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Hybrid Artificial Intelligence Strategies for Drone Navigation

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arXiv 2025年

作者： San-Segundo, Rubén Angulo, Lucía Gil-Martín, Manuel Carramiñana, David Bernardos, Ana M. Speech Technology and Machine Learning Group Information Processing and Telecommunications Center Universidad Politécnica de Madrid ETSI Telecomunicación Av. Complutense 30 Madrid28040 Spain Simulation and Data Processing Group Information Processing and Telecommunications Center Universidad Politécnica de Madrid ETSI Telecomunicación Av. Complutense 30 Madrid28040 Spain

Objective: This paper describes the development of hybrid artificial intelligence strategies for drone navigation. Methods: The navigation module combines a deep learning model with a rule-based engine depending on the agent state. The deep learning model has been trained using reinforcement learning. The rule-based engine uses expert knowledge to deal with specific situations. The navigation module incorporates several strategies to explain the drone decision based on its observation space, and different mechanisms for including human decisions in the navigation process. Finally, this paper proposes an evaluation methodology based on defining several scenarios and analyzing the performance of the different strategies according to metrics adapted to each scenario. Results: Two main navigation problems have been studied. For the first scenario (reaching known targets), it has been possible to obtain a 90% task completion rate, reducing significantly the number of collisions thanks to the rule-based engine. For the second scenario, it has been possible to reduce 20% of the time required to locate all the targets using the reinforcement learning model. Conclusions: Reinforcement learning is a very good strategy to learn policies for drone navigation, but in critical situations, it is necessary to complement it with a rule-based module to increase task success rate. © 2025, CC BY-NC-ND.

关键词： Drones

Unsupervised Domain-Adaptive Semantic Segmentation for Surgical Instruments Leveraging Dropout-Enhanced Dual Heads and Coarse-Grained Classification Branch

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IEEE Transactions on Medical Robotics and Bionics

IEEE Transactions on Medical Robotics and Bionics 2025年

作者： Li, Ziqian Wang, Zhengyu Xu, Xinzhou Chen, Yongfa Schuller, Bjorn W. Hefei University of Technology School of Mechanical Engineering Hefei China Nanjing University of Posts and Telecommunications School of Internet of Things Nanjing China Graz University of Technology Signal Processing and Speech Communication Laboratory Graz Austria Chair of Health Informatics Munich Germany Munich Data Science Institute Munich Germany Munich Center for Machine Learning Munich Germany Imperial College London GLAM – the Group on Language Audio and Music London United Kingdom

Accurate semantic segmentation for surgical instruments is crucial in robot-assisted minimally invasive surgery, mainly regarded as a core module in surgical-instrument tracking and operation guidance. Nevertheless, it is usually difficult for existing semantic surgical-instrument segmentation approaches to adapt to unknown surgical scenes, particularly due to their insufficient consideration for reducing the domain gaps across different scenes. To address this issue, we propose an unsupervised domain-adaptive semantic segmentation approach for surgical instruments, leveraging Dropout-enhanced Dual Heads and Coarse-Grained classification branch (D2HCG). The proposed approach comprises dropout-enhanced dual heads for diverse feature representation, and a coarse-grained classification branch for capturing complexities across varying granularities. This incorporates consistency loss functions targeting fine-grained features and coarse-grained granularities, aiming to reduce crossscene domain gaps. Afterwards, we perform experiments in crossscene surgical-instrument semantic segmentation cases, with the experimental results reporting the effectiveness for the proposed approach, compared with state-of-the-art semantic segmentation ones. © 2018 IEEE.

关键词： coarse-grained classification dropout enhancement Surgical instruments unsupervised domain-adaptive semantic segmentation

Overview of Robust and Multilingual Automatic Evaluation Metrics for Open-Domain Dialogue Systems at DSTC 11 Track 4

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arXiv 2023年

作者： Rodríguez-Cantelar, Mario Zhang, Chen Tang, Chengguang Shi, Ke Ghazarian, Sarik Sedoc, João D'Haro, Luis Fernando Rudnicky, Alexander Speech Technology and Machine Learning Group Universidad Politécnica de Madrid Spain National University of Singapore Singapore Tencent AI Lab China University of Southern California United States Department of Technology Operations and Statistics New York University United States Carnegie Mellon University United States

The advent and fast development of neural networks have revolutionized the research on dialogue systems and subsequently have triggered various challenges regarding their automatic evaluation. Automatic evaluation of open-domain dialogue systems as an open challenge has been the center of the attention of many researchers. Despite the consistent efforts to improve automatic metrics' correlations with human evaluation, there have been very few attempts to assess their robustness over multiple domains and dimensions. Also, their focus is mainly on the English language. All of these challenges prompt the development of automatic evaluation metrics that are reliable in various domains, dimensions, and languages. This track in the 11th Dialogue System technology Challenge (DSTC11) is part of the ongoing effort to promote robust and multilingual automatic evaluation metrics. This article describes the datasets and baselines provided to participants and discusses the submission and result details of the two proposed subtasks. © 2023, CC BY.

关键词： speech processing

Overview of the Tenth Dialog System technology Challenge: DSTC10

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IEEE/ACM Transactions on Audio speech and Language Processing 2024年 32卷 765-778页

作者： Yoshino, Koichiro Chen, Yun-Nung Crook, Paul Kottur, Satwik Li, Jinchao Hedayatnia, Behnam Moon, Seungwhan Fei, Zhengcong Li, Zekang Zhang, Jinchao Feng, Yang Zhou, Jie Kim, Seokhwan Liu, Yang Jin, Di Papangelis, Alexandros Gopalakrishnan, Karthik Hakkani-Tur, Dilek Damavandi, Babak Geramifard, Alborz Hori, Chiori Shah, Ankit Zhang, Chen Li, Haizhou Sedoc, Joao D'haro, Luis F. Banchs, Rafael Rudnicky, Alexander Guardian Robot Project R-IH RIKEN 2-2-2 Hikaridai Seika Shoraku619-0288 Japan Information Science Nara Institute of Science and Technology Ikoma630-0101 Japan Computer Science and Information Engineering National Taiwan University Taipei10617 Taiwan Inc. Palo AltoCA95054 United States Alexa AI *** Inc. SunnyvaleCA94089 United States Meta Seattle RedmondWA98052 United States Institute of Computing Technology Chinese Academy of Sciences Beijing100190 China Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences Beijing100190 China Tencent AI Lab Beijing Beijing China Kexueyuan South Road Zhongguancun Beijing100190 China Beijing 100190 China Alexa AI *** Inc. SunnyvaleCA United States 1120 Enterprise way Sunnyvale94089 United States *** Inc. SeattleWA United States Menlo Park CA United States Audio and Speech Group Mitsubishi Electric Research Laboratories CambridgeMA02139-1955 United States Carnegie Mellon University Department of Language and Information Technologies or just Carnegie Mellon University Pittsburgh United States National University of Singapore Singapore Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore Shenzhen Research Institute of Big Data School of Data Science Chinese University of Hong Kong Shenzhen518172 China New York University New YorkNY United States ETSI de Telecomunicacion - Speech Technology and Machine Learning Group Universidad Politecnica de Madrid Ciudad Universitaria Madrid28040 Spain Nanyang Technological University Singapore Singapore Carnegie Mellon University PittsburghPA United States

This article introduces the Tenth Dialog System technology Challenge (DSTC-10). This edition of the DSTC focuses on applying end-to-end dialog technologies for five distinct tasks in dialog systems, namely 1. Incorporation of Meme images into open domain dialogs, 2. Knowledge-grounded Task-oriented Dialogue Modeling on Spoken Conversations, 3. Situated Interactive Multimodal dialogs, 4. Reasoning for Audio Visual Scene-Aware Dialog, and 5. Automatic Evaluation and Moderation of Open-domainDialogue Systems. This article describes the task definition, provided datasets, baselines, and evaluation setup for each track. We also summarize the results of the submitted systems to highlight the general trends of the state-of-the-art technologies for the tasks. © 2023 The Authors.

关键词： Job analysis

Automatic Evaluation and Moderation of Open-domain Dialogue Systems

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arXiv 2021年

作者： Zhang, Chen Sedoc, João D’Haro, Luis Fernando Banchs, Rafael Rudnicky, Alexander National University of Singapore Singapore Singapore Department of Technology Operations and Statistics New York University United States Speech Tecnology and Machine Learning Group Universidad Politécnica de Madrid Spain Intapp Inc. United States Carnegie Mellon University United States

The development of Open-Domain Dialogue Systems (ODS) is a trending topic due to the large number of research challenges, large societal and business impact, and advances in the underlying technology. However, the development of these kinds of systems requires two important characteristics: 1) automatic evaluation mechanisms that show high correlations with human judgements across multiple dialogue evaluation aspects (with explainable features for providing constructive and explicit feedback on the quality of generative models’ responses for quick development and deployment) and 2) mechanisms that can help to control chatbot responses, while avoiding toxicity and employing intelligent ways to handle toxic user comments and keeping interaction flow and engagement. This track at the 10th Dialogue System technology Challenge (DSTC10) is part of the ongoing effort to promote scalable and toxic-free ODS. This paper describes the datasets and baselines provided to participants, as well as submission evaluation results for each of the two proposed subtasks. © 2021, CC BY.

关键词： Quality control

Awareness in robotics: An early perspective from the viewpoint of the EIC Pathfinder Challenge "Awareness Inside"

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arXiv 2024年

作者： Santina, Cosimo Della Corbato, Carlos Hernandez Sisman, Burak Leiva, Luis A. Arapakis, Ioannis Vakalellis, Michalis Vanderdonckt, Jean D’Haro, LuisFernando Manzi, Guido Becchio, Cristina Elamrani, Aïda Alirezaei, Mohsen Castellano, Ginevra Dimarogonas, Dimos V. Ghosh, Arabinda Haesaert, Sofie Soudjani, Sadegh Stroeve, Sybert Verschure, Paul Bacciu, Davide Deroy, Ophelia Bahrami, Bahador Gallicchio, Claudio Hauert, Sabine Sanz, Ricardo Lanillos, Pablo Iacca, Giovanni Sigg, Stephan Gasulla, Manel Steels, Luc Sierra, Carles Department of Cognitive Robotics Delft University of Technology Delft Netherlands Oberpfaffenhofen Germany Department of Computer Science University of Luxembourg Luxembourg 4 Telefónica I+D Spain AEGIS IT Research GmbH Germany Université catholique de Louvain Belgium Speech Technology and Machine Learning Group ETSI de Telecomunicación Universidad Politécnica de Madrid Madrid Spain Alien Venture Studio Alien Technology Transfer Rome Italy Hamburg Germany Institut Jean Nicod École Normale Supérieure Paris France Research Technology and Development Department Digital Industry Software Helmond Netherlands Department of Information Technology Uppsala University Uppsala Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Max Planck Institute for Software Systems Kaiserslautern Germany Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Eindhoven Netherlands Amsterdam Netherlands Donders Centre for Neuroscience Radboud University Nijmegen Netherlands Computer Science Department University of Pisa Pisa Italy Faculty of Philosophy Philosophy of Science The Study of Religion Ludwig Maximilian University of Munich Munich Germany School of Engineering Mathematics and Technology University of Bristol Bristol United Kingdom Autonomous Systems Laboratory Universidad Politécnica de Madrid Spain Madrid Spain Department of Information Engineering and Computer Science University of Trento Trento Italy Department of Information and Communications Engineering Aalto University Espoo Finland Department of Electronic Engineering Universitat Politècnica de Catalunya Barcelona Spain Studio Stelluti Brussels Belgium Barcelona Spain

Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars in the past. However, things are changing as more and more researchers are getting interested in answering questions concerning what awareness is and how it can be artificially generated. The landscape is rapidly evolving, with multiple voices and interpretations of the concept being conceived and techniques being developed. The goal of this paper is to summarize and discuss the ones among these voices that are connected with projects funded by the EIC Pathfinder Challenge called "Awareness Inside", a nonrecurring call for proposals within Horizon Europe that was designed specifically for fostering research on natural and synthetic awareness. In this perspective, we dedicate special attention to challenges and promises of applying synthetic awareness in robotics, as the development of mature techniques in this new field is expected to have a special impact on generating more capable and trustworthy embodied systems. © 2024, CC BY.

关键词： Robotics

AIROGS: ARTIFICIAL INTELLIGENCE FOR ROBUST GLAUCOMA SCREENING CHALLENGE

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arXiv 2023年

作者： De Vente, Coen Vermeer, Koenraad A. Jaccard, Nicolas Wang, He Sun, Hongyi Khader, Firas Truhn, Daniel Aimyshev, Temirgali Zhanibekuly, Yerkebulan Le, Tien-Dung Galdran, Adrian Ballester, Miguel Ángel González Carneiro, Gustavo Devika, R.G. Hrishikesh, P.S. Puthussery, Densen Liu, Hong Yang, Zekang Kondo, Satoshi Kasai, Satoshi Wang, Edward Durvasula, Ashritha Heras, Jónathan Zapata, Miguel Ángel Araújo, Teresa Aresta, Guilherme Bogunović, Hrvoje Arikan, Mustafa Lee, Yeong Chan Cho, Hyun Bin Choi, Yoon Ho Qayyum, Abdul Razzak, Imran Van Ginneken, Bram Lemij, Hans G. Sánchez, Clara I. Group Informatics Institute Universiteit Van Amsterdam Noord-Holland Amsterdam Netherlands The Department of Biomedical Engineering and Physics Amsterdam Umc Locatie Amc Noord-Holland Amsterdam Netherlands Department of Radiology and Nuclear Medicine Radboudumc Gelderland Nijmegen Netherlands The Rotterdam Ophthalmic Institute Rotterdam Eye Hospital Rotterdam Netherlands Project Orbis International Inc. New York United States The Peking Union Medical College Hospital Beijing China The Xuanwu Hospital Capital Medical University Beijing100053 China The Tsinghua University Beijing China The Department of Diagnostic and Interventional Radiology University Hospital Aachen Aachen Germany Cmc Technologies Llp Nur-Sultan Kazakhstan Kbc Belgium Universitat Pompeu Fabra Barcelona Spain The Australian Institute for Machine Learning Aiml University of Adelaide Australia Icrea Barcelona Spain The Centre for Vision Speech and Signal Processing University of Surrey United Kingdom The College of Engineering Trivandrum India Founding Minds Software India The Institute of Computing Technology Chinese Academy of Sciences China The Muroran Institute of Technology Japan The Niigata University of Health and Welfare Japan The Schulich School of Medicine and Dentistry University of Western Ontario London Canada The Department of Mathematics and Computer Science University of la Rioja Spain Hospital Vall Hebron Passeig Roser 126 Sant Cugat del Vallès Barcelona08195 Spain UPRetina Barcelona Spain The Christian Doppler Laboratory for Artificial Intelligence in Retina Department of Ophthalmology and Optometry Medical University of Vienna Vienna Austria The Institute of Ophthalmology University College London London United Kingdom The Research Institute for Future Medicine Samsung Medical Center Seoul Korea Republic of Sungkyunkwan University Samsung Medical Center Seoul Korea Republic of The Department of Artificial Intelligence and Informatics Mayo Clinic Jacks

The early detection of glaucoma is essential in preventing visual impairment. Artificial intelligence (AI) can be used to analyze color fundus photographs (CFPs) in a cost-effective manner, making glaucoma screening more accessible. While AI models for glaucoma screening from CFPs have shown promising results in laboratory settings, their performance decreases significantly in realworld scenarios due to the presence of out-of-distribution and low-quality images. To address this issue, we propose the Artificial Intelligence for Robust Glaucoma Screening (AIROGS) challenge. This challenge includes a large dataset of around 113,000 images from about 60,000 patients and 500 different screening centers, and encourages the development of algorithms that are robust to ungradable and unexpected input data. We evaluated solutions from 14 teams in this paper, and found that the best teams performed similarly to a set of 20 expert ophthalmologists and optometrists. The highest-scoring team achieved an area under the receiver operating characteristic curve of 0.99 (95% CI: 0.98-0.99) for detecting ungradable images on-the-fly. Additionally, many of the algorithms showed robust performance when tested on three other publicly available datasets. These results demonstrate the feasibility of robust AI-enabled glaucoma screening. Copyright © 2023, The Authors. All rights reserved.

关键词： Diagnosis

Efficient and Robust machine learning for Real-World Systems

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arXiv 2018年

作者： Pernkopf, Franz Roth, Wolfgang Zöhrer, Matthias Pfeifenberger, Lukas Schindler, Günther Fröning, Holger Tschiatschek, Sebastian Peharz, Robert Mattina, Matthew Ghahramani, Zoubin Department of Electrical Engineering Laboratory of Signal Processing and Speech Communication Graz University of Technology Austria Institute of Computer Engineering Ruperts Karls University Heidelberg Germany Microsoft Research Cambridge United Kingdom Machine Learning Group Department of Engineering University of Cambridge United Kingdom Machine Learning Group Department of Engineering University of Cambridge United Kingdom Uber AI Labs CA United States Arm Research Arm Ltd. Cambridge United Kingdom

While machine learning is traditionally a resource intensive task, embedded systems, autonomous navigation and the vision of the Internet-of-Things fuel the interest in resource efficient approaches. These approaches require a carefully chosen tradeoff between performance and resource consumption in terms of computation and energy. On top of this, it is crucial to treat uncertainty in a consistent manner in all but the simplest applications of machine learning systems. In particular, a desideratum for any real-world system is to be robust in the presence of outliers and corrupted data, as well as being "aware" of its limits, i.e. the system should maintain and provide an uncertainty estimate over its own predictions. These complex demands are among the major challenges in current machine learning research and key to ensure a smooth transition of machine learning technology into every day’s applications. In this article, we provide an overview of the current state of the art of machine learning techniques facilitating these real-world requirements. First we provide a comprehensive review of resource-efficiency in deep neural networks with focus on techniques for model size reduction, compression and reduced precision. These techniques can be applied during training or as post-processing and are widely used to reduce both computational complexity and memory footprint. As most (practical) neural networks are limited in their ways to treat uncertainty, we contrast them with probabilistic graphical models, which readily serve these desiderata by means of probabilistic inference. In that way, we provide an extensive overview of the current state-of-the-art of robust and efficient machine learning for real-world systems. Copyright © 2018, The Authors. All rights reserved.

关键词： Deep neural networks

ILP in part-of-speech tagging — an overview 1st

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ILP in part-of-speech tagging — an overview

1st learning Language in Logic workshop, LLL 1999

作者： Eineborg, Martin Lindberg, Nikolaj Machine Learning Group Department of Computer and Systems Sciences Stockholm University Royal Institute of Technology Electrum 230 Kista164 40 Sweden Centre for Speech Technology Department of Speech Music and Hearing Royal Institute of Technology Drottning Kristinas v. 31 Stockholm100 44 Sweden

ISBN: (纸本)3540411453

This paper presents an overview of work on inducing part-of speech taggers using Inductive Logic Programming. Constraint Grammar inspired rules have been induced for several languages (English, Hungarian, Slovene, Swedish) using Progol. This overview focuses on a Swedish tagger, but other work is discussed as well. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Inductive logic programming (ILP)