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arXiv 2024年

作者： Huang, Wenli Deng, Ye Wu, Yang Wang, Jinjun The School of Electronic and Information Engineering Ningbo University of Technology No. 201 Fenghua Road Jiangbei District Zhejiang Ningbo China The Engineering Research Center of Intelligent Finance Ministry of Education School of Computing and Artificial Intelligence Southwestern University of Finance and Economics No. 555 Liutai Avenue Wenjiang District Sichuan Chengdu611130 China The Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Shaanxi Xi’an710049 China

Cloud cover can significantly hinder the use of remote sensing images for Earth observation, prompting urgent advancements in cloud removal technology. Recently, deep learning strategies, especially convolutional neural networks (CNNs) with attention mechanisms, have shown strong potential in restoring cloud-obscured areas. These methods utilize convolution to extract intricate local features and attention mechanisms to gather long-range information, improving the overall comprehension of the scene. However, a common drawback of these approaches is that the resulting images often suffer from blurriness, artifacts, and inconsistencies. This is partly because attention mechanisms apply weights to all features based on generalized similarity scores, which can inadvertently introduce noise and irrelevant details from cloud-covered areas. To overcome this limitation and better capture relevant distant context, we introduce a novel approach named Attentive Contextual Attention (AC-Attention). This method enhances conventional attention mechanisms by dynamically learning data-driven attentive selection scores, enabling it to filter out noise and irrelevant features effectively. By integrating the AC-Attention module into the DSen2-CR cloud removal framework, we significantly improve the model’s ability to capture essential distant information, leading to more effective cloud removal. Our extensive evaluation of various datasets shows that our method outperforms existing ones regarding image reconstruction quality. Additionally, we conducted ablation studies by integrating AC-Attention into multiple existing methods and widely used network architectures. These studies demonstrate the effectiveness and adaptability of AC-Attention and reveal its ability to focus on relevant features, thereby improving the overall performance of the networks. The code is available at https://***/huangwenwenlili/ACA-CRNet. Copyright © 2024, The Authors. All rights reserved.

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Compositional Inversion for Stable Diffusion Models

arXiv

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arXiv 2023年

作者： Zhang, Xulu Wei, Xiao-Yong Wu, Jinlin Zhang, Tianyi Zhang, Zhaoxiang Lei, Zhen Li, Qing Department of Computing the Hong Kong Polytechnic University Hong Kong Center for Artificial Intelligence and Robotics HKISI CAS Hong Kong College of Computer Science Sichuan University Chengdu China School of Artificial Intelligence UCAS Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems CASIA Beijing China

Inversion methods, such as Textual Inversion, generate personalized images by incorporating concepts of interest provided by user images. However, existing methods often suffer from overfitting issues, where the dominant presence of inverted concepts leads to the absence of other desired concepts. It stems from the fact that during inversion, the irrelevant semantics in the user images are also encoded, forcing the inverted concepts to occupy locations far from the core distribution in the embedding space. To address this issue, we propose a method that guides the inversion process towards the core distribution for compositional embeddings. Additionally, we introduce a spatial regularization approach to balance the attention on the concepts being composed. Our method is designed as a post-training approach and can be seamlessly integrated with other inversion methods. Experimental results demonstrate the effectiveness of our proposed approach in mitigating the overfitting problem and generating more diverse and balanced compositions of concepts in the synthesized images. The source code is available at https://***/zhangxulu1996/Compositional-Inversion. © 2023, CC BY.

关键词： Semantics

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Stable-baselines3: reliable reinforcement learning implementations

The Journal of Machine Learning Research

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The Journal of Machine Learning Research 2021年第1期22卷 12348-12355页

作者： Antonin Raffin Ashley Hill Adam Gleave Anssi Kanervisto Maximilian Ernestus Noah Dormann Robotics and Mechatronics Center German Aerospace Center Weßling Germany Interactive Robotics Laboratory University Paris-Saclay CEA Palaiseau France Electrical Engineering and Computer Science University of California Berkeley CA School of Computing University of Eastern Finland Joensuu Finland Kiteswarms GmbH Freiburg Germany

STABLE-BASELINES3 provides open-source implementations of deep reinforcement learning (RL) algorithms in Python. The implementations have been benchmarked against reference codebases, and automated unit tests cover 95% of the code. The algorithms follow a consistent interface and are accompanied by extensive documentation, making it simple to train and compare different RL algorithms.

关键词： reinforcement learning baselines software open-source Python PyTorch

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FIRST LESSONS LEARNED OF AN ARTIFICIAL INTELLIGENCE ROBOTIC SYSTEM FOR AUTONOMOUS COARSE WASTE RECYCLING USING MULTISPECTRAL IMAGING-BASED METHODS

arXiv

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arXiv 2025年

作者： Lange, Timo Babu, Ajish Meyer, Philipp Keppner, Matthis Tiedemann, Tim Wittmaier, Martin Wolff, Sebastian Vögele, Thomas Hamburg University of Applied Sciences Berliner Tor 7 Hamburg20099 Germany School of Computing Engineering and Physical Sciences University of the West of Scotland High St. PaisleyPA1 2BE United Kingdom Institute for Energy Recycling and Environmental Protection Bremen University of Applied Sciences Neustadtswall 30 Bremen28199 Germany German Research Center for Artificial Intelligence Robotics Innovation Center Robert-Hooke Str 1 Bremen28359 Germany

Current disposal facilities for coarse-grained waste perform manual sorting of materials with heavy machinery. Large quantities of recyclable materials are lost to coarse waste, so more effective sorting processes must be developed to recover them. Two key aspects to automate the sorting process are object detection with material classification in mixed piles of waste, and autonomous control of hydraulic machinery. Because most objects in those accumulations of waste are damaged or destroyed, object detection alone is not feasible in the majority of cases. To address these challenges, we propose a classification of materials with multispectral images of ultraviolet (UV), visual (VIS), near infrared (NIR), and short-wave infrared (SWIR) spectrums. Solution for autonomous control of hydraulic heavy machines for sorting of bulky waste is being investigated using cost-effective cameras and artificial intelligence-based controllers. Copyright © 2025, The Authors. All rights reserved.

关键词： Deep learning

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Learning Signed Hyper Surfaces for Oriented Point Cloud Normal Estimation

arXiv

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arXiv 2023年

作者： Li, Qing Feng, Huifang Shi, Kanle Gao, Yue Fang, Yi Liu, Yu-Shen Han, Zhizhong School of Software Tsinghua University Beijing China School of Computing and Artificial Intelligence Southwest Jiaotong University Chengdu China School of Computer and Software Engineering Xihua University Chengdu China Kuaishou Technology Beijing China Center for Artificial Intelligence and Robotics New York University Abu Dhabi Abu Dhabi United Arab Emirates Department of Computer Science Wayne State University Detroit United States

We propose a novel method called SHS-Net for point cloud normal estimation by learning signed hyper surfaces, which can accurately predict normals with global consistent orientation from various point clouds. Almost all existing methods estimate oriented normals through a two-stage pipeline, i.e., unoriented normal estimation and normal orientation, and each step is implemented by a separate algorithm. However, previous methods are sensitive to parameter settings, resulting in poor results from point clouds with noise, density variations and complex geometries. In this work, we introduce signed hyper surfaces (SHS), which are parameterized by multi-layer perceptron (MLP) layers, to learn to estimate oriented normals from point clouds in an end-to-end manner. The signed hyper surfaces are implicitly learned in a high-dimensional feature space where the local and global information is aggregated. Specifically, we introduce a patch encoding module and a shape encoding module to encode a 3D point cloud into a local latent code and a global latent code, respectively. Then, an attention-weighted normal prediction module is proposed as a decoder, which takes the local and global latent codes as input to predict oriented normals. Experimental results show that our algorithm outperforms the state-of-the-art methods in both unoriented and oriented normal estimation. © 2023, CC BY-NC-SA.

关键词： Surface reconstruction

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ExpTopo: Explicit Topological Modeling for Bronchus Segmentation

ExpTopo: Explicit Topological Modeling for Bronchus Segmenta...

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IEEE International Symposium on Biomedical Imaging

作者： Mingyue Zhao Xiaolan Qiu S.Kevin Zhou Division of Life Sciences and Medicine School of Biomedical Engineering University of Science and Technology of China (USTC) China Center for Medical Imaging Robotics Analytic Computing & Learning (MIRACLE) Suzhou Institute for Advance Research USTC China Suzhou Key Laboratory of Microwave Imaging Processing and Application Technology Suzhou Aerospace Information Research Institute China Key Laboratory of Precision and Intelligent Chemistry University of Science and Technology of China (USTC) China Key Laboratory of Intelligent Information Processing of Chinese Academy of Sciences (CAS) Institute of Computing Technology China

ISBN: (数字)9798331520526

ISBN: (纸本)9798331520533

Airway extraction is paramount in the early diagnosis and treatment of respiratory diseases. As a tree-like structure, both topological-aware learning and voxel-wise classification are equally crucial for the airway. However, existing methods demonstrate insufficient topological learning, emphasizing only the supervision of individual key topological points. Consequently, this paper proposes a Explicit Topological Modeling (ExpTopo) approach to aid airway segmentation. It explicitly introduces topological metric space learning based on semantic segmentation, enhancing the model's structural perception by implementing global skeleton-level sparse topological learning (STL) and local voxel-level dense topological perception (DTP). Extensive experimental results demonstrate that the algorithm achieves competitive performance at both the topological and voxel levels. Code will be available in https://***/MorineZ/ExpTopo.

关键词： Codes Atmospheric modeling Semantic segmentation Pulmonary diseases Biological system modeling Extraterrestrial measurements Biomedical imaging

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Risk-Aware Decision Making for Service Robots to Minimize Risk of Patient Falls in Hospitals

Risk-Aware Decision Making for Service Robots to Minimize Ri...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Roya Sabbagh Novin Amir Yazdani Andrew Merryweather Tucker Hermans University of Utah Salt Lake City Utah USA School of Computing and Utah Robotics Center University of Utah Salt Lake City Utah USA

Planning under uncertainty is a crucial capability for autonomous systems to operate reliably in uncertain and dynamic environments. The concern of safety becomes even more critical in healthcare settings where robots interact with human patients. In this paper, we propose a novel risk-aware planning framework to minimize the risk of falls by providing a patient with an assistive device. Our approach combines learning-based prediction with model-based control to plan for the fall prevention task. This provides advantages compared to end-to-end learning methods in which the robot's performance is limited to specific scenarios, or purely model-based approaches that use relatively simple function approximators and are prone to high modeling errors. We compare various risk metrics and the results from simulated scenarios show that using the proposed cost function, the robot can plan interventions to avoid high fall score events.

关键词： Uncertainty Hospitals Service robots Predictive models Cost function Planning Safety

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Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds

arXiv

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arXiv 2021年

作者： Thach, Bao Cho, Brian Y. Kuntz, Alan Hermans, Tucker Robotics Center and School of Computing University of Utah Salt Lake CityUT84112 United States NVIDIA Corporation SeattleWA United States

If robots could reliably manipulate the shape of 3D deformable objects, they could find applications in fields ranging from home care to warehouse fulfillment to surgical assistance. Analytic models of elastic, 3D deformable objects require numerous parameters to describe the potentially infinite degrees of freedom present in determining the object's shape. Previous attempts at performing 3D shape control rely on hand-crafted features to represent the object shape and require training of object-specific control models. We overcome these issues through the use of our novel DeformerNet neural network architecture, which operates on a partial-view point cloud of the object being manipulated and a point cloud of the goal shape to learn a low-dimensional representation of the object shape. This shape embedding enables the robot to learn to define a visual servo controller that provides Cartesian pose changes to the robot end-effector causing the object to deform towards its target shape. Crucially, we demonstrate both in simulation and on a physical robot that DeformerNet reliably generalizes to object shapes and material stiffness not seen during training and outperforms comparison methods for both the generic shape control and the surgical task of retraction. Copyright © 2021, The Authors. All rights reserved.

关键词： Deformation

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Efficient Federated Learning with Enhanced Privacy via Lottery Ticket Pruning in Edge computing

arXiv

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arXiv 2023年

作者： Shi, Yifan Wei, Kang Shen, Li Li, Jun Wang, Xueqian Yuan, Bo Guo, Song The Center for Artificial Intelligence and Robotics Shenzhen International Graduate School Tsinghua University Shenzhen518055 China Jd Explore Academy Beijing China The Department of Computing Hong Kong Polytechnic University 999077 Hong Kong The School of Electrical and Optical Engineering Nanjing University of Science and Technology Nanjing China Shenzhen Wisdom and Strategy Technology Co. Ltd. Shenzhen518055 China

Federated learning (FL) is a collaborative learning paradigm for decentralized private data from mobile terminals (MTs). However, it suffers from issues in terms of communication, resource of MTs, and privacy. Existing privacy-preserving FL methods usually adopt the instance-level differential privacy (DP), which provides a rigorous privacy guarantee but with several bottlenecks: severe performance degradation, transmission overhead, and resource constraints of edge devices such as MTs. To overcome these drawbacks, we propose Fed-LTP, an efficient and privacy-enhanced FL framework with Lottery Ticket Hypothesis (LTH) and zero-concentrated DP (zCDP). It generates a pruned global model on the server side and conducts sparse-to-sparse training from scratch with zCDP on the client side. On the server side, two pruning schemes are proposed: (i) the weight-based pruning (LTH) determines the pruned global model structure;(ii) the iterative pruning further shrinks the size of the pruned model's parameters. Meanwhile, the performance of Fed-LTP is also boosted via model validation based on the Laplace mechanism. On the client side, we use sparse-to-sparse training to solve the resource-constraints issue and provide tighter privacy analysis to reduce the privacy budget. We evaluate the effectiveness of Fed-LTP on several real-world datasets in both independent and identically distributed (IID) and non-IID settings. The results clearly confirm the superiority of Fed-LTP over state-of-the-art (SOTA) methods in communication, computation, and memory efficiencies while realizing a better utility-privacy trade-off. Copyright © 2023, The Authors. All rights reserved.

关键词： Mobile edge computing

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LF-PGVIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras using Points and Geodesic Segments

arXiv

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arXiv 2023年

作者： Wang, Ze Yang, Kailun Shi, Hao Zhang, Yufan Xu, Zhijie Gao, Fei Wang, Kaiwei The State Key Laboratory of Extreme Photonics and Instrumentation The National Engineering Research Center of Optical Instrumentation Zhejiang University Hangzhou310027 China The School of Robotics The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China The School of Computing and Engineering University of Huddersfield HuddersfieldHD1 3DH United Kingdom The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China

In this paper, we propose LF-PGVIO, a Visual-Inertial-Odometry (VIO) framework for large Field-of-View (FoV) cameras with a negative plane using points and geodesic segments. The purpose of our research is to unleash the potential of point-line odometry with large-FoV omnidirectional cameras, even for cameras with negative-plane FoV. To achieve this, we propose an Omnidirectional Curve Segment Detection (OCSD) method combined with a camera model which is applicable to images with large distortions, such as panoramic annular images, fisheye images, and various panoramic images. The geodesic segment is sliced into multiple straight-line segments based on the radian and descriptors are extracted and recombined. Descriptor matching establishes the constraint relationship between 3D line segments in multiple frames. In our VIO system, line feature residual is also extended to support large-FoV cameras. Extensive evaluations on public datasets demonstrate the superior accuracy and robustness of LF-PGVIO compared to state-of-the-art methods. The source code will be made publicly available at https://***/flysoaryun/LF-PGVIO. Copyright © 2023, The Authors. All rights reserved.

关键词： Cameras

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