghua University Shanghai201620 China

This paper investigates the problem of moving target tracking in the case of a monocular mobile camera. Firstly, a scene space model was established under a moving camera based on the constraint conditions of ground plane. Thus, a three-dimensional (3D) motion model of target could be established. The scene space model and the target 3D motion model could both be compensated by the posture of the camera, which can be calculated according to the vanishing point in the image or the motion parameters of the camera acquired by sensors. Secondly, an interception function was established to extract the target motion range according to the target 3D motion model. Both the influence of background factors and the computational complexity of the algorithm were reduced. Then, a dual-kernels tracking method was used to track the target under a situation of non-obvious color characteristics and partial shielding. Finally, a public data set was used to conduct comparison experiments with three other algorithms to verify the effectiveness and robustness of the proposed algorithm. © 2020 Totem Publisher, Inc.

关键词： Motion compensation

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Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows

arXiv

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arXiv 2021年

作者： Huang, Qiangqiang Pu, Can Khosoussi, Kasra Rosen, David M. Fourie, Dehann How, Jonathan P. Leonard, John J. MIT Computer Science and Artificial Intelligence Laboratory CambridgeMA02139 United States MIT Department of Nuclear Science and Engineering CambridgeMA02139 United States Robotics and Autonomous Systems Group DATA61 CSIRO BrisbaneQLD4069 Australia Northeastern University Department of Electrical and Computer Engineering BostonMA02115 United States NavAbility BostonMA02110 United States MIT Department of Aeronautical and Astronautical Engineering CambridgeMA02139 United States

This paper presents normalizing flows for incremental smoothing and mapping (NF-iSAM), a novel algorithm for inferring the full posterior distribution in SLAM problems with nonlinear measurement models and non-Gaussian factors. NF-iSAM exploits the expressive power of neural networks, and trains normalizing flows to model and sample the full posterior. By leveraging the Bayes tree, NF-iSAM enables efficient incremental updates similar to iSAM2, albeit in the more challenging non-Gaussian setting. We demonstrate the advantages of NF-iSAM over state-of-the-art point and distribution estimation algorithms using range-only SLAM problems with data association ambiguity. NF-iSAM presents superior accuracy in describing the posterior beliefs of continuous variables (e.g., position) and discrete variables (e.g., data association). Copyright © 2021, The Authors. All rights reserved.

关键词： Gaussian noise (electronic)

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Development of a ROS controlled chassis dynamometer for lightweight, single seater EVs

Development of a ROS controlled chassis dynamometer for ligh...

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Mediterranean Conference on Control and Automation (MED)

作者： Savvas Piperidis Iason Chrysomallis Stavros Georgakopoulos Theodoros Stefanoulis Nikolaos Ghionis Vasileios Katsifas Nikos C. Tsourveloudis Intelligent Systems and Robotics Laboratory School of Production Engineering and Management Technical University of Crete Chania Hellas School of Electronic and Computer Engineering Technical University of Crete School of Production Engineering and Management Technical University of Crete Faculty of School of Production Engineering and Management Technical University of Crete

ISBN: (数字)9781728157429

ISBN: (纸本)9781728157436

TUCer team developed a prototype, portable chassis dynamometer capable of carrying out experimentation with alternate scenarios of acceleration, constant speed and deceleration, in a fully automated way. A controller scheme based on Robot Operating System was programmed, using open source tools. The testing scenarios are implemented using a motor/generator and an electronically controlled load, embedded on the dynamometer. Extensive testing during TUCer systems' development and real race conditions proved the dynamometer's reliability and functionality.

关键词： Prototypes Testing Wheels Task analysis Dynamometers Roads Electron tubes

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Attribute Prototype Network for Any-Shot Learning

arXiv

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arXiv 2022年

作者： Xu, Wenjia Xian, Yongqin Wang, Jiuniu Schiele, Bernt Akata, Zeynep State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications Beijing China Max Planck Institute for Informatics Saarland Informatics Campus Saarbrücken Germany Computer Vision Laboratory ETH Zurich Switzerland University of Tübingen Tübingen Germany Max Planck Institute for Intelligent Systems Tübingen Germany City University of Hong Kong Hong Kong Hong Kong Aerospace Information Research Institute Chinese Academy of Sciences China School of Electronic Electrical and Communication Engineering University of Chinese Academy of Sciences China

Any-shot image classification allows to recognize novel classes with only a few or even zero samples. For the task of zero-shot learning, visual attributes have been shown to play an important role, while in the few-shot regime, the effect of attributes is underexplored. To better transfer attribute-based knowledge from seen to unseen classes, we argue that an image representation with integrated attribute localization ability would be beneficial for any-shot, i.e. zero-shot and few-shot, image classification tasks. To this end, we propose a novel representation learning framework that jointly learns discriminative global and local features using only class-level attributes. While a visual-semantic embedding layer learns global features, local features are learned through an attribute prototype network that simultaneously regresses and decorrelates attributes from intermediate features. Furthermore, we introduce a zoom-in module that localizes and crops the informative regions to encourage the network to learn informative features explicitly. We show that our locality augmented image representations achieve a new state-of-the-art on challenging benchmarks, i.e. CUB, AWA2, and SUN. As an additional benefit, our model points to the visual evidence of the attributes in an image, confirming the improved attribute localization ability of our image representation. The attribute localization is evaluated quantitatively with ground truth part annotations, qualitatively with visualizations, and through welldesigned user studies. Copyright © 2022, The Authors. All rights reserved.

关键词： Image representation

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Selfish caching games on directed graphs

arXiv

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arXiv 2020年

作者： Ma, Qian Yeh, Edmund Huang, Jianwei School of Intelligent Systems Engineering Sun Yat-sen University China Department of Electrical and Computer Engineering Northeastern University Boston02215 United States Shenzhen Institute of Artificial Intelligence and Robotics for Society School of Science and Engineering Chinese University of Hong Kong Shenzhen518172 Hong Kong

Caching networks can reduce the routing costs of accessing contents by caching contents closer to users. However, cache nodes may belong to different entities and behave selfishly to maximize their own benefits, which often lead to performance degradation for the overall network. While there has been extensive literature on allocating contents to caches to maximize the social welfare, the analysis of selfish caching behaviors remains largely unexplored. In this paper, we model the selfish behaviors of cache nodes as selfish caching games on arbitrary directed graphs with heterogeneous content popularity. We study the existence of a pure strategy Nash equilibrium (PSNE) in selfish caching games, and analyze its efficiency in terms of social welfare. We show that a PSNE does not always exist in arbitrary-topology caching networks. However, if the network does not have a mixed request loop, i.e., a directed loop in which each edge is traversed by at least one content request, we show that a PSNE always exists and can be found in polynomial time. Furthermore, we can avoid mixed request loops by properly choosing request forwarding paths. We then show that the efficiency of Nash equilibria, captured by the price of anarchy (PoA), can be arbitrarily poor if we allow arbitrary content request patterns, and adding extra cache nodes can make the PoA worse, i.e., cache paradox happens. However, when cache nodes have homogeneous request patterns, we show that the PoA is bounded even allowing arbitrary topologies. We further analyze the selfish caching games for cache nodes with limited computational capabilities, and show that an approximate PSNE exists with bounded PoA in certain cases of interest. Simulation results show that increasing the cache capacity in the network improves the efficiency of Nash equilibria, while adding extra cache nodes can degrade the efficiency of Nash equilibria. Copyright © 2020, The Authors. All rights reserved.

关键词： Game theory

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Novel Smart N95 Filtering Facepiece Respirator with Real-time Adaptive Fit Functionality and Wireless Humidity Monitoring for Enhanced Wearable Comfort

arXiv

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arXiv 2023年

作者： Kwon, Kangkyu Lee, Yoon Jae Jung, Yeongju Soltis, Ira Choi, Chanyeong Na, Yewon Romero, Lissette Kim, Myung Chul Rodeheaver, Nathan Kim, Hodam Lloyd, Michael S. Zhuang, Ziqing King, William Xu, Susan Ko, Seung-Hwan Lee, Jinwoo Yeo, Woon-Hong School of Electrical and Computer Engineering College of Engineering Georgia Institute of Technology AtlantaGA30332 United States Center for Human-Centric Interfaces and Nanoengineering Institute for Electronics and Nanotechnology Georgia Institute of Technology AtlantaGA30332 United States Applied Nano and Thermal Science Lab Department of Mechanical Engineering Seoul National University 1 Gwanak-ro Gwanak-gu Seoul08826 Korea Republic of George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology AtlantaGA30332 United States School of Industrial Design Georgia Institute of Technology AtlantaGA30332 United States Division of Cardiology Emory University School of Medicine AtlantaGA30322 United States National Institute for Occupational Safety and Health National Personal Protective Technology Laboratory PittsburghPA15236 United States Seoul National University Gwanak-ro Gwanak-gu Seoul08826 Korea Republic of Department of Mechanical Robotics and Energy Engineering Dongguk University 30 Pildongro 1-gil Jung-gu Seoul04620 Korea Republic of Wallace H. Coulter Department of Biomedical Engineering Parker H. Petit Institute for Bioengineering and Biosciences Neural Engineering Center Institute for Materials Institute for Robotics and Intelligent Machines Georgia Institute of Technology AtlantaGA30332 United States

The widespread emergence of the COVID-19 pandemic has transformed our lifestyle, and facial respirators have become an essential part of daily life. Nevertheless, the current respirators possess several limitations such as poor respirator fit because they are incapable of covering diverse human facial sizes and shapes, potentially diminishing the effect of wearing respirators. In addition, the current facial respirators do not inform the user of the air quality within the smart facepiece respirator in case of continuous long-term use. Here, we demonstrate the novel smart N-95 filtering facepiece respirator that incorporates the humidity sensor and pressure sensory feedback-enabled self-fit adjusting functionality for the effective performance of the facial respirator to prevent the transmission of airborne pathogens. The laser-induced graphene (LIG) constitutes the humidity sensor, and the pressure sensor array based on the dielectric elastomeric sponge monitors the respirator contact on the user’s face, providing the sensory information for a closed-loop feedback mechanism. As a result of the self-fit adjusting mode along with elastomeric lining, the fit factor is increased by 3.20 and 5 times at average and maximum respectively. We expect that the experimental proof-of-concept of this work will offer viable solutions to the current commercial respirators to address the *** Codes 92C55 Copyright © 2023, The Authors. All rights reserved.

关键词： Graphene

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Vector Symbolic Architectures as a Computing Framework for Emerging Hardware

arXiv

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arXiv 2021年

作者： Kleyko, Denis Davies, Mike Frady, E. Paxon Kanerva, Pentti Kent, Spencer J. Olshausen, Bruno A. Osipov, Evgeny Rabaey, Jan M. Rachkovskij, Dmitri A. Rahimi, Abbas Sommer, Friedrich T. The Redwood Center for Theoretical Neuroscience The University of California BerkeleyCA94720 United States The Intelligent Systems Lab Research Institutes of Sweden Kista16440 Sweden The Neuromorphic Computing Laboratory Intel Labs Santa ClaraCA95054 United States The Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå97187 Sweden The Department of Electrical Engineering and Computer Sciences The University of California BerkeleyCA94720 United States International Research and Training Center for Information Technologies and Systems Kyiv03680 Ukraine IBM Research – Zurich Rüschlikon8803 Switzerland

This article reviews recent progress in the development of the computing framework Vector Symbolic Architectures (also known as Hyperdimensional Computing). This framework is well suited for implementation in stochastic, emerging hardware and it naturally expresses the types of cognitive operations required for Artificial Intelligence (AI). We demonstrate in this article that the field-like algebraic structure of Vector Symbolic Architectures offers simple but powerful operations on high-dimensional vectors that can support all data structures and manipulations relevant to modern computing. In addition, we illustrate the distinguishing feature of Vector Symbolic Architectures, "computing in superposition," which sets it apart from conventional computing. It also opens the door to efficient solutions to the difficult combinatorial search problems inherent in AI applications. We sketch ways of demonstrating that Vector Symbolic Architectures are computationally universal. We see them acting as a framework for computing with distributed representations that can play a role of an abstraction layer for emerging computing hardware. This article serves as a reference for computer architects by illustrating the philosophy behind Vector Symbolic Architectures, techniques of distributed computing with them, and their relevance to emerging computing hardware, such as neuromorphic computing. Copyright © 2021, The Authors. All rights reserved.

关键词： Vectors

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