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UAV Swarm Path Planning for Sensor Data Collection via Double Pre-Partitioned Deep Q-Network

IEEE Sensors Journal 2025年

作者： Zhang, Heng Gao, Yuan Wang, Xin He, Yunpeng Yang, Ming Wu, Xiaoming Yang, Chaoqun Cao, Xianghui Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center Jinan250014 China Shandong Fundamental Research Center for Computer Science Shandong Provincial Key Laboratory of Industrial Network and Information System Security Jinan250014 China Jiangsu Ocean University School of Computer Engineering Lianyungang222000 China Southeast University School of Automation Nanjing210096 China

Collision-free path planning is a significant challenge in deploying unmanned aerial vehicle (UAV) swarms for sensor data collection tasks, particularly in uncertain environments. This paper addresses the problem of designing flight strategies for energy-constrained UAV swarms using deep reinforcement learning. We propose a locally-aware double pre-partitioned deep Q-network (DPPDQN) for flight planning of multiple UAVs in large-scale uncertain industrial environments. This algorithm aims to collect data from ground sensors with communication constraints while avoiding mutual collisions. In the proposed algorithm, we first introduce a node pre-partitioning scheme using an improved clustering algorithm, which efficiently reduces the number of access points for UAVs through effective data aggregation. Subsequently, we employ an area pre-partitioning algorithm that segments the detection area into several subregions based on the number of UAVs available for operation, thereby preventing collisions among the UAV swarm during task execution. Finally, we propose a deep Q-Network algorithm incorporating a convolutional neural network, which utilizes the local perceptions of UAVs as state inputs to address the 'curse of dimensionality"occurring in large-scale environments. systematic simulation experiments validate the effectiveness and advantages of the proposed method. © 2025 IEEE.

关键词： Convolutional neural networks

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Concept-Level Semantic Transfer and Context-Level Distribution Modeling for Few-Shot Segmentation

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IEEE Transactions on Circuits and systems for Video Technology 2025年

作者： Luo, Yuxuan Chen, Jinpeng Cong, Runmin Ip, Horace Ho Shing Kwong, Sam City University of Hong Kong Department of Computer Science Hong Kong Shandong University School of Control Science and Engineering Jinan250061 China Ministry of Education Key Laboratory of Machine Intelligence and System Control Jinan250061 China Lingnan University Hong Kong

Few-shot segmentation (FSS) methods aim to segment objects using only a few pixel-level annotated samples. Current approaches either derive a generalized class representation from support samples to guide the segmentation of query samples, which often discards crucial spatial contextual information, or rely heavily on spatial affinity between support and query samples, without adequately summarizing and utilizing the core information of the target class. Consequently, the former struggles with fine detail accuracy, while the latter tends to produce errors in overall localization. To address these issues, we propose a novel FSS framework, CCFormer, which balances the transmission of core semantic concepts with the modeling of spatial context, improving both macro and micro-level segmentation accuracy. Our approach introduces three key modules: (1) the Concept Perception Generation (CPG) module, which leverages pre-trained category perception capabilities to capture high-quality core representations of the target class;(2) the Concept-Feature Integration (CFI) module, which injects the core class information into both support and query features during feature extraction;and (3) the Contextual Distribution Mining (CDM) module, which utilizes a Brownian Distance Covariance matrix to model the spatial-channel distribution between support and query samples, preserving the fine-grained integrity of the target. Experimental results on the PASCAL-5i and COCO-20i datasets demonstrate that CCFormer achieves state-of-the-art performance, with visualizations further validating its effectiveness. Our code is available at ***/lourise/ccformer. © 1991-2012 IEEE.

关键词： Semantic Segmentation

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CONCRETIZER: MODEL INVERSION ATTACK VIA OCCUPANCY CLASSIFICATION AND DISPERSION CONTROL FOR 3D POINT CLOUD RESTORATION

arXiv

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arXiv 2025年

作者： Kim, Youngseok Hwang, Sunwook Kim, Hyung-Sin Bahk, Saewoong Department of Electrical and Computer Engineering Seoul National University Korea Republic of System LSI Samsung Electronics Korea Republic of Graduate School of Data Science Seoul National University Korea Republic of

The growing use of 3D point cloud data in autonomous vehicles (AVs) has raised serious privacy concerns, particularly due to the sensitive information that can be extracted from 3D data. While model inversion attacks have been widely studied in the context of 2D data, their application to 3D point clouds remains largely unexplored. To fill this gap, we present the first in-depth study of model inversion attacks aimed at restoring 3D point cloud scenes. Our analysis reveals the unique challenges, the inherent sparsity of 3D point clouds and the ambiguity between empty and non-empty voxels after voxelization, which are further exacerbated by the dispersion of non-empty voxels across feature extractor layers. To address these challenges, we introduce ConcreTizer, a simple yet effective model inversion attack designed specifically for voxel-based 3D point cloud data. ConcreTizer incorporates Voxel Occupancy Classification to distinguish between empty and non-empty voxels and Dispersion-Controlled Supervision to mitigate non-empty voxel dispersion. Extensive experiments on widely used 3D feature extractors and benchmark datasets, such as KITTI and Waymo, demonstrate that ConcreTizer concretely restores the original 3D point cloud scene from disrupted 3D feature data. Our findings highlight both the vulnerability of 3D data to inversion attacks and the urgent need for robust defense strategies. Copyright © 2025, The Authors. All rights reserved.

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WebCode2M: A Real-World Dataset for Code Generation from Webpage Designs 25

WebCode2M: A Real-World Dataset for Code Generation from Web...

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34th ACM Web Conference, WWW 2025

作者： Gui, Yi Li, Zhen Wan, Yao Shi, Yemin Zhang, Hongyu Su, Yi Chen, Bohua Chen, Dongping Wu, Siyuan Zhou, Xing Jiang, Wenbin Jin, Hai Zhang, Xiangliang Huazhong University of Science and Technology Wuhan China Peking University Beijing China Chongqing University Chongqing China Hubei University of Automotive Technology Shiyan China Rabbitpre AI Shenzhen China University of Notre Dame Notre Dame United States National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Cluster Grid Computing Lab School of Computer Science and Technology China

ISBN: (纸本)9798400712746

Automatically generating webpage code from webpage designs can significantly reduce the workload of front-end developers, and recent Multimodal Large Language Models (MLLMs) have shown promising potential in this area. However, our investigation reveals that most existing MLLMs are constrained by the absence of high-quality, large-scale, real-world datasets, resulting in inadequate performance in automated webpage code generation. To fill this gap, this paper introduces WebCode2M, a new dataset comprising 2.56 million instances, each containing a design image along with the corresponding webpage code and layout details. Sourced from real-world web resources, WebCode2M offers a rich and valuable dataset for webpage code generation across a variety of applications. The dataset quality is ensured by a scoring model that filters out instances with aesthetic deficiencies or other incomplete elements. To validate the effectiveness of WebCode2M, we introduce a baseline model based on the Vision Transformer (ViT), named WebCoder, and establish a benchmark for fair comparison. Additionally, we introduce a new metric, TreeBLEU, to measure the structural hierarchy recall. The benchmarking results demonstrate that our dataset significantly improves the ability of MLLMs to generate code from webpage designs, confirming its effectiveness and usability for future applications in front-end design tools. Finally, we highlight several practical challenges introduced by our dataset, calling for further research. © 2025 Copyright held by the owner/author(s).

关键词： Web Design

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Dual Encoder Cross-Shape Transformer Network for Medical Image Segmentation in Internet of Medical Things for Consumer Health

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IEEE Transactions on Consumer Electronics 2025年

作者： Zhao, Yawu Wang, Shudong Zhang, Yulin Ren, Yande Zhang, Yuanyuan Pang, Shanchen the School of Computer Science and Technology China University of Petroleum Shandong Qingdao China the College of Mathematics and System Science Shandong University of Science and Technology Shandong Qingdao China the Department of Medical Imaging Center the Affiliated Hospital of Qingdao University Shandong Qingdao China the School of Information and Control Engineering Qingdao University of Technology Shandong Qingdao China

In emerging consumer healthcare, high-performance and robust medical image segmentation methods are essential for personalized diagnosis and treatment. Thus, early screening of aneurysms reduces the risk of aneurysm rupture and provides therapeutic and preventive measures. However, uncontrollable factors such as uncertainty in the size and location shape of tumors in medical images a significant challenge to medical image segmentation. These factors make extracting high-quality features from aneurysm images difficult, resulting in poor segmentation. Then, we designed a dual encoder cross-shape transform network (DECSTNet) to capture aneurysm feature information. The dual encoder structure can extract aneurysm feature information at different scales, the adaptive dynamic feature fusion module can fuse features at different scales between the encoders, and the cross-shape window transform layer can compute the width and height of the image in parallel for local self-attention, which enhances the interactive capability of the telematic information while realizing the complementarity of the local information. Through extensive experiments, we demonstrate the excellent segmentation performance of DECSTNet on the private and three public datasets. Noteworthy our method has significant segmentation performance and fewer parameters, making it well-suited to be deployed on IoMT diagnostic platforms for medical image segmentation to promote healthy patient consumption. © 2025 IEEE.

关键词： Semantic Segmentation

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An RTDNN-Based Hybrid Precoding and Combining Joint Optimization Algorithm for MUPC-MIMO systems

IEEE Transactions on Green Communications and Networking

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IEEE Transactions on Green Communications and Networking 2025年

作者： Liu, Fulai Liu, Yubiao Yang, Xianghuan Duan, Zhuoyao Shi, Baozhu Ji, Li Du, Ruiyan Northeastern University at Qinhuangdao Lab of Key Technology of Millimeter-wave Large-scale MIMO System Hebei Key Laboratory of Marine Perception Network and Data Processing Qinhuangdao066004 China Hebei University College of Mathematics and Information Science Baoding071002 China Northeastern University School of Computer Science and Engineering Shenyang110819 China Qinhuangdao Vocational and Technical College Qinhuangdao066100 China School of Computer Science and Engineering Northeastern University Shenyang110004 China

To achieve a satisfactory balance between energy efficiency (EE) and spectral efficiency (SE) for hybrid precoding and combining (HPC), this paper presents a two-stage joint optimization HPC algorithm based on residual deep neural network (DNN) for multi-user partially connected (MUPC) structure, namely RTDNN algorithm. In the proposed algorithm, a two-stage framework is designed to optimize analog and digital coders at the transmitter and receiver simultaneously, which can effectively preserve coupling relationship of coders between the transmitter and receiver. Specially, the RTDNN architecture is mainly divided into two stage networks, which includes analog stage and digital stage networks. The analog stage network is developed to obtain the optimal analog precoder and combiner simultaneously. On this basis, the digital stage network is constructed to solve the digital precoder and combiner concurrently. To further improve the prediction accuracy of RTDNN-based HPC, residual modules are adopted into the developed two stage networks. Moreover, the proposed RTDNN is trained with unsupervised learning. Simulation results show that the EE of the proposed algorithm is at least enhanced by 0.6 bits/Hz/J with satisfactory SE than other methods. © 2017 IEEE.

关键词： Deep neural networks

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S2KAN-SLAM: Elastic Neural LiDAR SLAM with SDF Submaps and Kolmogorov-Arnold Networks

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IEEE Transactions on Circuits and systems for Video Technology 2025年

作者： Wang, Zhong Zhang, Lin Wang, Hesheng Shanghai Jiao Tong University State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China Tongji University School of Computer Science and Technology National Pilot Software Engineering School with Chinese Characteristics Shanghai201804 China

Traditional LiDAR SLAM approaches prioritize localization over mapping, yet high-precision dense maps are essential for numerous applications involving intelligent agents. Recent advancements have introduced methods leveraging neural fields to enhance mapping capabilities;however, these approaches still face several limitations. Firstly, concerning scene representation, they typically employ neural fields with high-dimensional features and multi-layer perceptron decoders utilizing non-continuous activation functions. This results in low learning efficiency and challenges in capturing high-frequency signals. Secondly, in terms of scene organization, these methods often treat the entire scene as a singular neural field, leading to inefficiencies, inflexibility, and difficulties in rectifying accumulated errors when mapping large-scale environments over extended periods. To tackle the first issue, we propose a lightweight continuous SDF regression approach by encoding the scene in single-valued embeddings and decoding SDF values from a Kolmogorov-Arnold Network. By minimizing discrepancies in measuring range, sampling distance, and decoded SDF values, we facilitate iterative frame-to-model tracking and bundle adjustment neural mapping. To mitigate the second challenge, we propose structuring the whole scene into multiple neural SDF submaps. By establishing node-node, node-submap, and loop closure constraints into a global pose graph, the system can create dense neural maps with global consistency across large-scale scenes. Experimental evaluations in both real-world and simulated settings indicate that our system achieves superior mapping completeness and accuracy, enhanced learning efficiency, reduced memory consumption, and greater flexibility compared to its counterparts. © 2025 IEEE.

关键词： Mapping

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DDPS: Dynamic Differential Pricing-Based Edge Offloading system With Energy Harvesting Devices

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IEEE Transactions on Network science and engineering 2025年

作者： Xue, Hai Xia, Yun Xiong, Neal N. Zhang, Di Pei, Songwen University of Shanghai for Science and Technology School of Optical-Electrical and Computer Engineering Shanghai200093 China Sul Ross State University Department of Computer Science and Mathematics AlpineTX79830 United States Zhengzhou University School of Electrical and Information Engineering Zhengzhou450001 China Zhengzhou University Henan International Joint Laboratory of Intelligent Health Information System Zhengzhou450001 China Zhengzhou University National Engineering Laboratory for Internet Medical Systems and Applications Zhengzhou450001 China

Mobile edge computing (MEC) mitigates the energy and computation burdens on mobile users (MUs) by offloading tasks to the network edge. To optimize MEC server utilization through effective resource allocation, a well-designed pricing strategy is indispensable. In this paper, we propose a dynamic differential pricing scheme (DDPS) for an edge offloading scenario with energy harvesting devices, which determines prices based on computing resource usage to enhance edge server (ES) utilization. First, an offloading decision algorithm is proposed to balance harvested and consumed energy, determining whether and how much data to offload. Second, a Stackelberg game-based differential pricing algorithm is proposed to optimize computing resource allocation for MUs and reallocate surplus resources to delay-sensitive devices. Extensive simulations are conducted to demonstrate the effectiveness of the proposed DDPS scheme. Specifically, in comparison to the existing best-performing pricing scheme, for different task arrival rates, DDPS can achieve a 5.3% decrease in average execution delay, a 1.7% increase in ES utility (Userver, which represents the payment from MUs minus penalties for discarded tasks), and a 2.1% increase in the average ratio of service for MUs. In addition, DDPS also improves 2.8% Userver on average with different ES computation capacities. © 2025 IEEE. All rights reserved.

关键词： Mobile edge computing

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CorcPUM: Efficient Processing Using Cross-Point Memory via Cooperative Row-Column Access Pipelining and Adaptive Timing Optimization in Subarrays 23

CorcPUM: Efficient Processing Using Cross-Point Memory via C...

引用

Proceedings of the 60th Annual ACM/IEEE Design Automation Conference

作者： Chengning Wang Dan Feng Wei Tong Jingning Liu Wuhan National Laboratory for Optoelectronics Key Laboratory of Information Storage System Engineering Research Center of Data Storage Systems and Technology Ministry of Education of China (School of Computer Science and Technology Huazhong University of Science and Technology) Wuhan China

ISBN: (纸本)9798350323481

Emerging cross-point memory can in-situ perform vector-matrix multiplication (VMM) for energy-efficient scientific computation. However, parasitic-capacitance-induced row charging and discharging latency is a major performance bottleneck of subarray VMM. We propose a memory-timing-compliant bulk VMM processing-using-memory design with row access and column access co-optimization from rethinking of read access commands and μ-op timing. We propose row-level-parallelism-adaptive timing termination mechanism to reduce tail latency of tRCD and tRP by exploiting row nonlinear charging and bulk-interleaved row-column-cooperative VMM access mechanism to reduce tRAS and overlap CL without increasing column ADC precision. Evaluations show that our design can achieve 5.03× performance speedup compared with an aggressive baseline.

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DRSC: Dual-Reweighted Siamese Contrastive Learning Network for Cross-Domain Rotating Machinery Fault Diagnosis With Multi-Source Domain Imbalanced Data

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IEEE Internet of Things Journal 2025年

作者： Bi, Yuanguo Fu, Rao Jiang, Cunyu Zhang, Xiaoling Li, Fengyun Zhao, Liang Han, Guangjie Northeastern University School of Computer Science and Engineering Shenyang110169 China Ministry of Education Engineering Research Center of Security Technology of Complex Network System Shenyang110169 China Shenyang University of Technology Institute of Artificial Intelligence Shenyang110870 China Shenyang Aerospace University School of Computer Science Shenyang110135 China Hohai University Key Laboratory of Maritime Intelligent Network Information Technology Ministry of Education China

To enhance the reliability of rotating machinery, cross-domain fault diagnosis becomes vital for detecting faults under unknown operating conditions. However, multi-source domain imbalanced data present significant challenges, as divergent label distributions across domains cause complex domain-class shifts and degrade the performance of cross-domain fault diagnosis. Moreover, diagnostic models often struggle to learn features from minority classes due to label imbalance within each domain, which may degrade the performance in diagnosing these minority classes. To address these challenges, we propose a Dual-Reweighted Siamese Contrastive learning network (DRSC) for cross-domain fault diagnosis with multi-source domain imbalanced data. In DRSC, we design a Siamese feature extractor based on a wide-kernel convolutional neural network to capture short-term characteristics and leverage the convenience in extracting domain-invariant features. Subsequently, to alleviate domain-class shifts, we design a reweighted contrastive domain-class alignment mechanism that strategically pulls domain-class pairs together while pushing other health conditions away. Finally, to enable the diagnostic model to learn from minority health conditions, a reweighted health condition classifier is developed by assigning higher weights to the minority classes. Evaluation results on two public datasets illustrate DRSC outperforms comparison models in cross-domain fault diagnosis. © 2014 IEEE.

关键词： Convolutional neural networks

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