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arXiv 2023年

作者： Suresh, Krishna Rauniyar, Aditya Corah, Micah Scherer, Sebastian Olin College of Engineering NeedhamMA United States Robotics Institute School of Computer Science Carnegie Mellon University PittsburghPA United States Department of Computer Science The Colorado School of Mines GoldenCO United States

Deployment of teams of aerial robots could enable large-scale filming of dynamic groups of people (actors) in complex environments for applications in areas such as team sports and cinematography. Toward this end, methods for submodular maximization via sequential greedy planning can enable scalable optimization of camera views across teams of robots but face challenges with efficient coordination in cluttered environments. Obstacles can produce occlusions and increase chances of inter-robot collision which can violate requirements for near-optimality guarantees. To coordinate teams of aerial robots in filming groups of people in dense environments, a more general view-planning approach is required. We explore how collision and occlusion impact performance in filming applications through the development of a multi-robot multi-actor view planner with an occlusion-aware objective for filming groups of people and compare with a formation planner and a greedy planner that ignores inter-robot collisions. We evaluate our approach based on five test environments and complex multi-actor behaviors. Compared with a formation planner, our sequential planner generates 14% greater view reward for filming the actors in three scenarios and comparable performance to formation planning on two others. We also observe near identical view rewards for sequential planning both with and without inter-robot collision constraints which indicates that robots are able to avoid collisions without impairing performance in the perception task. Overall, we demonstrate effective coordination of teams of aerial robots in environments cluttered with obstacles that may cause collisions or occlusions and for filming groups that may split, merge, or spread apart. Our implementation and the data used to produce results for this paper are available via the companion website: https://***/. Copyright © 2023, The Authors. All rights reserved.

关键词： Robot programming

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D2SP: Dynamic Dual-Stage Purification Framework for Dual Noise Mitigation in Vision-based Affective Recognition.

arXiv

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arXiv 2024年

作者： Wang, Haoran Mai, Xinji Tao, Zeng Tong, Xuan Lin, Junxiong Wang, Yan Yu, Jiawen Wang, Boyang Yan, Shaoqi Zhao, Qing Zhou, Ziheng Gao, Shuyong Zhang, Wenqiang Shanghai Engineering Research Center of AI & Robotics Academy for Engineering & Technology Fudan University Shanghai China School of Information Science and Technology Fudan University Shanghai China Fudan University Shanghai China Engineering Research Center of AI & Robotics Ministry of Education Academy for Engineering & Technology Fudan University Shanghai Key Lab of Intelligent Information Processing School of Computer Science Fudan University Shanghai China

The contemporary state-of-the-art of Dynamic Facial Expression Recognition (DFER) technology facilitates remarkable progress by deriving emotional mappings of facial expressions from video content, underpinned by training on voluminous datasets. Yet, the DFER datasets encompass a substantial volume of noise data. Noise arises from low-quality captures that defy logical labeling, and instances that suffer from mislabeling due to annotation bias, engendering two principal types of uncertainty: the uncertainty regarding data usability and the uncertainty concerning label reliability. Addressing the two types of uncertainty, we have meticulously crafted a two-stage framework aiming at Seeking Certain data In extensive Uncertain data (SCIU). This initiative aims to purge the DFER datasets of these uncertainties, thereby ensuring that only clean, verified data is employed in training processes. To mitigate the issue of low-quality samples, we introduce the Coarse-Grained Pruning (CGP) stage, which assesses sample weights and prunes those deemed unusable due to their low weight. For samples with incorrect annotations, the Fine-Grained Correction (FGC) stage evaluates prediction stability to rectify mislabeled data. Moreover, SCIU is conceived as a universally compatible, plug-and-play framework, tailored to integrate seamlessly with prevailing DFER methodologies. Rigorous experiments across prevalent DFER datasets and against numerous benchmark methods substantiates SCIU’s capacity to markedly elevate performance metrics. Copyright © 2024, The Authors. All rights reserved.

关键词： Face recognition

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TTT: A Temporal Refinement Heuristic for Tenuously Tractable Discrete Time Reachability Problems

arXiv

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arXiv 2024年

作者： Sidrane, Chelsea Tumova, Jana The Division of Robotics Perception and Learning Intelligent Systems Department School of Electrical Engineering & Computer Science KTH Royal Institute of Technology Brinellvägen 8 Stockholm114 28 Sweden

Reachable set computation is an important tool for analyzing control systems. Simulating a control system can show that the system is generally functioning as desired, but a formal tool like reachability analysis can provide a guarantee of correctness. For linear systems, reachability analysis is straightforward and fast, but as more complex components are added to the control system such as nonlinear dynamics or a neural network controller, reachability analysis may slow down or become overly conservative. To address these challenges, much literature has focused on spatial refinement, e.g., tuning the discretization of the input sets and intermediate reachable sets. However, this paper addresses a different dimension: temporal refinement. The basic idea of temporal refinement is to automatically choose when along the horizon of the reachability problem to execute slow symbolic queries which incur less approximation error versus fast concrete queries which incur more approximation error. Temporal refinement can be combined with other refinement approaches and offers an additional "tuning knob" with which to trade off tractability and tightness in approximate reachable set computation. Here, we introduce an automatic framework for performing temporal refinement and we demonstrate the effectiveness of this technique on computing approximate reachable sets for nonlinear systems with neural network control policies. We demonstrate the calculation of reachable sets of varying approximation error under varying computational budget and show that our algorithm is able to generate approximate reachable sets with a similar amount of error to the baseline approach in 20-70% less time. © 2024, CC BY.

关键词： Linear systems

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A Soft Micro-Robotic Catheter for Aneurysm Treatment: A Novel Design and Enhanced Euler-Bernoulli Model with Cross-Section Optimization

A Soft Micro-Robotic Catheter for Aneurysm Treatment: A Nove...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Emanuele Nicotra Chi Cong Nguyen James Davies Phuoc Thien Phan Trung Thien Hoang Bibhu Sharma Adrienne Ji Kefan Zhu Trung Dung Ngo Van Anh Ho Hung Manh La Nigel H. Lovell Thanh Nho Do Graduate School of Biomedical Engineering Faculty of Engineering UNSW Sydney Kensington Campus Australia More-Than-One Robotics Laboratory Faculty of Sustainable Design Engineering University of Prince Edward Island Charlottetown Canada Soft Haptics Laboratory School of Materials Science Japan Advanced Institute of Science and Technology Kawaguchi Saitama Japan Department of Computer Science and Engineering Advanced Robotics and Automation (ARA) Lab University of Nevada Reno NV USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Aneurysms, balloon-like bulges in blood vessels, present a significant health risk due to their potential to rupture, leading to life-threatening internal bleeding. Current treatments often involve delivering embolic materials or metal coils to fill these bulges, occluding them from the pressure of blood flow. However, clinical micro-catheters that deploy embolic materials used today face limitations, primarily their rigidity and the lack of active control over the bending tip of the catheter. This paper introduces a new soft micro-robotics catheter, with diameter of only 0.8 mm, equipped with a hollow channel. With this new design, the new device can induce bending motions at its tip for active steerability to reach desired aneurysm targets and then perform the delivery of embolic materials and tools. To enhance the control and precise navigation during procedures, a robust mathematical model and image processing techniques are also introduced and validated. Experiments are also performed to characterise and validate the model’s accuracy and the steerability and navigation capabilities of the new micro-catheter.

关键词： Performance evaluation Navigation Metals Aneurysm Bending Mathematical models Rigidity

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Information Elicitation from Decentralized Crowd Without Verification

Information Elicitation from Decentralized Crowd Without Ver...

引用

International Symposium on Modeling and Optimization in Mobile, Ad Hoc, and Wireless Networks (WiOpt)

作者： Kexin Chen Chao Huang Jianwei Huang Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS) School of Science and Engineering The Chinese University of Hong Kong Shenzhen Shenzhen China Department of Computer Science University of California Davis School of Science and Engineering Shenzhen Institute of Artificial Intelligencee and Robotics for Society The Chinese University of Hong Kong Shenzhen Shenzhen China

Information Elicitation Without Verification (IEWV) refers to the problem of eliciting high-accuracy solutions from crowd members when the ground truth is unverifiable. A high-accuracy team solution (aggregated from members' solutions) requires members‘ effort exertion, which should be incentivized properly. Previous research on IEWV mainly focused on scenarios where a central entity (e.g., the crowdsourcing platform) provides incentives to motivate crowd members. Still, the proposed designs do not apply to practical situations where no central entity exists. This paper studies the overlooked decentralized IEWV scenario, where crowd members act as both incentive contributors and task solvers. We model the interactions among members with heterogeneous team solution accuracy valuations as a two-stage game, where each member decides her incentive contribution strategy in Stage 1 and her effort exertion strategy in Stage 2. We analyze members‘ equilibrium behaviors under three incentive allocation mechanisms: Equal Allocation (EA), Output Agreement (OA), and Shapley Value (SV). We show that at an equilibrium under any allocation mechanism, a low-valuation member exerts no more effort than a high-valuation member. Counter-intuitively, a low-valuation member provides incentives to the collaboration while a high-valuation member does not at an equilibrium under SV. This is because a high-valuation member who values the aggregated team solution more needs fewer incentives to exert effort. In addition, when members‘ valuations are sufficiently heterogeneous, SV leads to team solution accuracy and social welfare no smaller than EA and OA.

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A Model-Free Solution for Stackelberg Games Using Reinforcement Learning and Projection Approaches

A Model-Free Solution for Stackelberg Games Using Reinforcem...

引用

International Workshop on Robot Sensing (ROSE)

作者： Mohammed Abouheaf Wail Gueaieb Suruz Miah Esam H. Abdelhameed Robotics Engineering Bowling Green State University Bowling Green OH USA School of Electrical Engineering and Computer Science University of Ottawa Ottawa Ontario Canada Department of Electrical and Computer Engineering Bradley University Peoria Illinois USA Faculty of Energy Engineering Aswan University Aswan Egypt

ISBN: (数字)9798350362367

ISBN: (纸本)9798350362374

The Stackelberg game is adopted in many robotics applications. It features a dynamic multi-player setup based on a leader-follower structure. The main challenge involves implementing model-free strategies that can effectively respond to unstructured environments in a data-driven manner. This paper presents a model-free method for solving the Stackelberg game in real-time, wherein the follower's strategy assumes knowledge of the leader's tactics. Moreover, the strategies are implemented in real-time without knowledge of the players' dynamics. The optimization goals are expressed through coupled Bellman optimality equations, highlighting the dependency between leader and follower strategies. The method utilizes a linear adaptive critics framework, where the actor-critic weights are adjusted using a projection method to ensure stability and convergence. This approach is evaluated on systems with delays and unstructured disturbances to demonstrate its robustness.

关键词： Adaptation models Games Reinforcement learning Mathematical models Real-time systems Robustness Stability analysis

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P3S-Diffusion:A Selective Subject-driven Generation Framework via Point Supervision

arXiv

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arXiv 2024年

作者： Hu, Junjie Gao, Shuyong Hong, Lingyi Wang, Qishan Zhao, Yuzhou Wang, Yan Zhang, Wenqiang Shanghai Key Lab of Intelligent Information Processing School of Computer Science Fudan University Shanghai China Shanghai Engineering Research Center of AI & Robotics Academy for Engineering & Technology Fudan University Shanghai China Engineering Research Center of AI & Robotics Ministry of Education Academy for Engineering & Technology Fudan University Shanghai China

Recent research in subject-driven generation increasingly emphasizes the importance of selective subject features. Nevertheless, accurately selecting the content in a given reference image still poses challenges, especially when selecting the similar subjects in an image (e.g., two different dogs). Some methods attempt to use text prompts or pixel masks to isolate specific elements. However, text prompts often fall short in precisely describing specific content, and pixel masks are often expensive. To address this, we introduce P3S-Diffusion, a novel architecture designed for context-selected subject-driven generation via point supervision. P3S-Diffusion leverages minimal cost label (e.g., points) to generate subject-driven images. During fine-tuning, it can generate an expanded base mask from these points, obviating the need for additional segmentation models. The mask is employed for inpainting and aligning with subject representation. The P3S-Diffusion preserves fine features of the subjects through Multi-layers Condition Injection. Enhanced by the Attention Consistency Loss for improved training, extensive experiments demonstrate its excellent feature preservation and image generation capabilities. Copyright © 2024, The Authors. All rights reserved.

关键词： Pixels

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Enhancement of Antenna Gain With M&W Slot Model on EBG Reflector Structure Utilizing Reflection Phase Diagram Analysis

Enhancement of Antenna Gain With M&W Slot Model on EBG Refle...

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13th International Electrical engineering Congress, iEECON 2025

作者： Chakunna, Payu Phusam, Nopphadon Mahatthanajatuphat, Pisit Lee, Wilaiporn Suangun, Thanakarn University of Phayao School of Engineering Phayao Thailand Yothinburana School Regular Program in Mathematics-Science Bangkok Thailand King Mongkut's University of Technology North Bangkok Department of Electrical and Computer Engineering Bangkok Thailand

ISBN: (纸本)9798331543952

This research demonstrates the improvement in antenna gain by utilizing an EBG reflector. The EBG reflector includes a unit cell with grooves shaped like the letters M and W to mitigate surface waves at a frequency of 2.45 GHz. The suggested EBG reflector is constructed on an FR-4 substrate exhibiting a uniform dielectric constant of 4.3, a loss tangent of 0.025, and a thickness of 1.6 mm. Furthermore, the impact of boosting the antenna gain can be analyzed by the reflection phase diagram, which exhibits values ranging from +90° to -90° at the resonant frequency of the reflector. The proposed EBG reflector comprises 5x5 unit cells. The testing results of the reflector's performance, when integrated with a general dipole antenna, indicate that it can effectively respond to the resonant frequency of 2.45 GHz, with a |S11| level below -10 dB within the frequency range of 2.2 GHz to 2.6 GHz, thereby adequately covering the IEEE 802.11 b/g/n band. The suggested EBG reflector exhibits a gain of around 6.5 dBi at 2.45 GHz, indicating its efficacy in enhancing gain relative to the standard PEC reflector. Moreover, the radiation pattern is also directional. © 2025 IEEE.

关键词： Antenna reflectors

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General Compression Framework for Efficient Transformer Object Tracking

arXiv

引用

arXiv 2024年

作者： Hong, Lingyi Li, Jinglun Zhou, Xinyu Yan, Shilin Guo, Pinxue Jiang, Kaixun Chen, Zhaoyu Gao, Shuyong Zhang, Wei Lu, Hong Zhang, Wenqiang Shanghai Key Lab of Intelligent Information Processing School of Computer Science Fudan University Shanghai China Engineering Research Center of AI & Robotics Ministry of Education Academy for Engineering & Technology Fudan University Shanghai China Shanghai Engineering Research Center of AI & Robotics Academy for Engineering & Technology Fudan University Shanghai China

Transformer-based trackers have established a dominant role in the field of visual object tracking. While these trackers exhibit promising performance, their deployment on resource-constrained devices remains challenging due to inefficiencies. To improve the inference efficiency and reduce the computation cost, prior approaches have aimed to either design lightweight trackers or distill knowledge from larger teacher models into more compact student trackers. However, these solutions often sacrifice accuracy for speed. Thus, we propose a general model compression framework for efficient transformer object tracking, named CompressTracker, to reduce the size of a pre-trained tracking model into a lightweight tracker with minimal performance degradation. Our approach features a novel stage division strategy that segments the transformer layers of the teacher model into distinct stages, enabling the student model to emulate each corresponding teacher stage more effectively. Additionally, we also design a unique replacement training technique that involves randomly substituting specific stages in the student model with those from the teacher model, as opposed to training the student model in isolation. Replacement training enhances the student model’s ability to replicate the teacher model’s behavior. To further forcing student model to emulate teacher model, we incorporate prediction guidance and stage-wise feature mimicking to provide additional supervision during the teacher model’s compression process. Our framework CompressTracker is structurally agnostic, making it compatible with any transformer architecture. We conduct a series of experiment to verify the effectiveness and generalizability of CompressTracker. Our CompressTracker-4 with 4 transformer layers, which is compressed from OSTrack, retains about 96% performance on LaSOT (66.1% AUC) while achieves 2.17× speed up. © 2024, CC BY.

关键词： Students

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Med-IC: Fusing a Single Layer Involution with Convolutions for Enhanced Medical Image Classification and Segmentation

arXiv

引用

arXiv 2024年

作者： Islam, Md. Farhadul Zabeen, Sarah Manab, Meem Arafat Mahin, Mohammad Rakibul Hasan Mondal, Joyanta Jyoti Reza, Md. Tanzim Hasan, Md Zahidul Haque, Munima Sadeque, Farig Noor, Jannatun Research Group Department of Computer Science and Engineering School of Data and Sciences BRAC University Dhaka Bangladesh Department of Computer Science and Engineering School of Data and Sciences BRAC University Dhaka Bangladesh Biotechnology Program Department of Mathematics and Natural Sciences School of Data and Sciences BRAC University Dhaka Bangladesh Department of Computer and Information Sciences University of Delaware United States School of Law and Government Dublin City University Ireland Gina Cody School of Engineering and Computer Science Concordia University Canada

The majority of medical images, especially those that resemble cells, have similar characteristics. These images, which occur in a variety of shapes, often show abnormalities in the organ or cell region. The convolution operation possesses a restricted capability to extract visual patterns across several spatial regions of an image. The involution process, which is the inverse operation of convolution, complements this inherent lack of spatial information extraction present in convolutions. In this study, we investigate how applying a single layer of involution prior to a convolutional neural network (CNN) architecture can significantly improve classification and segmentation performance, with a comparatively negligible amount of weight parameters. The study additionally shows how excessive use of involution layers might result in inaccurate predictions in a particular type of medical image. According to our findings from experiments, the strategy of adding only a single involution layer before a CNN-based model outperforms most of the previous *** Codes 68T45 © 2024, CC BY-NC-SA.

关键词： Convolutional neural networks

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