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arXiv 2025年

作者： Chen, Jiaming Zhao, Wentao Meng, Ziyu Mao, Donghui Song, Ran Pan, Wei Zhang, Wei School of Control Science and Engineering Shandong University China Department of Computer Science The University of Manchester United Kingdom

Model Predictive control (MPC) is a widely adopted control paradigm that leverages predictive models to estimate future system states and optimize control inputs accordingly. However, while MPC excels in planning and control, it lacks the capability for environmental perception, leading to failures in complex and unstructured scenarios. To address this limitation, we introduce Vision-Language Model Predictive control (VLMPC), a robotic manipulation planning framework that integrates the perception power of vision-language models (VLMs) with MPC. VLMPC utilizes a conditional action sampling module that takes a goal image or language instruction as input and leverages VLM to generate candidate action sequences. These candidates are fed into a video prediction model that simulates future frames based on the actions. In addition, we propose an enhanced variant, Traj-VLMPC, which replaces video prediction with motion trajectory generation to reduce computational complexity while maintaining accuracy. Traj-VLMPC estimates motion dynamics conditioned on the candidate actions, offering a more efficient alternative for long-horizon tasks and real-time applications. Both VLMPC and Traj-VLMPC select the optimal action sequence using a VLM-based hierarchical cost function that captures both pixel-level and knowledge-level consistency between the current observation and the task input. We demonstrate that both approaches outperform existing state-of-the-art methods on public benchmarks and achieve excellent performance in various real-world robotic manipulation tasks. Code is available at https://***/PPjmchen/VLMPC. Copyright © 2025, The Authors. All rights reserved.

关键词： Predictive control systems

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H-STEP: Heuristic Stable Edge Service Entity Placement for Mobile Virtual Reality Systems

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IEEE Transactions on Mobile Computing 2025年

作者： Chi, Xuejian Chen, Honglong Ni, Zhichen Sun, Haiyang Sun, Peng Yu, Dongxiao Shandong Provincial Engineering Research Center of Intelligent Sensing and Measurement and Control Technology College of Control Science and Engineering Qingdao266580 China Hunan University College of Computer Science and Electronic Engineering Changsha410082 China Shandong University School of Computer Science and Technology Qingdao266237 China

Virtual reality (VR) technology, as a latency-sensitive application, can achieve real-time response to enhance the user's quality of experience (QoE) on edge devices. However, edge servers, unlike internally managed cloud servers, are prone to hardware failures, software abnormalities, and network attacks. Most prior studies have focused on reducing service delay and improving user coverage through service entity (SE) placement, often neglecting the critical impact of edge server malfunctions on user QoE. In this work, we design a stable service entity placement framework that connects users on faulty servers to collaborative edge servers, ensuring seamless task completion. This framework presents two primary challenges: determining the grouping of collaborative edge services and the placement of SEs. To address these challenges, we introduce a heuristic stable service entity placement (H-STEP) scheme. This scheme first determines the grouping of collaborative edge servers using an iterative search algorithm and then places SEs on suitable edge servers via a fast non-dominated sorting genetic placement algorithm. This approach balances stability benefits with total cost, enhancing the system's economic benefits. We theoretically analyze the performance of H-STEP and derive the performance gap between H-STEP and the optimal scheme. Extensive real-data-driven simulations demonstrate that H-STEP's performance closely approximates that of the optimal scheme and surpasses existing schemes. © 2002-2012 IEEE.

关键词： Virtual environments

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Deep learning for hyperspectral image classification: A comprehensive review and future predictions

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Information Fusion 2025年 123卷

作者： Song, Yongchao Zhang, Junhao Liu, Zhaowei Xu, Yang Quan, Siwen Sun, Lijun Bi, Jiping Wang, Xuan School of Computer and Control Engineering Yantai University Yantai264005 China Science and Technology Office Yantai University Yantai264005 China School of Electronics and Control Engineering Chang'an University Xi'an710064 China

Hyperspectral image classification (HSIC) is an important research direction in the field of remote sensing image analysis and computer vision, which is of great practical significance. Hyperspectral imaging (HSI) is widely used in a variety of scenarios with its rich spectral and spatial information, but problems such as high-dimensional data characteristics and scarcity of labeled samples challenge the classification accuracy. Deep learning (DL), with its powerful feature extraction and modeling capabilities, provides an effective means to solve the nonlinear problems in HSIC. In this survey, we systematically review the research progress and applications of DL in HSIC. Firstly, we outline the importance of accurate classification, analyze the features of HSI and the challenges faced by DL in this area. Secondly, we introduce different feature representations of HSI and provide a comprehensive describe of the application of various DL models in HSIC. Meanwhile, we also explore DL methods that can effectively improve the classification performance in the case of insufficient training samples. Finally, we summarize the current research situation, and put forward the future development direction and suggestions. © 2025 Elsevier B.V.

关键词： Labeled data

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Crowdsourcing Task Recommendation Method Based on Heterogeneous Graph Feature Anomaly Detection 18th

Crowdsourcing Task Recommendation Method Based on Heterogen...

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18th China Conference on Wireless Sensor Networks, CWSN 2024

作者： Wei, Kai Pan, Qingxian Yu, Song Fan, Zequn Li, Jinru School of Computer and Control Engineering Yantai University Yantai264005 China School of Computer and Information Science Southwest University Chongqing400715 China

ISBN: (纸本)9789819621859

The crowdsourcing task recommendation method addresses worker selection overload by intelligently matching workers with tasks. However, existing research often overlooks the inherent characteristics of workers and tasks, the long-term behavioral preferences of workers, and abnormal information about workers and tasks, which impacts the accuracy of recommendations. To address these issues, we propose a novel crowdsourcing task recommendation method based on anomaly detection using multi-attribute heterogeneous graph features. This method first establishes the connection relationships between crowdsourcing workers and tasks to construct a worker-task heterogeneous graph. DeepWalk generates initial node features, and the message-passing mechanism in the graph neural network is employed to explore the feature information of workers and task nodes. During message transmission, the graph convolutional autoencoder drives the detection of worker and task feature information. Finally, Bi-GRU captures the long-term behavioral preferences of workers, and link prediction constructs links based on node similarity to complete the recommendation of sensing tasks. We evaluate nine real datasets, and the experimental results demonstrate that the proposed method outperforms the baseline method. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Graph neural networks

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RGB-Based Category-Level Object Pose Estimation via Depth Recovery and Adaptive Refinement

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IEEE Robotics and Automation Letters 2025年第6期10卷 5377-5384页

作者： Yang, Hui Sun, Wei Liu, Jian Zheng, Jin Zeng, Zhiwen Mian, Ajmal Hunan University National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering Changsha410082 China Hunan University State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Changsha410082 China Central South University School of Architecture and Art Changsha410082 China University of Western Australia Department of Computer Science and Software Engineering CrawleyWA6009 Australia

Category-level pose estimation methods have received widespread attention as they can be generalized to intra-class unseen objects. Although RGB-D-based category-level methods have made significant progress, reliance on depth image limits practical application. RGB-based methods offer a more practical and cost-effective solution. However, current RGB-based methods struggle with object geometry perception, leading to inaccurate pose estimation. We propose depth recovery and adaptive refinement for category-level object pose estimation from a single RGB image. We leverage DINOv2 to reconstruct the coarse scene-level depth from the input RGB image and propose an adaptive refinement network based on an encoder-decoder architecture to dynamically improve the predicted coarse depth and reduce its gap from the ground truth. We introduce a 2D–3D consistency loss to ensure correspondence between the point cloud obtained from depth projection and the objects in the 2D image. This consistency supervision enables the model to maintain alignment between the depth image and the point cloud. Finally, we extract features from the refined point cloud and feed them into two confidence-aware rotation regression branches and a translation and size prediction residual branch for end-to-end training. Decoupling the rotation matrix provides a more direct representation, which facilitates parameter optimization and gradient propagation. Extensive experiments on the REAL275 and CAMERA25 datasets demonstrate the superior performance of our method. Real-world estimation and robotic grasping experiments demonstrate our model robustness to occlusion, clutter environments, and low-textured objects. Our code and robotic grasping video are available at DA-Pose. © 2016 IEEE.

关键词： Depth perception

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Computational imaging based on single-photon detection: a survey

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Artificial Intelligence Review 2025年第8期58卷 1-54页

作者： Pu, Yanyun Zhu, Chengyuan Yao, Gongxin Li, Chao Pan, Yu Yang, Kaixiang Yang, Qinmin State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Zheda Road Zhejiang Hangzhou310027 China Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Zheda Road Zhejiang Hangzhou310027 China School of Computer Science and Engineering South China University of Technology Guangzhou510641 China

The rapid advancements in single-photon detectors with picosecond timing resolution over the past decade have significantly driven the development of time-correlated single-photon counting (TCSPC) for computational imaging applications, including bioimaging and remote sensing. In this review, we utilize the CiteSpace tool to create knowledge maps and perform a bibliometric analysis of this research area. Furthermore, we provide a comprehensive overview of the key challenges associated with computational imaging using temporal single-photon counting. We also highlight how these challenges have been addressed under extreme conditions to establish a reference model for future imaging solutions. We examine the performance evaluation parameters of single-photon detectors to enhance the understanding of detector array scaling and their application in constructing efficient computational imaging systems. Lastly, we aim to elucidate the current technical challenges in single-photon detector-based computational imaging and explore their potential future developments. © The Author(s) 2025.

关键词： Computational Imaging

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Collaborative graph contrastive learning for recommendation

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Journal of Intelligent and Fuzzy Systems 2025年第1-2期48卷 33-46页

作者： Wei, Tao Yang, Changchun Zheng, Yanqi Zhang, Jingxue School of Computer Science and Artificial Intelligence Aliyun School of Big Data School of Software Changzhou University Jiangsu Changzhou China School of Microelectronics and Control Engineering Changzhou University Jiangsu Changzhou China

Recently, Graph Neural Networks (GNNs) using aggregating neighborhood collaborative information have shown effectiveness in recommendation. However, GNNs-based models suffer from over-smoothing and data sparsity problems. Due to its self-supervised nature, contrastive learning has gained considerable attention in the field of recommendation, aiming at alleviating highly sparse data. Graph contrastive learning models are widely used to learn the consistency of representations by constructing different graph augmentation views. Most current graph augmentation with random perturbation destroy the original graph structure information, which mislead embeddings learning. In this paper, an effective graph contrastive learning paradigm CollaGCL is proposed, which constructs graph augmentation by using singular value decomposition to preserve crucial structure information. CollaGCL enables perturbed views to effectively capture global collaborative information, mitigating the negative impact of graph structural perturbations. To optimize the contrastive learning task, the extracted meta-knowledge was propagate throughout the original graph to learn reliable embedding representations. The self-information learning between views enhances the semantic information of nodes, thus alleviating the problem of over-smoothing. Experimental results on three real-world datasets demonstrate the significant improvement of CollaGCL over state-of-the-art methods. © 2025 – IOS Press. All rights reserved.

关键词： Self-supervised learning

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Parameters Extraction of Photovoltaic Cell Using Particle Swarm Optimization 4th

Parameters Extraction of Photovoltaic Cell Using Particle Sw...

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4th International Conference on Electronic engineering and Renewable Energy Systems, ICEERE 2024

作者： Chermite, Charaf Douiri, Moulay Rachid Elamri, Oumaymah Control and Computer Science for Intelligent Systems and Green Energy Department of Applied Physics Faculty of Science and Technology Cadi Ayyad University Marrakech Morocco LAMIGEP EMSI of Marrakech Systems and Applications Engineering Laboratory National School of Applied Sciences Cadi Ayyad University Marrakech Marrakesh Morocco

ISBN: (纸本)9789819799749

Extracting parameters accurately and effectively from solar photovoltaic (PV) models is crucial for detailed simulation, evaluation, and management of PV systems. Although there has been an increase in the development of analytical, numerical, and metaheuristic methods targeting this task, accurately determining these parameters continues to be a significant challenge. This study focuses on applying Particle Swarm Optimization (PSO) for the extraction of key parameters of RTC France solar cells, a critical step towards enhancing PV system efficiency and reliability. Additionally, the PSO's performance is evaluated against other metaheuristic algorithms including Enhanced Chaotic JAYA (CJAYA), Performance-Guided JAYA (PGJAYA), and Enhanced Gradient-Based Optimizer (EGBO), underscoring the effectiveness of the proposed PSO-based approach. Utilizing MATLAB-SIMULINK, comprehensive analysis and results are presented, shedding light on the efficacy of PSO in addressing the intricacies of parameter extraction in PV systems. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Particle swarm optimization (PSO)

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Diffusion-based framework for weakly-supervised temporal action localization

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Pattern Recognition 2025年 160卷

作者： Zou, Yuanbing Zhao, Qingjie Sarker, Prodip Kumar Li, Shanshan Wang, Lei Liu, Wangwang School of Computer Science and Technology Beijing Institute of Technology Beijing100081 China Beijing Institute of Control Engineering Beijing100190 China

Weakly supervised temporal action localization aims to localize action instances with only video-level supervision. Due to the absence of frame-level annotation supervision, how effectively separate action snippets and backgrounds from semantically ambiguous features becomes an arduous challenge for this task. To address this issue from a generative modeling perspective, we propose a novel diffusion-based network with two stages. Firstly, we design a local masking mechanism module to learn the local semantic information and generate binary masks at the early stage, which (1) are used to perform action-background separation and (2) serve as pseudo-ground truth required by the diffusion module. Then, we propose a diffusion module to generate high-quality action predictions under the pseudo-ground truth supervision in the second stage. In addition, we further optimize the new-refining operation in the local masking module to improve the operation efficiency. The experimental results demonstrate that the proposed method achieves a promising performance on the publicly available mainstream datasets THUMOS14 and ActivityNet. The code is available at https://***/Rlab123/action_diff. © 2024

关键词： Self-supervised learning

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A distributed algorithm with network-independent step-size and event-triggered mechanism for economic dispatch problem

A distributed algorithm with network-independent step-size a...

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作者： Chen, Baitong Yang, Jianhua Lu, Wei Pedrycz, Witold Sun, Changhai School of Control Science and Engineering Dalian University of Technology Dalian China Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 2R3 Canada Institute of Systems Engineering Macau University of Science and Technology SARTaipa 999078 China Research Center of Performance and Productivity Analysis Istinye University Istanbul Turkey School of Electrical Engineering Dalian University of Technology Dalian China

The economic dispatch problem (EDP) poses a significant challenge in energy management for modern power systems, particularly as these systems undergo expansion. This growth escalates the demand for communication resources and increases the risk of communication failures. To address this challenge, we propose a distributed algorithm with network-independent step sizes and an event-triggered mechanism, which reduces communication requirements and enhances adaptability. Unlike traditional methods, our algorithm uses network-independent step sizes derived from each agent's local cost functions, thus eliminating the need for detailed network topology knowledge. The theoretical derivation identifies a range of step size values that depend solely on the objective function's strong convexity and the gradient's Lipschitz continuity. Furthermore, the proposed algorithm is shown to achieve a linear convergence rate, assuming the event triggering threshold criteria are met for linear convergence. Numerical experiments further validate the effectiveness and advantages of our proposed distributed algorithm by demonstrating its ability to maintain good convergence characteristics while reducing communication frequency. © 2024 John Wiley & Sons Ltd.

关键词： Cost functions

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