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Robot and its living space:A roadmap for robot development based on the view of living space

Digital Communications and Networks 2021年第4期7卷 505-517页

作者： Xiaofeng Cai Huansheng Ning Sahraoui Dhelim Rongjuan Zhou Tao Zhang Yang Xu Yueliang Wan School of Computer and Communication Engineering University of Science and Technology Beijing Beijing 100083China Beijing Engineering Research Center for Cyberspace Data Analysis and Applications Beijing 100083China School of Foreign Studies University of Science and Technology Beijing Beijing 100083China Key Lab of Information Network Security Ministry of Public SecurityChina Run Technologies Co. LidBeijing China

Robot’s living space Human-robot relationship Robot humanization Hybrid intelligence Human-robot integrated society Robots,as the creation of humans,became an irreplaceable component in human *** the advancement of technologies,robots have become more and more intelligent and have been widely used in many fields,such as disease diagnosis,customer services,healthcare for the older people,and so *** robots made our lives much more convenient than ever before,they also brought many potential risks and challenges in technology,security,and *** better understand the development of robots,we proposed a concept of a robot’s living space and analyzed the role of robots in our *** this paper,we focus on setting a theoretical framework of the robot’s living space to further understand the human-robot *** research in this paper contains three central ***,we interpret the concept of the robot’s living space and the functions of each ***,we analyze and summarize the relative technologies which support robots living well in each ***,we provide advice and improvement measures based on a discussion of potential problems caused by the developments of *** the trend of robots humanization and human-robot society integration,we should seriously consider how to collab.rate with intelligent robots to achieve hybrid *** build a harmonious human-robot integrated society,studying the robot’s living space and its relationship with humans is the prerequisite and roadmap.

关键词： Robot's living space Human-robot relationship Robot humanization Hybrid intelligence Human-robot integrated society

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Homophily Induced Contrastive Attributed Graph Clustering

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IEEE Transactions on Circuits and Systems for Video technology 2025年

作者： Chen, Man-Sheng Lai, Pei-Yuan Liao, De-Zhang Wang, Chang-Dong Lai, Jian-Huang Sun Yat-sen University School of Computer Science and Engineering Guangzhou China Guangxi Zhuang Autonomous Region Information Center Guangxi Key Laboratory of Digital Infrastructure Nanning China Guangdong Key Laboratory of Big Data Analysis and Processing Guangzhou China Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education China South China Technology Commercialization Center Guangzhou China Guangdong Key Laboratory of Information Security Technology Guangzhou China

Attributed graph clustering, aiming to discover the underlying graph structure and partition the graph nodes into several disjoint categories, is a basic task in graph data analysis. Although recent efforts over graph contrastive clustering have achieved decent performances, most of them get accustomed to construct the positive neighbor set by the generated pseudo clustering information, directly ignoring the ready-made neighbor nodes and the underlying semantics of edges in a graph. How to well deal with the graph neighbor-specific information to facilitate the performance of graph contrastive clustering is still a challenging problem. Therefore, in this work, we propose a novel Homophily Induced Contrastive Attributed Graph Clustering (HomoCAGC) method, where the power of homophily is exploited in facilitating the performance of contrastive attributed graph clustering, while the pseudo homophily in a graph is also explored and distinguished. Especially, the node feature as reliable information guidance is used to compute the underlying feature-oriented pair-wise node similarity, based on which the positive node pairs in contrastive regularizer are adjusted for better node representation characterization. According to the refined node representations, a triplet self-supervised clustering objective is well-designed to ensure the output embedding is cluster-oriented, and suitable for the downstream clustering task. Extensive experiments on seven benchmarks are conducted to demonstrate the effectiveness of HomoCAGC. © 1991-2012 IEEE.

关键词： Attributed graph clustering contrastive learning graph homophily self-supervised clustering

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UniCell:Universal Cell Nucleus Classification via Prompt Learning

arXiv

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arXiv 2024年

作者： Huang, Junjia Li, Haofeng Wan, Xiang Li, Guanbin School of Computer Science and Engineering Sun Yat-sen University Guangzhou China Shenzhen Research Institute of Big Data The Chinese University of Hong Kong Shenzhen China GuangDong Province Key Laboratory of Information Security Technology China

The recognition of multi-class cell nuclei can significantly facilitate the process of histopathological diagnosis. Numerous pathological datasets are currently availab.e, but their annotations are inconsistent. Most existing methods require individual training on each dataset to deduce the relevant lab.ls and lack the use of common knowledge across datasets, consequently restricting the quality of recognition. In this paper, we propose a universal cell nucleus classification framework (UniCell), which employs a novel prompt learning mechanism to uniformly predict the corresponding categories of pathological images from different dataset domains. In particular, our framework adopts an end-to-end architecture for nuclei detection and classification, and utilizes flexible prediction heads for adapting various datasets. Moreover, we develop a Dynamic Prompt Module (DPM) that exploits the properties of multiple datasets to enhance features. The DPM first integrates the embeddings of datasets and semantic categories, and then employs the integrated prompts to refine image representations, efficiently harvesting the shared knowledge among the related cell types and data sources. Experimental results demonstrate that the proposed method effectively achieves the state-of-the-art results on four nucleus detection and classification benchmarks. Code and models are availab.e at https://***/lhaof/UniCell Copyright © 2024, The Authors. All rights reserved.

关键词： Classification (of information)

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DarkFed: A data-Free Backdoor Attack in Federated Learning

arXiv

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arXiv 2024年

作者： Li, Minghui Wan, Wei Ning, Yuxuan Hu, Shengshan Xue, Lulu Zhang, Leo Yu Wang, Yichen School of Software Engineering Huazhong University of Science and Technology China National Engineering Research Center for Big Data Technology and System China Services Computing Technology and System Lab China Hubei Engineering Research Center on Big Data Security China Hubei Key Laboratory of Distributed System Security China School of Cyber Science and Engineering Huazhong University of Science and Technology China School of Computer Science and Technology Huazhong University of Science and Technology China School of Information and Communication Technology Griffith University Australia

Federated learning (FL) has been demonstrated to be susceptible to backdoor attacks. However, existing academic studies on FL backdoor attacks rely on a high proportion of real clients with main task-related data, which is impractical. In the context of real-world industrial scenarios, even the simplest defense suffices to defend against the state-of-the-art attack, 3DFed. A practical FL backdoor attack remains in a nascent stage of development. To bridge this gap, we present DarkFed. Initially, we emulate a series of fake clients, thereby achieving the attacker proportion typical of academic research scenarios. Given that these emulated fake clients lack genuine training data, we further propose a data-free approach to backdoor FL. Specifically, we delve into the feasibility of injecting a backdoor using a shadow dataset. Our exploration reveals that impressive attack performance can be achieved, even when there is a substantial gap between the shadow dataset and the main task dataset. This holds true even when employing synthetic data devoid of any semantic information as the shadow dataset. Subsequently, we strategically construct a series of covert backdoor updates in an optimized manner, mimicking the properties of benign updates, to evade detection by defenses. A substantial body of empirical evidence validates the tangible effectiveness of DarkFed. Copyright © 2024, The Authors. All rights reserved.

关键词： Semantics

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Inserting anybody in diffusion models via celeb basis 23

Inserting anybody in diffusion models via celeb basis

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Proceedings of the 37th International Conference on Neural information Processing Systems

作者： Ge Yuan Xiaodong Cun Yong Zhang Maomao Li Chenyang Qi Xintao Wang Ying Shan Huicheng Zheng School of Computer Science and Engineering Sun Yat-sen University and Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education China and Guangdong Key Laboratory of Information Security Technology and Tencent AI Lab Tencent AI Lab The Hong Kong University of Science and Technology School of Computer Science and Engineering Sun Yat-sen University and Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education China and Guangdong Key Laboratory of Information Security Technology

Exquisite demand exists for customizing the pretrained large text-to-image model, e.g. Stable Diffusion, to generate innovative concepts, such as the users themselves. However, the newly-added concept from previous customization methods often shows weaker combination abilities than the original ones even given several images during training. We thus propose a new personalization method that allows for the seamless integration of a unique individual into the pre-trained diffusion model using just one facial photograph and only 1024 learnable parameters under 3 minutes. So we can effortlessly generate stunning images of this person in any pose or position, interacting with anyone and doing anything imaginable from text prompts. To achieve this, we first analyze and build a well-defined celeb basis from the embedding space of the pre-trained large text encoder. Then, given one facial photo as the target identity, we generate its own embedding by optimizing the weight of this basis and locking all other parameters. Empowered by the proposed celeb basis, the new identity in our customized model showcases a better concept combination ability than previous personalization methods. Besides, our model can also learn several new identities at once and interact with each other where the previous customization model fails to. Project page is at: http://***. Code is at: https://***/ygtxr1997/CelebBasis.

关键词：

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Deep Feature Surgery: Towards Accurate and Efficient Multi-Exit Networks

arXiv

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arXiv 2024年

作者： Gong, Cheng Chen, Yao Luo, Qiuyang Lu, Ye Li, Tao Zhang, Yuzhi Sun, Yufei Zhang, Le College of Software Nankai University China College of Computer Science Nankai University China National University of Singapore Singapore School of Information and Communication Engineering University of Electronic Science and Technology of China China HAIHE Lab of ITAI China Tianjin Key Laboratory of Network and Data Security Technology China Key Laboratory of Data and Intelligent System Security Ministry of Education

Multi-exit network is a promising architecture for efficient model inference by sharing backbone networks and weights among multiple exits. However, the gradient conflict of the shared weights results in sub-optimal accuracy. This paper introduces Deep Feature Surgery (DFS), which consists of feature partitioning and feature referencing approaches to resolve gradient conflict issues during the training of multi-exit networks. The feature partitioning separates shared features along the depth axis among all exits to alleviate gradient conflict while simultaneously promoting joint optimization for each exit. Subsequently, feature referencing enhances multi-scale features for distinct exits across varying depths to improve the model accuracy. Furthermore, DFS reduces the training operations with the reduced complexity of backpropagation. Experimental results on Cifar100 and ImageNet datasets exhibit that DFS provides up to a 50.00% reduction in training time and attains up to a 6.94% enhancement in accuracy when contrasted with baseline methods across diverse models and tasks. Budgeted batch classification evaluation on MSDNet demonstrates that DFS uses about 2× fewer average FLOPs per image to achieve the same classification accuracy as baseline methods on Cifar100. The code is availab.e at https: //***/GongCheng1919/dfs. Copyright © 2024, The Authors. All rights reserved.

关键词： Budget control

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View-decoupled Transformer for Person Re-identification under Aerial-ground Camera Network

View-decoupled Transformer for Person Re-identification unde...

引用

Conference on computer Vision and Pattern Recognition (CVPR)

作者： Quan Zhang Lei Wang Vishal M. Patel Xiaohua Xie Jianhuang Lai School of Computer Science and Engineering Sun Yat-Sen University China Department of Electrical and Computer Engineering Johns Hopkins University USA Pazhou Lab (HuangPu) Guangdong China Guangdong Province Key Laboratory of Information Security Technology Guangdong China Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education China

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

Existing person re-identification methods have achieved remarkable advances in appearance-based identity association across homogeneous cameras, such as ground-ground matching. However, as a more practical scenario, aerial-ground person re-identification (AGPReID) among heterogeneous cameras has received minimal attention. To alleviate the disruption of discriminative identity representation by dramatic view discrepancy as the most significant challenge in AGPReID, the view-decoupled transformer (VDT) is proposed as a simple yet effective framework. Two major components are designed in VDT to decouple view-related and view-unrelated features, namely hierarchical subtractive separation and orthogonal loss, where the former separates these two features inside the VDT, and the latter constrains these two to be independent. In addition, we contribute a large-scale AGPReID dataset called CARGO, consisting of five/eight aerial/ground cameras, 5,000 identities, and 108,563 images. Experiments on two datasets show that VDT is a feasible and effective solution for AGPReID, surpassing the previous method on mAP/Rank1 by up to 5.0%/2.7% on CARGO and 3.7%/5.2% on AG-ReID, keeping the same magnitude of computational complexity. Our project is availab.e at https://***/LinlyAC/VDT-AGPReID.

关键词： computer vision Cameras Transformers Pattern recognition Computational complexity Identification of persons

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Cell Graph Transformer for Nuclei Classification

arXiv

引用

arXiv 2024年

作者： Lou, Wei Li, Guanbin Wan, Xiang Li, Haofeng Shenzhen Research Institute of Big Data Shenzhen China The Chinese University of Hong Kong Shenzhen China School of Computer Science and Engineering Sun Yat-sen University Guangzhou China GuangDong Province Key Laboratory of Information Security Technology China

Nuclei classification is a critical step in computer-aided diagnosis with histopathology images. In the past, various methods have employed graph neural networks (GNN) to analyze cell graphs that model inter-cell relationships by considering nuclei as vertices. However, they are limited by the GNN mechanism that only passes messages among local nodes via fixed edges. To address the issue, we develop a cell graph transformer (CGT) that treats nodes and edges as input tokens to enable learnable adjacency and information exchange among all nodes. Nevertheless, training the transformer with a cell graph presents another challenge. Poorly initialized features can lead to noisy self-attention scores and inferior convergence, particularly when processing the cell graphs with numerous connections. Thus, we further propose a novel topology-aware pretraining method that leverages a graph convolutional network (GCN) to learn a feature extractor. The pre-trained features may suppress unreasonable correlations and hence ease the finetuning of CGT. Experimental results suggest that the proposed cell graph transformer with topology-aware pretraining significantly improves the nuclei classification results, and achieves the state-of-the-art performance. Code and models are availab.e at https://***/lhaof/CGT Copyright © 2024, The Authors. All rights reserved.

关键词： computer aided diagnosis

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EFFICIENT ONLINE lab.L CONSISTENT HASHING FOR LARGE-SCALE CROSS-MODAL RETRIEVAL

EFFICIENT ONLINE LABEL CONSISTENT HASHING FOR LARGE-SCALE CR...

引用

2021 IEEE International Conference on Multimedia and Expo, ICME 2021

作者： Yi, Jinhan Liu, Xin Cheung, Yiu-Ming Xu, Xing Fan, Wentao He, Yi Department of Computer Science and Technology Huaqiao University Xiamen361021 China Xiamen Key Lab. of Computer Vision and Pattern Recognition Fujian Key Lab. of Big Data Intelligence and Security China Department of Computer Science Hong Kong Baptist University Kowloon Hong Kong School of Computer Science and Engineering University of Electronic Science and Technology of China China Provincial Key Laboratory for Computer Information Processing Technology Soochow University China

ISBN: (纸本)9781665438643

Existing cross-modal hashing still faces three challenges: (1) Most batch-based methods are unsuitable for processing large-scale and streaming data. (2) Current online methods often suffer from insufficient semantic association, while lacking flexibility to learn the hash functions for varying streaming data. (3) Existing supervised methods always require much computation time or accumulate large quantization loss to learn hash codes. To address above challenges, we present an efficient Online lab.l Consistent Hashing (OLCH) for cross-modal retrieval, which aims to incrementally learn hash codes for the current arriving data, while updating the hash functions at a streaming manner. To be specific, an online semantic representation learning framework is designed to adaptively preserve the semantic similarity across different modalities, and a mini-batch online gradient descent approach associated with forward-backward splitting is developed to optimize the hash functions. Accordingly, the hash codes are adaptively learned online with the high discriminative capability, while avoiding high computation complexity to process the streaming data. Experimental results show its outstanding performance in comparison with the-state-of-arts. © 2021 IEEE computer Society. All rights reserved.

关键词： Hash functions

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FedPHE: A Secure and Efficient Federated Learning via Packed Homomorphic Encryption

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IEEE Transactions on Dependable and Secure Computing 2025年

作者： Li, Yuqing Yan, Nan Chen, Jing Wang, Xiong Hong, Jianan He, Kun Wang, Wei Li, Bo Wuhan University Key Laboratory of Aerospace Information Security and Trusted Computing Ministry of Education School of Cyber Science and Engineering Wuhan430072 China Wuhan University RiZhao Information Technology Institute Rizhao276800 China Huazhong University of Science and Technology National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab/Cluster and Grid Computing Lab School of Computer Science and Technology Wuhan430074 China Shanghai Jiao Tong University School of Cyber Science and Engineering Shanghai200240 China Hong Kong University of Science and Technology Department of Computer Science and Engineering Hong Kong

Cross-silo federated learning (FL) enables multiple institutions (clients) to collab.ratively build a global model without sharing private data. To prevent privacy leakage during aggregation, homomorphic encryption (HE) is widely used to encrypt model updates, yet incurs high computation and communication overheads. To reduce these overheads, packed HE (PHE) has been proposed to encrypt multiple plaintexts into a single ciphertext. However, the original design of PHE assumes all clients share a single private key, making the system vulnerable to security threats of ciphertexts being intercepted and decrypted by honest-but-curious clients. Also, it does not consider the heterogeneity among different clients, resulting in undermined training efficiency with slow convergence and stragglers. To address these challenges, we propose FedPHE, a secure and efficient FL framework with PHE by jointly exploiting contribution-aware secure aggregation and straggler-resistant client selection. Using CKKS with sparsification and blinding, FedPHE achieves efficient secure aggregation that allows clients to only provide obscured encrypted updates while the server can perform aggregation by accounting for contributions of local updates. To mitigate the straggler effect, we devise a perturbed sketch-based selection to cherry-pick representative clients with heterogeneous models and computing capabilities in a communication-efficient and privacy-preserving manner. We show, through rigorous security analysis and extensive experiments, that FedPHE can efficiently safeguard clients' privacy, achieve 2.45-6.56× training speedup, cut the communication overhead by 1.32-24.85×, and reduce straggler effects by 1.89-2.78×. © 2004-2012 IEEE.

关键词： Privacy by design

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