The perception in most existing vision-based reinforcement learning(RL) models for robotic manipulation relies heavily on static third-person or hand-mounted first-person cameras. In scenarios with occlusions and limi...
详细信息
The perception in most existing vision-based reinforcement learning(RL) models for robotic manipulation relies heavily on static third-person or hand-mounted first-person cameras. In scenarios with occlusions and limited maneuvering space, these carefully positioned cameras often struggle to provide effective visual observations during manipulation. Taking inspiration from human capabilities, we introduce a novel RL-based dual-arm active visual-guided manipulation model(DAVMM), which simultaneously infers “eye” actions and “hand” actions for two separate robotic arms(referred to as the vision-arm and the worker-arm) based on current observations, empowering the robot with the ability to actively perceive and interact with its environment. To handle the extensive redundant observation-action space, we propose a decouplable target-centric reward paradigm to offer stable guidance for the training process. For making fine-grained manipulation action decisions, alongside a global scene image encoder, we utilize an independent encoder to extract local target texture features,enabling the simultaneous acquisition of both global and detailed local information. Additionally, we employ residual-RL and curriculum learning techniques to further enhance our model's sample efficiency and training stability. We conducted comparative experiments and analyses of DAVMM against a set of strong baselines on three occluded and narrow-space manipulation tasks. DAVMM notably improves the success rates across all manipulation tasks and showcases rapid learning capabilities.
Industrial cyber-physical systems closely integrate physical processes with cyberspace, enabling real-time exchange of various information about system dynamics, sensor outputs, and control decisions. The connection b...
详细信息
Industrial cyber-physical systems closely integrate physical processes with cyberspace, enabling real-time exchange of various information about system dynamics, sensor outputs, and control decisions. The connection between cyberspace and physical processes results in the exposure of industrial production information to unprecedented security risks. It is imperative to develop suitable strategies to ensure cyber security while meeting basic performance *** the perspective of control engineering, this review presents the most up-to-date results for privacy-preserving filtering,control, and optimization in industrial cyber-physical systems. Fashionable privacy-preserving strategies and mainstream evaluation metrics are first presented in a systematic manner for performance evaluation and engineering *** discussion discloses the impact of typical filtering algorithms on filtering performance, specifically for privacy-preserving Kalman filtering. Then, the latest development of industrial control is systematically investigated from consensus control of multi-agent systems, platoon control of autonomous vehicles as well as hierarchical control of power systems. The focus thereafter is on the latest privacy-preserving optimization algorithms in the framework of consensus and their applications in distributed economic dispatch issues and energy management of networked power systems. In the end, several topics for potential future research are highlighted.
The Internet of Everything(IoE)based cloud computing is one of the most prominent areas in the digital big data *** approach allows efficient infrastructure to store and access big real-time data and smart IoE service...
详细信息
The Internet of Everything(IoE)based cloud computing is one of the most prominent areas in the digital big data *** approach allows efficient infrastructure to store and access big real-time data and smart IoE services from the *** IoE-based cloud computing services are located at remote locations without the control of the data *** data owners mostly depend on the untrusted Cloud Service Provider(CSP)and do not know the implemented security *** lack of knowledge about security capabilities and control over data raises several security *** Acid(DNA)computing is a biological concept that can improve the security of IoE big *** IoE big data security scheme consists of the Station-to-Station Key Agreement Protocol(StS KAP)and Feistel cipher *** paper proposed a DNA-based cryptographic scheme and access control model(DNACDS)to solve IoE big data security and access *** experimental results illustrated that DNACDS performs better than other DNA-based security *** theoretical security analysis of the DNACDS shows better resistance capabilities.
Roads are an important part of transporting goods and products from one place to another. In developing countries, the main challenge is to maintain road conditions regularly. Roads can deteriorate from time to time. ...
详细信息
Despite the effectiveness of vision-language supervised fine-tuning in enhancing the performance of vision large language models(VLLMs), existing visual instruction tuning datasets include the following limitations.(1...
详细信息
Despite the effectiveness of vision-language supervised fine-tuning in enhancing the performance of vision large language models(VLLMs), existing visual instruction tuning datasets include the following limitations.(1) Instruction annotation quality: despite existing VLLMs exhibiting strong performance,instructions generated by those advanced VLLMs may still suffer from inaccuracies, such as hallucinations.(2) Instructions and image diversity: the limited range of instruction types and the lack of diversity in image data may impact the model's ability to generate diversified and closer to real-world scenarios outputs. To address these challenges, we construct a high-quality, diverse visual instruction tuning dataset MMInstruct,which consists of 973k instructions from 24 domains. There are four instruction types: judgment, multiplechoice, long visual question answering, and short visual question answering. To construct MMInstruct, we propose an instruction generation data engine that leverages GPT-4V, GPT-3.5, and manual correction. Our instruction generation engine enables semi-automatic, low-cost, and multi-domain instruction generation at 1/6 the cost of manual construction. Through extensive experiment validation and ablation experiments,we demonstrate that MMInstruct could significantly improve the performance of VLLMs, e.g., the model fine-tuning on MMInstruct achieves new state-of-the-art performance on 10 out of 12 benchmarks. The code and data shall be available at https://***/yuecao0119/MMInstruct.
Benefited from their flexibility and on-demand deployment capability, unmanned aerial vehicles (UAVs) have emerged as critical aerial communication platforms in future Internet of Vehicles (IoV). However, limited spec...
详细信息
In the process of the decarbonization of energy production, the use of photovoltaic systems (PVS) is an increasing trend. In order to optimize the power generation, the fault detection and identification in PVS is sig...
详细信息
The subsynchronous oscillations(SSOs)related to renewable generation seriously affect the stability and safety of the power *** realize the dynamic monitoring of SSOs by utilizing the high computational efficiency and...
详细信息
The subsynchronous oscillations(SSOs)related to renewable generation seriously affect the stability and safety of the power *** realize the dynamic monitoring of SSOs by utilizing the high computational efficiency and noise-resilient features of the matrix pencil method(MPM),this paper propos es an improved MPM-based parameter identification with syn *** MPM is enhanced by the angular frequency fitting equations based on the characteristic polynomial coeffi cients of the matrix pencil to ensure the accuracy of the identi fied parameters,since the existing eigenvalue solution of the MPM ignores the angular frequency conjugation constraints of the two fundamental modes and two oscillation ***,the identification and recovery of bad data are proposed by uti lizing the difference in temporal continuity of the synchropha sors before and after noise *** proposed parameter identification is verified with synthetic,simulated,and actual measured phase measurement unit(PMU)*** with the existing MPM,the improved MPM achieves better accuracy for parameter identification of each component in SSOs,better real-time performance,and significantly reduces the effect of bad data.
To fulfill the explosion of multi-modal data, multi-modal sentiment analysis (MSA) emerged and attracted widespread attention. Unfortunately, conventional multi-modal research relies on large-scale datasets. On the on...
详细信息
Most social networks allow connections amongst many people based on shared *** networks have to offer shared data like videos,photos with minimum latency to the group,which could be challenging as the storage cost has...
详细信息
Most social networks allow connections amongst many people based on shared *** networks have to offer shared data like videos,photos with minimum latency to the group,which could be challenging as the storage cost has to be minimized and hence entire data replication is not a *** replication of data across a network of read-intensive can potentially lead to increased savings in cost and energy and reduce the end-user’s response *** simple and adaptive replication strategies exist,the solution is non-deter-ministic;the replicas of the data need to be optimized to the data usability,perfor-mance,and stability of the application *** resolve the non-deterministic issue of replication,metaheuristics are *** this work,Harmony Search and Tabu Search algorithms are used optimizing the replication process.A novel Har-mony-Tabu search is proposed for effective placement and replication of *** on large datasets show the effectiveness of the proposed *** is seen that the bandwidth saving for proposed harmony-Tabu replication per-forms better in the range of 3.57%to 18.18%for varying number of cloud data-centers when compared to simple replication,Tabu replication and Harmony replication algorithm.
暂无评论