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Proceedings of the 41st International Conference on Machine Learning

作者： Pengying Wu Yao Mu Bingxian Wu Yi Hou Ji Ma Shanghang Zhang Chang Liu Department of Advancded Manufacturing and Robotics College of Engineering Peking University Beijing China The University of Hong Kong and OpenGVLab Shanghai AI Laboratory National Key Laboratory for Multimedia Information Processing School of Computer Science Peking University Beijing China

In the realm of household robotics, the Zero-Shot Object Navigation (ZSON) task empowers agents to adeptly traverse unfamiliar environments and locate objects from novel categories without prior explicit training. This paper introduces VoroNav, a novel semantic exploration framework that proposes the Reduced Voronoi Graph to extract exploratory paths and planning nodes from a semantic map constructed in real time. By harnessing topological and semantic information, VoroNav designs text-based descriptions of paths and images that are readily interpretable by a large language model (LLM). In particular, our approach presents a synergy of path and farsight descriptions to represent the environmental context, enabling LLM to apply commonsense reasoning to ascertain waypoints for navigation. Extensive evaluation on HM3D and HSSD validates VoroNav surpasses existing benchmarks in both success rate and exploration efficiency (absolute improvement: +2.8% Success and +3.7% SPL on HM3D, +2.6% Success and +3.8% SPL on HSSD). Additionally introduced metrics that evaluate obstacle avoidance proficiency and perceptual efficiency further corroborate the enhancements achieved by our method in ZSON planning. Project page: https://***

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A Multi-Token Coordinate Descent Method for Semi-Decentralized Vertical Federated Learning

arXiv

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arXiv 2023年

作者： Valdeira, Pedro Chi, Yuejie Soares, Cláudia Xavier, João CMU IST United States CMU United States NOVA IST Department of Electrical and Computer Engineering Carnegie Mellon University United States Institute for Systems and Robotics Instituto Superior Técnico Portugal Department of Computer Science NOVA School of Science and Technology Portugal

Communication efficiency is a major challenge in federated learning (FL). In client-server schemes, the server constitutes a bottleneck, and while decentralized setups spread communications, they do not necessarily reduce them due to slower convergence. We propose Multi-Token Coordinate Descent (MTCD), a communication-efficient algorithm for semi-decentralized vertical federated learning, exploiting both client-server and client-client communications when each client holds a small subset of features. Our multi-token method can be seen as a parallel Markov chain (block) coordinate descent algorithm and it subsumes the client-server and decentralized setups as special cases. We obtain a convergence rate of O(1/T) for nonconvex objectives when tokens roam over disjoint subsets of clients and for convex objectives when they roam over possibly overlapping subsets. Numerical results show that MTCD improves the state-of-the-art communication efficiency and allows for a tunable amount of parallel communications. © 2023, CC BY.

关键词： Efficiency

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User distributions in shard-based blockchain network: queueing modeling, game analysis, and protocol design 21

User distributions in shard-based blockchain network: queuei...

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22nd International Symposium on Theory, Algorithmic Foundations, and Protocol Design for Mobile Networks and Mobile Computing, MobiHoc 2021

作者： Chen, Canhui Ma, Qian Chen, Xu Huang, Jianwei School of Computer Science and Engineering Sun Yat-sen University Guangzhou China School of Intelligent Systems Engineering Sun Yat-sen University Shenzhen China Pazhou Lab Guangzhou China School of Science and Engineering Shenzhen Institute of Artificial Intelligence and Robotics for Society Chinese University of Hong Kong Shenzhen Hong Kong

ISBN: (纸本)9781450385589

Sharding is one of the most promising and practical methods to achieve horizontal scalability of blockchain networks. However, the increasing number of cross-shard transactions in blockchain sharding protocols may degrade the system throughput. In this paper, we investigate how to distribute users properly in the shard-based blockchains to boost the system transaction performance. We first build an open Jackson queueing network model to capture users' transaction dynamics on shards. Then we cast users' interactions as a shard-based blockchain game, wherein each user aims to minimize its transaction confirmation time and transaction fee. We investigate the equilibrium of the game, and design a polynomial-time algorithm to find efficient equilibria with good system performance. We further design a novel sharding protocol with dynamic user distribution for the permissionless blockchain, and the protocol can maintain good performance in long-term dynamic environment. Extensive numerical results using realistic blockchain transaction data demonstrate that the proposed algorithm and the designed protocol can achieve superior performance for shard-based blockchains. © 2021 ACM.

关键词： Game theory

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Category re-balancing based domain adaptive semantic segmentation

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Procedia computer science 2024年 242卷 1155-1162页

作者： Siyu Zhu Fenfen Zhou Kai Li Minghao Liu Haonan Wen Computer School Beijing information science and technology university 102206 No.55 Taihang Road Changping District Beijing China Beijing Key Laboratory of Information Service Engineering Beijing Union University 100101 Beijing China. College of Robotics Beijing Union University 100027 Beijing China National Engineering Research Center of Visual Technology School of Computer Science Peking University 100871 Beijing China School of Computer Science and Technology University of Chinese Academy of Sciences No.19(A) Yuquan Road Shijingshan District Beijing 100049 P.R. China Research Center on Fictitious Economy and Data Science Chinese Academy of Sciences No. 80 of Zhongguancun East Road Haidian District Beijing 100190 Beijing China

The semantic segmentation task faces the bottleneck of high manual annotation costs. Domain adaptive learning provides an effective solution through inter domain knowledge transfer. However, existing domain adaptive semantic segmentation tasks face the situation of category asymmetry between scenes when dealing with complex scenes. Existing methods lack handling of class imbalance in the prediction process. In domain adaptive semantic segmentation tasks, class imbalance limits the performance of inter domain transfer. Our work focuses on the impact of category distribution on domain adaptive semantic segmentation tasks in image pairs. Inspired by long tail learning, we divided categories into head, middle, and tail categories, and designed effective strategies to enhance the contribution of tail categories in domain adaptation tasks. We introduce the concept of category rebalancing into domain adaptive image matching, and our method is lightweight and effective, proving its effectiveness on general datasets.

关键词： Long-tail learning Domain adaptation Semantic segmentation Transfer learning

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Spleen-preserving distal pancreatectomy from multi-port to reducedport surgery approach

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World Journal of Gastrointestinal Surgery 2023年第7期15卷 1501-1511页

作者： Ching-Lung Hsieh Tung-Sheng Tsai Cheng-Ming Peng Teng-Chieh Cheng Yi-Jui Liu Department of Computer Science and Information Engineering Feng Chia UniversityTaichung 40724TaiwanChina Department of Surgery Chung Shan Medical University HospitalTaichung 40201TaiwanChina PhD Program of Electrical and Communications Engineering Feng Chia UniversityTaichung 40724Taiwan School of Medicine Chung Shan Medical UniversityTaichung 40201Taiwan Da Vinci Minimally Invasive Surgery Center Chung Shan Medical University HospitalTaichung 40201Taiwan Department of Automatic Control Engineering Feng Chia UniversityTaichung 407Taiwan

BACKGROUND Minimally invasive pancreatic surgery via the multi-port approach has become a primary surgical method for distal pancreatectomy(DP)due to its advantages of lower wound pain and superior cosmetic *** studies have applied reduced-port techniques for DP in an attempt to enhance cosmetic outcomes due to the minimally invasive *** recent review studies have compared multi-port laparoscopic DP(LDP)and multi-port robotic DP(RDP);most of these studies concluded multi-port RDP is more beneficial than multi-port LDP for spleen ***,there have been no comprehensive reviews of the value of reduced-port LDP and reduced-port *** To search for and review the studies on spleen preservation and the clinical outcomes of minimally invasive DP that compared reduced-port DP surgery with multi-port DP *** The PubMed medical database was searched for articles published between 2013 and *** search terms were implemented using the following Boolean search algorithm:(“distal pancreatectomy”OR“left pancreatectomy”OR“peripheral pancreatic resection”)AND(“reduced-port”OR“single-site”OR“single-port”OR“dual-incision”OR“single-incision”)AND(“spleen-preserving”OR“spleen preservation”OR“splenic preservation”).A literature review was conducted to identify studies that compared the perioperative outcomes of reduced-port LDP and reduced-port *** Fifteen articles published in the period from 2013 to 2022 were retrieved using three groups of search *** studies were added after manually searching the related ***,10 papers were selected after removing case reports(n=3),non-English language papers(n=1),technique papers(n=1),reviews(n=1),and animal studies(n=1).The common items were defined as items reported in more than five papers,and data on these common items were extracted from all *** ten studies included a total of 337 patients(females/males:231/106)who underwent *** total,166 patients(females/male

关键词： Minimally invasive surgery Robotic distal pancreatectomy Laparoscopic distal pancreatectomy Spleen preservation Reduced-port Multi-port

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2D Polynomial Regression Modeling for Predictive Analysis of Glucose Concentration in NP-Model Fractal Microwave Sensor Using Frequency and Transmission Coefficient Disparities

2D Polynomial Regression Modeling for Predictive Analysis of...

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International Electrical engineering Congress (iEECON)

作者： Nutyada Nantapanich Pisit Mahatthanajatuphat Norakamon Wongsin Wilaiporn Lee Department of Electronics and Telecommunication Engineering Faculty of Engineering Rajamangala University of Technology Thanyaburi Pathum Thani Thailand Regular Program in Mathematics-Science Yothinburana School Bangkok Thailand Department of Electrical and Computer Engineering Faculty of Engineering King Mongkut's University of Technology North Bangkok Bangkok Thailand

ISBN: (数字)9798331543952

ISBN: (纸本)9798331543969

The article introduces a two-dimensional polynomial regression model for the predictive analysis of glucose concentration in a fractal microwave sensor NP model, utilizing frequency and transmission coefficient differences to examine their correlation with glucose concentration levels. The sensor employed in this investigation is fabricated on an economical FR-4 substrate to minimize costs. The sensor structure is developed with the fractal structure reduction method established by the NP model to operate at a frequency of roughly 2.97 GHz. The CST Studio software is utilized to analyze the findings from the simulation of the suggested sensor structure. Furthermore, the proposed sensor is integrated into a test apparatus comprising a sensor platform and a liquid tube constructed from PPA material. The liquid under examination is a glucose and water mixture at varying concentrations. It was analyzed using a VNA instrument to evaluate its frequency response and the magnitude of the alteration in the transmission coefficient. The values are utilized to create a two-dimensional polynomial regression model. The experiments demonstrated that the proposed sensor model possesses an Adjusted R² value of 0.99499 and an average error of approximately 3.57% for glucose concentration analysis throughout the range of 5% to 30%, with sensitivities of 0.00879 dB/% for insertion loss and 0.092 MHz/% for frequency variation, facilitating accurate glucose concentration prediction analysis.

关键词： Analytical models Adaptation models Correlation Liquids Predictive models Microwave sensors Polynomials Fractals Glucose Predictive analytics

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Constrained Generative Sampling of 6-DoF Grasps

arXiv

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arXiv 2023年

作者： Lundell, Jens Verdoja, Francesco Le, Tran Nguyen Mousavian, Arsalan Fox, Dieter Kyrki, Ville Intelligent Robotics Group Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Finland KTH Royal Institute of Technology Sweden NVIDIA Corporation United States Paul G. Allen School of Computer Science & Engineering University of Washington Seattle United States

Most state-of-the-art data-driven grasp sampling methods propose stable and collision-free grasps uniformly on the target object. For bin-picking, executing any of those reachable grasps is sufficient. However, for completing specific tasks, such as squeezing out liquid from a bottle, we want the grasp to be on a specific part of the object’s body while avoiding other locations, such as the cap. This work presents a generative grasp sampling network, VCGS, capable of constrained 6-Degrees of Freedom (DoF) grasp sampling. In addition, we also curate a new dataset designed to train and evaluate methods for constrained grasping. The new dataset, called CONG, consists of over 14 million training samples of synthetically rendered point clouds and grasps at random target areas on 2889 objects. VCGS is benchmarked against GraspNet, a state-of-the-art unconstrained grasp sampler, in simulation and on a real robot. The results demonstrate that VCGS achieves a 10–15% higher grasp success rate than the baseline while being 2–3 times as sample efficient. Supplementary material is available on our project website. Copyright © 2023, The Authors. All rights reserved.

关键词： Bottles

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Efficient Tactile Sensing-based Learning from Limited Real-world Demonstrations for Dual-arm Fine Pinch-Grasp Skills

Efficient Tactile Sensing-based Learning from Limited Real-w...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Xiaofeng Mao Yucheng Xu Ruoshi Wen Mohammadreza Kasaei Wanming Yu Efi Psomopoulou Nathan F. Lepora Zhibin Li School of Informatics University of Edinburgh UK Touchlab Limited Edinburgh U.K. Oxford Robotics Institute University of Oxford UK Department of Engineering Mathematics University of Bristol UK Department of Computer Science University College London UK

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Imitation learning for robot dexterous manipulation, especially with a real robot setup, typically requires a large number of demonstrations. In this paper, we present a data-efficient learning from demonstration framework which exploits the use of rich tactile sensing data and achieves fine bimanual pinch grasping. Specifically, we employ a convolutional autoencoder network that can effectively extract and encode high-dimensional tactile information. Further, we develop a framework that achieves efficient multi-sensor fusion for imitation learning, allowing the robot to learn contact-aware sensorimotor skills from demonstrations. The ablation studies on encoded tactile features highlighted the effectiveness of incorporating rich contact information, which enabled dexterous bimanual grasping with active contact searching. Extensive experiments demonstrated the robustness of the fine pinch grasp policy directly learned from few-shot demonstration, including grasping of the same object with different initial poses, generalizing to ten unseen new objects, robust and firm grasping against external pushes, as well as contact-aware and reactive re-grasping in case of dropping objects under very large perturbations. Furthermore, the saliency map analysis method is used to describe weight distribution across various modalities during pinch grasping, confirming the effectiveness of our framework at leveraging multimodal information. The video is available online at: https://***/BlzxGgiKfck.

关键词： Imitation learning Perturbation methods Autoencoders Grasping Robot sensing systems Feature extraction Robustness Sensors Data mining Intelligent robots

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Generative AI for Unmanned Vehicle Swarms: Challenges, Applications and Opportunities

arXiv

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arXiv 2024年

作者： Liu, Guangyuan Van Huynh, Nguyen Du, Hongyang Hoang, Dinh Thai Niyato, Dusit Zhu, Kun Kang, Jiawen Xiong, Zehui Jamalipour, Abbas In Kim, Dong The School of Computer Science and Engineering The Energy Research Institute @ NTU Interdisciplinary Graduate Program Nanyang Technological University Singapore The Department of Electrical Engineering and Electronics University of Liverpool Liverpool L69 3GJ United Kingdom The School of Electrical and Data Engineering University of Technology Sydney Australia The School of Computer Science and Engineering Nanyang Technological University Singapore College of Computer Science and Technology Nanjing University of Aeronautics and Astronautics Nanjing China The School of Automation Guangdong University of Technology China The Pillar of Information Systems Technology and Design Singapore University of Technology and Design Singapore The School of Electrical and Information Engineering University of Sydney Australia The College of Information and Communication Engineering Sungkyunkwan University Korea Republic of

With recent advances in artificial intelligence (AI) and robotics, unmanned vehicle swarms have received great attention from both academia and industry due to their potential to provide services that are difficult and dangerous to perform by humans. However, learning and coordinating movements and actions for a large number of unmanned vehicles in complex and dynamic environments introduce significant challenges to conventional AI methods. Generative AI (GAI), with its capabilities in complex data feature extraction, transformation, and enhancement, offers great potential in solving these challenges of unmanned vehicle swarms. For that, this paper aims to provide a comprehensive survey on applications, challenges, and opportunities of GAI in unmanned vehicle swarms. Specifically, we first present an overview of unmanned vehicles and unmanned vehicle swarms as well as their use cases and existing issues. Then, an in-depth background of various GAI techniques together with their capabilities in enhancing unmanned vehicle swarms are provided. After that, we present a comprehensive review on the applications and challenges of GAI in unmanned vehicle swarms with various insights and discussions. Finally, we highlight open issues of GAI in unmanned vehicle swarms and discuss potential research directions. © 2024, CC BY.

关键词： Metadata

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Cluster Assumption-Guided Timestamp-Supervised Temporal Action Segmentation

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IEEE Transactions on Multimedia 2025年

作者： Ren, Ziyou Li, Guozhang Cheng, Nan Wu, Anqi Wang, Nannan Gao, Xinbo Xidian University State Key Laboratory of Integrated Services Networks School of Telecommunications Engineering Shaanxi Xi'an710071 China Carnegie Mellon University Robotics Institute School of Computer Science PittsburghPA15213 United States Beijing Normal University School of Artificial Intelligence Haidian District Beijing100875 China Georgia Institute of Technology School of Computational Science and Engineering College of Computing AtlantaGA30308 United States Xidian University School of Electronic Engineering Xi'an710071 China Chongqing University of Posts and Telecommunications Chongqing Key Laboratory of Image Cognition Chongqing400065 China

Current timestamp-supervised temporal action segmentation (TS-TAS) methods typically follow a two-phase pipeline: initializing the model with timestamp labels and refining it with pseudo-labels. However, limited by the sparsity of timestamp annotations, current methods' performance is sub-optimal. Specifically, initializing the model with only timestamp annotations may cause overfitting to labeled frames. Additionally, sparse timestamp annotations cannot capture the diverse action representations throughout the whole instance, especially those near the ambiguous action boundaries, leading to pseudo-label noise. Inspired by the cluster assumption of semi-supervised learning (SSL) that points within the same manifold likely share the same label, we here model TS-TAS as an SSL problem. Specifically, we propose a Temporal Embedding Consistency (TEC) strategy to mitigate the excessive focus on annotated frames. The TEC strategy encourages frames with similar representations within the video to have similar classification probability distributions, thereby propagating labeled frames' information to implicit ones. Besides, we design a TS-Mix strategy to further leverage unlabeled data to mitigate the influence of pseudo-label noise in a consistency regularization manner. The TS-Mix strategy includes intra-mix, which adds linear interpolation of two adjacent timestamps to every frame between them, and inter-mix, which mixes frames from two different untrimmed videos frame-by-frame. Then the mixed video is trained with the correspondingly mixed pseudo-labels. Comprehensive experimental results on different benchmarks show that we achieve new state-of-the-art performances. Furthermore, the proposed method can seamlessly enhance existing methods, significantly improving their performances. © 1999-2012 IEEE.

关键词： Self-supervised learning

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