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12th International Conference on CYBER Technology in Automation, Control, and intelligent Systems, CYBER 2022

作者： Liu, Zhe Li, Xiang Wang, Hesheng MoE Key Lab of Artificial Intelligence Ai Institute Shanghai Jiao Tong University China School of Mechanical Engineering and Electronic Information China University of Geosciences China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Platoon control of autonomous industrial vehicles contributes to improving the safety and reliability of cargo transportation in complex industrial scenarios, increasing traffic efficiency and saving energy. The platoon control of autonomous heavy-load industrial vehicles is much harder, as the high robustness requirements, low hardware ability and complex un-structural environments. This paper considers the platoon control task from the view-point of practical industrial applications. Firstly, the longitudinal dynamic model of the heavy-load industrial vehicle is transferred into a first-order damping acceleration response model by introducing the low-level feedback linearization control and compensations. Secondly, the synchronization control concept is introduced and a fully distributed control law is presented, which only requires the coupling information of the two nearest neighbors. In particular, in order to ensure the practical applicability, the information processing delays, data samplings and external control disturbances are explicitly modelled and the global stability analysis approach is presented. Finally, we provide real experiments using full-scale industrial heavy-load vehicles to demonstrate our effectiveness and robustness. © 2022 IEEE.

关键词： Accident prevention

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Expose Before You Defend: Unifying and Enhancing Backdoor Defenses via Exposed Models

arXiv

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arXiv 2024年

作者： Li, Yige Huang, Hanxun Zhang, Jiaming Ma, Xingjun Jiang, Yu-Gang Shanghai Key Lab of Intell. Info. Processing School of CS Fudan University Shanghai China School of Computing and Information Systems The University of Melbourne Australia Department of Computer Science and Engineering Hong Kong University of Science and Technology Hong Kong

Backdoor attacks covertly implant triggers into deep neural networks (DNNs) by poisoning a small portion of the training data with pre-designed backdoor triggers. This vulnerability is exacerbated in the era of large models, where extensive (pre-)training on web-crawled datasets is susceptible to compromise. In this paper, we introduce a novel two-step defense framework named Expose Before You Defend (EBYD). EBYD unifies existing backdoor defense methods into a comprehensive defense system with enhanced performance. Specifically, EBYD first exposes the backdoor functionality in the backdoored model through a model preprocessing step called backdoor exposure, and then applies detection and removal methods to the exposed model to identify and eliminate the backdoor features. In the first step of backdoor exposure, we propose a novel technique called Clean Unlearning (CUL), which proactively unlearns clean features from the backdoored model to reveal the hidden backdoor features. We also explore various model editing/modification techniques for backdoor exposure, including fine-tuning, model sparsification, and weight perturbation. Using EBYD, we conduct extensive experiments on 10 image attacks and 6 text attacks across 2 vision datasets (CIFAR-10 and an ImageNet subset) and 4 language datasets (SST-2, IMDB, Twitter, and AG’s News). The results demonstrate the importance of backdoor exposure for backdoor defense, showing that the exposed models can significantly benefit a range of downstream defense tasks, including backdoor label detection, backdoor trigger recovery, backdoor model detection, and backdoor removal. More importantly, with backdoor exposure, our EBYD framework can effectively integrate existing backdoor defense methods into a comprehensive and unified defense system. We hope our work could inspire more research in developing advanced defense frameworks with exposed models. Our code is available at https://***/bboylyg/Expose-Before-You-Defend. Cop

关键词： Deep neural networks

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SimulFlow: Simultaneously Extracting Feature and Identifying Target for Unsupervised Video Object Segmentation

arXiv

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arXiv 2023年

作者： Hong, Lingyi Zhang, Wei Gao, Shuyong Lu, Hong Zhang, WenQiang Shanghai Key Laboratory of Intelligent Information Processing School of Computer Science Fudan University Shanghai China Engineering Research Center of AI & Robotics Ministry of Education Academy for Engineering & Technology Fudan University Shanghai China

Unsupervised video object segmentation (UVOS) aims at detecting the primary objects in a given video sequence without any human interposing. Most existing methods rely on two-stream architectures that separately encode the appearance and motion information before fusing them to identify the target and generate object masks. However, this pipeline is computationally expensive and can lead to suboptimal performance due to the difficulty of fusing the two modalities properly. In this paper, we propose a novel UVOS model called SimulFlow that simultaneously performs feature extraction and target identification, enabling efficient and effective unsupervised video object segmentation. Concretely, we design a novel SimulFlow Attention mechanism to bridege the image and motion by utilizing the flexibility of attention operation, where coarse masks predicted from fused feature at each stage are used to constrain the attention operation within the mask area and exclude the impact of noise. Because of the bidirectional information flow between visual and optical flow features in SimulFlow Attention, no extra hand-designed fusing module is required and we only adopt a light decoder to obtain the final prediction. We evaluate our method on several benchmark datasets and achieve state-of-the-art results. Our proposed approach not only outperforms existing methods but also addresses the computational complexity and fusion difficulties caused by two-stream architectures. Our models achieve 87.4% J &F on DAVIS-16 with the highest speed (63.7 FPS on a 3090) and the lowest parameters (13.7 M). Our SimulFlow also obtains competitive results on video salient object detection datasets. Copyright © 2023, The Authors. All rights reserved.

关键词： Optical flows

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Seeing Motion at Nighttime with an Event Camera

Seeing Motion at Nighttime with an Event Camera

引用

Conference on computer Vision and Pattern Recognition (CVPR)

作者： Haoyue Liu Shihan Peng Lin Zhu Yi Chang Hanyu Zhou Luxin Yan National Key Lab of Multispectral Information Intelligent Processing Technology School of Artificial Intelligence and Automation Huazhong University of Science and Technology China Beijing Institute of Technology

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

We focus on a very challenging task: imaging at night-time dynamic scenes. Most previous methods rely on the low-light enhancement of a conventional RGB camera. However, they would inevitably face a dilemma between the long exposure time of nighttime and the motion blur of dynamic scenes. Event cameras react to dynamic changes with higher temporal resolution (microsecond) and higher dynamic range (120dB), offering an alternative solution. In this work, we present a novel nighttime dynamic imaging method with an event camera. Specifically, we discover that the event at nighttime exhibits temporal trailing characteristics and spatial non-stationary distribution. Consequently, we propose a nighttime event reconstruction network (NER-Net) which mainly includes a learnable event timestamps calibration module (LETC) to align the temporal trailing events and a non-uniform illumination aware module (NIAM) to stabilize the spatiotemporal distribution of events. Moreover, we construct a paired real low-light event dataset (RLED) through a co-axial imaging system, including 64,200 spatially and temporally aligned image GTs and low-light events. Extensive experiments demonstrate that the proposed method outperforms state-of-the-art methods in terms of visual quality and generalization ability on real-world nighttime datasets. The project are available at: https://***/Liu-haoyue/NER-Net.

关键词： Visualization Dynamics Lighting Dynamic range Cameras Spatiotemporal phenomena Pattern recognition

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Multi-Signal Fusion of Social Diffusion Graph with Bi-Directional Semantic Consistency

Multi-Signal Fusion of Social Diffusion Graph with Bi-Direct...

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International Conference on Acoustics, Speech, and Signal processing (ICASSP)

作者： Huacheng Li Chunhe Xia Tianbo Wang Wanshuang Lin Changnan Jiang Chen Chen Yuan Zhao Key Laboratory of Beijing Network Technology Beihang University Guangxi Collaborative Innovation Center of Multi-Source Information Integration and Intelligent Processing Guangxi Normal University School of Cyber Science and Technology Beihang University Shanghai Key Laboratory of Computer Software Evaluating and Testing Shanghai

Devising diffusion graph to learn user representations is a crucial step in studying information propagation prediction. However, previous works mainly focused on structural and temporal features. To better incorporate content features, we introduce the Backward Decomposition and Forward Preservation mechanisms. The former involves decomposing content features for initializing node signals in the diffusion graph, thus fusing user features with content features. The latter aims to maintain node features generated by graph encoder consistent with the original content features. A series of experiments demonstrate that our model outperforms state-of-the-art models, and both mechanisms significantly enhance the prediction performance. Furthermore, our methods enables the features generated by the diffusion graph to more effectively incorporate features from various semantic spaces, whether encoded by language models or generated by graph embedding algorithms.

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SIAVC: Semi-Supervised Framework for Industrial Accident Video Classification

arXiv

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arXiv 2024年

作者： Li, Zuoyong Lin, Qinghua Fan, Haoyi Zhao, Tiesong Zhang, David The Fujian Provincial Key Laboratory of Information Processing and Intelligent Control College of Computer and Control Engineering Minjiang University Fuzhou350121 China The School of Computer Science and Mathematics Fujian University of Technology Fuzhou350118 China The School of Computer and Artificial Intelligence Zhengzhou University Zhengzhou45000 China The Fujian Key Lab for Intelligent Processing and Wireless Transmission of Media Information Fuzhou University Fuzhou350108 China Shenzhen518172 China

Semi-supervised learning suffers from the imbalance of labeled and unlabeled training data in the video surveillance scenario. In this paper, we propose a new semi-supervised learning method called SIAVC for industrial accident video classification. Specifically, we design a video augmentation module called the Super Augmentation Block (SAB). SAB adds Gaussian noise and randomly masks video frames according to historical loss on the unlabeled data for model optimization. Then, we propose a Video Cross-set Augmentation Module (VCAM) to generate diverse pseudo-label samples from the high-confidence unlabeled samples, which alleviates the mismatch of sampling experience and provides high-quality training data. Additionally, we construct a new industrial accident surveillance video dataset with frame-level annotation, namely ECA9, to evaluate our proposed method. Compared with the state-of-the-art semi-supervised learning based methods, SIAVC demonstrates outstanding video classification performance, achieving 88.76% and 89.13% accuracy on ECA9 and Fire Detection datasets, respectively. The source code and the constructed dataset ECA9 will be released in https://***/AlchemyEmperor/SIAVC. Copyright © 2024, The Authors. All rights reserved.

关键词： Classification (of information)

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Learned Fingerprint Embedding for Large-Scale Peptide Mass Spectra Retrieval

Learned Fingerprint Embedding for Large-Scale Peptide Mass S...

引用

IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Yongshuai Wang Xiaojun Cai Defeng Li Shiwei Sun Cheng Chen Xuefeng Cui School of Computer Science and Technology Shandong University Qingdao China Key Lab of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences Beijing China

Tandem mass spectrometry (MS/MS) is a widely used technique for protein identification, post-translational modifications, immunotherapy, and other applications. As the amount of MS/MS spectra data increases, new computational methods are needed to efficiently search through these databases. This study introduces MS2VEC, a novel fingerprint embedding model designed to facilitate large-scale retrieval of peptide mass spectra. MS2VEC captures the relationships between distant peaks and incorporates position-aware fingerprint features from all peaks. To do this, dilated convolutions are used to capture remote relationships, and a novel position-aware multi-head attention pooling mechanism is used to abstract fingerprint features. The results demonstrate that MS2VEC achieves a top-1 retrieval accuracy of 0.810, outperforming existing methods by 5.1%. Interestingly, the precursor charge is not essential for the retrieval task, as the spectra itself contains enough information to accurately predict the charge. Additionally, the results suggest that weight-balanced fragment ions and water losses are important contributors to fingerprint features.

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Diagonal of Pseudoinverse Of Graph Laplacian: Fast Estimation and Exact Results

SSRN

引用

SSRN 2023年

作者： Zhang, Zhongzhi Lu, Zenan Xu, Wanyue Shanghai Key Laboratory of Intelligent Information Processing School of Computer Science Fudan University Shanghai200433 China Shanghai Engineering Research Institute of Blockchains Fudan University Shanghai200433 China Research Institute of Intelligent Complex Systems Fudan University Shanghai200433 China

The diagonal entries of pseudoinverse of the Laplacian matrix of a graph appear in many important practical applications, since they contain much information of the graph and many relevant quantities can be expressed in terms of them, such as Kirchhoff index and current flow centrality. However, a na\"{\i}ve approach for computing the diagonal of a matrix inverse has cubic computational complexity in terms of the matrix dimension, which is not acceptable for large graphs with millions of nodes. Thus, rigorous solutions to the diagonal of the Laplacian matrices for general graphs, even for particluar graphs are much less. In this paper, we propose a theoretically guaranteed estimation algorithm, which approximates all diagonal entries of the pseudoinverse of a graph Laplacian in nearly linear time with respect to the number of edges in the graph. We execute extensive experiments on real-life networks, which indicate that our algorithm is both efficient and accurate. Also, we determine exact expressions for the diagonal elements of pseudoinverse of the Laplacian matrices for Koch networks and uniform recursive trees, and compare them with those obtained by our approximation algorithm. Finally, we use our algorithm to evaluate the Kirchhoff index of three deterministic model networks, for which the Kirchhoff index can be rigorously determined. These results further show the effectiveness and efficiency of our algorithm. © 2023, The Authors. All rights reserved.

关键词： Approximation algorithms

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Adaptive Nonlinear Latent Transformation for Conditional Face Editing

arXiv

引用

arXiv 2023年

作者： Huang, Zhizhong Ma, Siteng Zhang, Junping Shan, Hongming Shanghai Key Lab of Intelligent Information Processing School of Computer Science Fudan University Shanghai200433 China Institute of Science and Technology for Brain-Inspired Intelligence MOE Frontiers Center for Brain Science Fudan University Shanghai200433 China Shanghai Center for Brain Science and Brain-Inspired Technology Shanghai200031 China

Recent works for face editing usually manipulate the latent space of StyleGAN via the linear semantic directions. However, they usually suffer from the entanglement of facial attributes, need to tune the optimal editing strength, and are limited to binary attributes with strong supervision signals. This paper proposes a novel adaptive nonlinear latent transformation for disentangled and conditional face editing, termed AdaTrans. Specifically, our AdaTrans divides the manipulation process into several finer steps;i.e., the direction and size at each step are conditioned on both the facial attributes and the latent codes. In this way, AdaTrans describes an adaptive nonlinear transformation trajectory to manipulate the faces into target attributes while keeping other attributes unchanged. Then, AdaTrans leverages a predefined density model to constrain the learned trajectory in the distribution of latent codes by maximizing the likelihood of transformed latent code. Moreover, we also propose a disentangled learning strategy under a mutual information framework to eliminate the entanglement among attributes, which can further relax the need for labeled data. Consequently, AdaTrans enables a controllable face editing with the advantages of disentanglement, flexibility with non-binary attributes, and high fidelity. Extensive experimental results on various facial attributes demonstrate the qualitative and quantitative effectiveness of the proposed AdaTrans over existing state-of-the-art methods, especially in the most challenging scenarios with a large age gap and few labeled examples. The source code is available at https://***/Hzzone/AdaTrans. Copyright © 2023, The Authors. All rights reserved.

关键词： Semantics

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Toward Zero-Shot Learning for Visual Dehazing of Urological Surgical Robots

arXiv

引用

arXiv 2024年

作者： Wu, Renkai Wang, Xianjin Liang, Pengchen Zhang, Zhenyu Chang, Qing Tang, Hao Department of Surgery Shanghai Key Laboratory of Gastric Neoplasms Shanghai Institute of Digestive Surgery Ruijin Hospital Shanghai Jiao Tong University School of Medicine Shanghai China National Key Laboratory for Multimedia Information Processing School of Computer Science Peking University Beijing China Department of Urology Ruijin Hospital Shanghai Jiaotong University School of Medicine Shanghai China School of Intelligent Science and Technology Nanjing University China

Robot-assisted surgery has profoundly influenced current forms of minimally invasive surgery. However, in transurethral suburethral urological surgical robots, they need to work in a liquid environment. This causes vaporization of the liquid when shearing and heating is performed, resulting in bubble atomization that affects the visual perception of the robot. This can lead to the need for uninterrupted pauses in the surgical procedure, which makes the surgery take longer. To address the atomization characteristics of liquids under urological surgical robotic vision, we propose an unsupervised zero-shot dehaze method (RSF-Dehaze) for urological surgical robotic vision. Specifically, the proposed Region Similarity Filling Module (RSFM) of RSF-Dehaze significantly improves the recovery of blurred region tissues. In addition, we organize and propose a dehaze dataset for robotic vision in urological surgery (USRobot-Dehaze dataset). In particular, this dataset contains the three most common urological surgical robot operation scenarios. To the best of our knowledge, we are the first to organize and propose a publicly available dehaze dataset for urological surgical robot vision. The proposed RSF-Dehaze proves the effectiveness of our method in three urological surgical robot operation scenarios with extensive comparative experiments with 20 most classical and advanced dehazing and image recovery algorithms. The proposed source code and dataset are available at https://***/wurenkai/RSF-Dehaze. Copyright © 2024, The Authors. All rights reserved.

关键词： Robotic surgery

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