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International Conference on computer and Communications (ICCC)

作者： Abebe Tamrat Tegene Qiao Liu Yanglei Gan Elias Jimale Melak Ayenew Habte Leka School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu China Center of Excellence of AI and Robotics Addis Ababa Science and Technology University Addis Ababa Ethiopia School of Information and Software Engineering University of Electronic Science and Technology of China Chengdu China

In many e-commerce recommendation systems, user profiles are mostly not available. In such cases, the recommendation task considers user behaviors like click sessions or browsing history. Traditional recommender methods often rely on users’ past interactions for recommending user interests, which is difficult to apply to session-based recommender systems. However, these methods perform very poorly on this task. Recently, deep learning techniques such as recurrent neural networks (RNNs) and convolutional neural networks (CNNs) showed outstanding performance in session-based recommendation problems. In this paper, we propose a hybrid CNN and gated recurrent unit (GRU) model that exploits the advantages of both CNN and GRU in modeling the rigid order requirement for interactions inside sessions and modeling the sequential long-term dependencies in session data, respectively. Our proposed hybrid model has two architectures: the first part consists of the CNN layers that take input from Item ID to learn local features and relationships in sessions, and the second part is a GRU layer that takes the output from the CNN layer to learn the long-term dependencies in that session. This hybrid technique enables the architecture for modeling prominent features in the session to provide accurate recommendations. Extensive experiments over a real-world dataset demonstrate that the proposed hybrid model performs well and outperforms those GRU and CNN-based models in the state-of-the-art recommendation task on both metrics used.

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Byzantine-robust Decentralized Federated Learning via Dual-domain Clustering and Trust Bootstrapping

Byzantine-robust Decentralized Federated Learning via Dual-d...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Peng Sun Xinyang Liu Zhibo Wang Bo Liu College of Computer Science and Electronic Engineering Hunan University China Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic University China School of Cyber Science and Technology Zhejiang University China Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS) China

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

Decentralized federated learning (DFL) facilitates collaborative model training across multiple connected clients without a central coordination server, thereby avoiding the single point of failure in traditional centralized federated learning (CFL). However, DFL exhibits increased susceptibility to Byzantine attacks owing to the lack of a responsible central server. Furthermore, a benign client in DFL may be dominated by Byzantine clients (more than half of its neighbors are malicious), posing significant challenges for robust model training. In this work, we propose DFL-Dual, a novel Byzantine-robust DFL method through dual-domain client clustering and trust bootstrapping. Specifically, we first propose to leverage both data-domain and model-domain distance metrics to identify client discrepancies. Then, we design a trust evaluation mechanism centered on benign clients, which enables them to evaluate their neighbors. Building upon the dual-domain distance metric and trust evaluation mechanism, we further develop a two-stage clustering and trust bootstrapping technique to exclude Byzantine clients from local model aggregation. We extensively evaluate the proposed DFL-Dual method through rigorous experimentation, demonstrating its remarkable performance superiority over existing robust CFL and DFL schemes.

关键词： Measurement Training computer vision Federated learning Buildings Collaboration Euclidean distance

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Tracking the Dynamic Neural Connectivity via Conjugate Gradient Optimization*

Tracking the Dynamic Neural Connectivity via Conjugate Gradi...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Mingdong Li Shuhang Chen Zhijia Zhao Yiwen Wang Robotics and Autonomous Systems Thrust The Hong Kong University of Science and Technology (Guangzhou) Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology School of Mechanical and Electrical Engineering Guangzhou University Department of Electronic and Computer Engineering The Department of Chemical and Biological Engineering The Hong Kong University of Science and Technology

Neural connectivity describes how neuron populations coordinate and create cognitive and behavioral functions. Neural connectivity performs dynamics where its population spiking responses to stimuli or intention change over time. Brain-machine interface (BMI) provides a framework for studying dynamical neural connectivity. In BMI, point process is a powerful technique in analyzing the single neuronal tuning. And generalized linear mode (GLM) as an encoding model can incorporate the tuning in kinematics and the neural connectivity. Quantification and tracking of dynamic neural connectivity can contribute to the elucidation of the generation of brain functions in a computational way. However, most of the previous work focused on single neuronal adaptation to kinematics. When a neuron is significantly modulated by some other neurons in some tasks, the shape of the log likelihood function for single neuronal observations can be narrowed in some dimensions. And the existing gradient-based methods are not able to reach the optimum in a fast and adaptive searching way. In this work, to maximize the likelihood of observations and obtain the dynamic neural connectivity tuning parameters, we proposed a conjugate gradient-based encoding model (CGE). We illustrate CGE for likelihood function using the real experimental data under manual control and brain control. The results show that the proposed CGE has better performance in tracking the dynamic neural connectivity tuning parameters and modeling neural *** Relevance— Not directly related.

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Enhanced Balance for Legged Robots Using Reaction Wheels

Enhanced Balance for Legged Robots Using Reaction Wheels

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IEEE International Conference on robotics and Automation (ICRA)

作者： Chi-Yen Lee Shuo Yang Benjamin Bokser Zachary Manchester Robotics Institute School of Computer ScienceCarnegie Mellon University Pittsburgh PA USA Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA

We introduce a reaction wheel system that enhances the balancing capabilities and stability of quadrupedal robots during challenging locomotion tasks. Inspired by both the standard centroidal dynamics model common in legged robotics and models of spacecraft commonly used in the aerospace community, we model the coupled quadruped-reaction-wheel system as a gyrostat, and simplify the dynamics to formulate the problem as a linear discrete-time trajectory optimization problem. Modifications are made to a standard centroidal model-predictive control (MPC) algorithm to solve for both stance foot ground reaction forces and reaction wheel torques simultaneously. The MPC problem is posed as a quadratic program and solved online at 1000 Hz. We demonstrate improved attitude stabilization both in simulation and on hardware compared to a quadruped without reaction wheels, and perform a challenging traversal of a narrow balance beam that would be impossible for a standard quadruped. A video of our experiments is available online 1 .

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Self Decoupling-Reconstruction Network for Facial Expression Recognition

Self Decoupling-Reconstruction Network for Facial Expression...

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International Joint Conference on Neural Networks (IJCNN)

作者： Linhuang Wang Xin Kang Fei Ding Hai-Tao Yu Yunong Wu Kazuyuki Matsumoto Satoshi Nakagawa Fuji Ren Graduate School of Advanced Technology and Science Tokushima University Tokushima Japan Faculty of Library Information and Media Science University of Tsukuba Tsukuba Japan Dataa Robotics Chengdu China Graduate School of Information Science & Technology The University of Tokyo Tokyo Japan School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu China

ISBN: (数字)9798350359312

ISBN: (纸本)9798350359329

Facial Expression Recognition (FER) poses significant challenges due to various imaging conditions, including diverse head poses, lighting conditions, resolutions, and occlusions. Additionally, different personal attributes such as age, gender, and racial background further contribute to the complexity of FER. To accurately extract meaningful expression features amidst these interfering factors to enhance recognition accuracy and the model’s generalization, we propose a Self Decoupling-Reconstruction Network (SDRNet). Specifically, our approach involves two learning processes. In the first phase, the network is trained to decouple facial images with expressions into expression and neutral components. This process involves reconstructing neutral facial images and the original input, ensuring the preservation of meaningful expression components devoid of interference in the decoupling process. In the second learning phase, we employ simple convolutional neural networks (CNNs) to recognize the extracted expression components. Our method has achieved state-of-the-art results across multiple widely used datasets, providing substantial evidence of its effectiveness. Additionally, we demonstrate the robust generalization performance of our approach through cross-database evaluations.

关键词： Image resolution Image recognition Head Face recognition Neural networks Lighting Imaging

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Grating Coupled Attachment of Optical Fiber Arrays for in Situ Photonics Experimentation

Grating Coupled Attachment of Optical Fiber Arrays for in Si...

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Conference on Lasers and Electro-Optics (CLEO)

作者： Kellen P. Arnold Joel B. Slaby Hannah M. Dattilo C. Alex Kaylor Ronald D. Schrimpf Daniel M. Fleetwood Stephen E. Ralph Robert Reed Sharon M. Weiss Interdisciplinary Materials Science Program Vanderbilt University Nashville TN USA School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA Department of Electrical and Computer Engineering Vanderbilt University Nashville TN USA

We report a simple, vacuum-compatible fiber attach process for in situ study of grating-coupled photonic devices. The robustness of this technique is demonstrated on grating-coupled waveguides exposed to multiple X-ra... 详细信息

ISBN: (纸本)9798350369311

关键词： Optical fibers Radiation effects X-ray lasers Waveguide lasers Fiber gratings Robustness Optical fiber devices Arrayed waveguide gratings Photonics Optical arrays

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A Multi-UAV Charging Station Enabling Free Landing by Grid Pattern Transmitter 14

A Multi-UAV Charging Station Enabling Free Landing by Grid P...

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14th Annual IEEE Applied Power Electronics Conference and Exposition, APEC 2025

作者： Kim, Jungho Jo, Hyunkyeong Seo, Seoktae Lee, Bonyoung Min, Hyungki Bien, Franklin Ulsan National Institute of Science and Technology School of Electrical and Computer Engineering Ulsan Korea Republic of Ulsan National Institute of Science and Technology Program in Information & Communication Technology Convergence Ulsan Korea Republic of

ISBN: (纸本)9798331516116

This paper proposed a novel landing platform with wireless power transfer (WPT) to charge multiple unmanned aerial vehicles (UAVs) without restrictions on landing locations or alignment. A transmitter is designed using wires to charge a wide area. To overcome the disadvantages of system made by wires, a grid pattern transmitter and double power line are proposed. These structures provide multiple charging with free positioning of receivers and excite the transmitter lines in wide area properly. The optimized system is composed of 0.15m square cells, providing a 0.9 m by 0.9 m charging area. By experiment, it can efficiently charge four 0.1 m square receivers located anywhere in transmitter. The overall efficiency of four receivers is 37.5%. Also, the experimental results verify that it is unnecessary to align the receiver within the cell, as it has a 2.62% error due to rotation and a 2.94 % error due to position within the cell. © 2025 IEEE.

关键词： Drones

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Spiking neural networks: Towards bio-inspired multimodal perception in robotics

arXiv

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arXiv 2024年

作者： Oikonomou, Katerina Maria Balaska, Vasiliki Tsintotas, Konstantinos A. Mavridis, Christos N. Kansizoglou, Ioannis Gasteratos, Antonios The Department of Production and Management Engineering Laboratory of Robotics and Automation Democritus University of Thrace Xanthi Greece The Department of Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

Spiking neural networks (SNNs) have captured apparent interest over the recent years, stemming from neuroscience and reaching the field of artificial intelligence. However, due to their nature SNNs remain far behind in achieving the exceptional performance of deep neural networks (DNNs). As a result, many scholars are exploring ways to enhance SNNs by using learning techniques from DNNs. While this approach has been proven to achieve considerable improvements in SNN performance, we propose another perspective: enhancing the biological plausibility of the models to leverage the advantages of SNNs fully. Our approach aims to propose a brain-like combination of audio-visual signal processing for recognition tasks, intended to succeed in more bio-plausible human-robot interaction applications. © 2024, CC BY-NC-SA.

关键词： Adversarial machine learning

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Robot-assisted Social Narratives for Children with Diverse Developmental Conditions: A Pilot Study

Robot-assisted Social Narratives for Children with Diverse D...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Aida Amir Nurziya Oralbayeva Nurbanu Zhenissova Zhansaule Telisheva Aida Zhanatkyzy Ilyas Issa Alina Kontorbayeva Sultan Kuat Aizhan Yermek Anara Sandygulova Graduate School of Education Nazarbayev University Astana Kazakhstan Department of Mechanical and Aerospace Engineering School of Engineering and Digital Sciences Astana Kazakhstan Department of Robotics and Mechatronics School of Engineering and Digital Sciences Nazarbayev University Astana Kazakhstan Department of Computer Science School of Engineering and Digital Sciences Astana Kazakhstan Astana Medical University Astana Kazakhstan

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

Social Narratives (SNs) have shown promising benefits for helping children navigate diverse social situations. The use of SNs in Robot-Assisted Play (RAP) can offer creative ways to address social and communication challenges of children with functional needs. In this study, we evaluate the initial use of social stories in robot-assisted therapy to help 17 children with diverse conditions such as Down Syndrome (DS), Autism Spectrum Conditions (ASC), and speech disorders (SD) understand and act on real-world situations while interacting with the social robot Furhat. We developed educational stories based on six common professions to show how each professional works and interacts with people. We conducted a user study as part of their daily intervention in a rehabilitation center over two weeks. Overall results demonstrate that there were no significant differences in socio-emotional outcomes among children grouped by their diagnosis, age, and other characteristics. However, their communication skills played a significant role in their performance; in particular, children with verbal abilities had higher completion time in activities compared to their non-verbal counterparts. This result was supported by two therapists who reported higher engagement with the robot among verbal children. We suggest that the SN-inspired intervention could be used to support children with diverse special needs, without causing any negative impacts on their learning.

关键词： Autism Navigation Social robots Medical treatment

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Improving Adversarial Transferability with Neighbourhood Gradient Information

arXiv

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arXiv 2024年

作者： Guo, Haijing Wang, Jiafeng Chen, Zhaoyu Jiang, Kaixun Hong, Lingyi Guo, Pinxue Li, Jinglun Zhang, Wenqiang Shanghai Key Lab of Intelligent Information Processing School of Computer Science Fudan University Shanghai200433 China Shanghai Engineering Research Center of AI & Robotics Academy for Engineering & Technology Fudan University Shanghai200433 China Engineering Research Center of Robotics Ministry of Education Academy for Engineering & Technology Fudan University Shanghai200433 China

Deep neural networks (DNNs) are known to be susceptible to adversarial examples, leading to significant performance degradation. In black-box attack scenarios, a considerable attack performance gap between the surrogate model and the target model persists. This work focuses on enhancing the transferability of adversarial examples to narrow this performance gap. We observe that the gradient information around the clean image, i.e. Neighbourhood Gradient Information, can offer high transferability. Leveraging this, we propose the NGI-Attack, which incorporates Example Backtracking and Multiplex Mask strategies, to use this gradient information and enhance transferability fully. Specifically, we first adopt Example Backtracking to accumulate Neighbourhood Gradient Information as the initial momentum term. Multiplex Mask, which forms a multi-way attack strategy, aims to force the network to focus on non-discriminative regions, which can obtain richer gradient information during only a few iterations. Extensive experiments demonstrate that our approach significantly enhances the adversarial transferability. Especially, when attacking numerous defense models, we achieve an average attack success rate of 95.8%. Notably, our method can plugin with any off-the-shelf algorithm to improve their attack performance without additional time cost. Copyright © 2024, The Authors. All rights reserved.

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