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A trajectory-level robot skill learning method based on fuzzy systems

science China(Information sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Biomimetic Multi-UAV Swarm Exploration with U2U Communications Under Resource Constraints

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IEEE Transactions on Vehicular technology 2025年第6期74卷 9750-9766页

作者： Huang, Yuanhao Wang, Hao Bai, Xuesong Cai, Xuan Yu, Haiyang Ren, Yilong Beihang University School of Transportation Science and Engineering Beijing100191 China State Key Lab of Intelligent Transportation System Beijing100191 China Dalian University of Technology School of Computer Science and Technology Dalian China Zhongguancun Laboratory Beijing100094 China

Existing multi-agent algorithms struggle with spatial coordination and require extensive prior environmental information for effective large-scale operation. This study introduces an innovative multi-UAV system that employs an evolutionary algorithm, reconceptualizing collaborative search tasks as a multi-objective cooperative challenge. Inspired by bacteria's stochastic exploration for pheromones, the algorithm utilizes pheromone concentration and gradient effects to enhance multi-source exploration's efficiency and robustness. A bespoke multi-UAV framework with UAV-to-UAV (U2U) communication was developed to implement and test the algorithm. Comprehensive experiments tested various chemotaxis strategies, guidance strengths, team sizes, and starting conditions, demonstrating the algorithm's consistent effectiveness in expansive terrains without relying on prior information. © 1967-2012 IEEE.

关键词： Stochastic systems

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Interval analysis for neural networks with application to fault detection

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science China(Information sciences) 2024年第11期67卷 222-237页

作者： Zhenhua WANG Youdao MA Song ZHU Thach Ngoc DINH Yi SHEN Department of Control Science and Engineering Harbin Institute of Technology National Key Laboratory of Complex System Control and Intelligent Agent Cooperation School of Mathematics China University of Mining and Technology The CEDRIC-Lab Conservatoire National des Arts et Métiers (CNAM)

This paper investigates an interval analysis method for neural networks and applies it to fault detection for systems with unknown but bounded measurement noise. First, a novel interval analysis method is presented, which can compute the bounds of the output of a feedforward neural network subject to a bounded input. By applying the proposed interval analysis method to a network trained with fault-free system data, adaptive thresholds for fault detection are computed. Finally, one can acquire fault detection results via a fault detection strategy. The proposed method can achieve tight bounds of the network output and employ simple operations, which leads to accurate fault detection results and a low computational burden.A numerical simulation and an experiment on an AC servo motor are given to illustrate the effectiveness and superiority of the proposed method.

关键词： interval analysis feedforward neural network fault detection adaptive thresholds

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Data-driven consensus control of fully distributed event-triggered multi-agent systems

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science China(Information sciences) 2023年第5期66卷 147-161页

作者： Yifei LI Xin WANG Jian SUN Gang WANG Jie CHEN School of Automation Beijing Institute of Technology The State Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

This study investigates the consensus control issue in discrete-time linear multi-agent systems(MASs) using data-driven control under undirected communication networks. To alleviate the communication burden, an adaptive event-triggered control strategy involving only local information is proposed and a model-based stability condition is derived that guarantees the asymptotic consensus of MASs. Furthermore,a data-based consensus condition for unknown MASs is established by combining a data-based system representation with the model-based stability condition, using only pre-collected noisy input-state data instead of the accurate system information a priori. Specifically, both model-based and data-driven event-triggered controllers can be utilized without requiring any global information. The validity and correctness of the controllers and associated theoretical results are demonstrated via numerical simulations.

关键词： distributed control event-triggered control data-driven control discrete-time MASs

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Lightweight HAR Scheme for Rapid Environment Adaption based on AIoT WiFi Sensing Chips

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IEEE Internet of Things Journal 2025年第13期12卷 25908-25921页

作者： Chen, Zhuolong Zhao, Yubin Xu, Cheng-Zhong School of Microelectronics Science and Technology Sun Yat-sen University Zhuhai China State Key Lab of IoTSC & Department of Computer and Information Science University of Macau Macau China

Human activity recognition (HAR) utilizing WiFi channel state information (CSI) holds profound implications owing to the pervasive WiFi coverage in daily life. Deep learning has enabled the development of many high-precision HAR systems, but also brings the challenges of degrading performance in the new environments and high complexity issues for implementing on a single chip. In this paper, we introduce a lightweight HAR scheme for rapid adaption to the new environments, which can be implemented in a WiFi based artificial intelligence internet of things (AIoT) chip. The proposed scheme consists of two modules, which are change pattern extraction (CPE) and self-attention based adaptive model (SAAM). In CPE, the intricate multi-subcarrier CSI are transformed into unique change patterns closely related to each human activity with low complexity using deep non-negative matrix factorization (DNMF). Then, SAAM facilitates the correlation of change patterns across different environments through learned temporal features, enabling rapid generalization to new environments with only a few new samples, boasting advantages of low training costs, parameter memory usage, and computational time. Experimental results demonstrate that our system achieves not only 94% accuracy in the original environment, but also exhibits promising performance in new environments, requiring only three new training samples for each activity. © 2014 IEEE.

关键词： Non-negative matrix factorization

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Extinction Chains Reveal Intermediate Phases Between the Safety and Collapse in Mutualistic Ecosystems

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Engineering 2024年第12期43卷 89-98页

作者： Guangwei Wang Xueming Liu Ying Xiao Ye Yuan Linqiang Pan Xiaohong Guan Jianxi Gao Hai-Tao Zhang The MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems State Key Laboratory of Digital Manufacturing Equipment and TechnologySchool of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China Guangdong HUST Industrial Technology Research Institute Huazhong University of Science and TechnologyDongguan 523808China Guangdong Provincial Engineering Technology Center of Autonomous Unmanned Vessels Dongguan 523808China MOE Key Laboratory of Intelligent Networks and Network Security&State Key Laboratory of Manufacturing Systems Xi’an Jiaotong UniversityXi’an 710049China Tsinghua National Laboratory of Information Science and Technology Department of AutomationTsinghua UniversityBeijing 100084China Department of Computer Science Rensselaer Polytechnic InstituteTroyNY 12180USA

Ecosystems are undergoing unprecedented persistent deterioration due to unsustainable anthropogenic human activities,such as overfishing and deforestation,and the effects of such damage on ecological stability are *** recent advances in experimental and theoretical studies on regime shifts and tipping points,theoretical tools for understanding the extinction chain,which is the sequence of species extinctions resulting from overexploitation,are still lacking,especially for large-scale nonlinear networked *** this study,we developed a mathematical tool to predict regime shifts and extinction chains in ecosystems under multiple exploitation situations and verified it in 26 real-world mutualistic networks of various sizes and *** discovered five phases during the exploitation process:safe,partial extinction,bistable,tristable,and collapse,which enabled the optimal design of restoration strategies for degraded or collapsed *** validated our approach using a 20-year dataset from an eelgrass restoration ***,we also found a specific region in the diagram spanning exploitation rates and competition intensities,where exploiting more species helps increase *** computational tool provides insights into harvesting,fishing,exploitation,or deforestation plans while conserving or restoring the biodiversity of mutualistic ecosystems.

关键词： Complex system Network science Overexploitation Regime shift Metastability

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CPL-SLAM: Centralized Collaborative Multirobot Visual-Inertial SLAM Using Point-and-Line Features

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IEEE Internet of Things Journal 2025年第12期12卷 21866-21875页

作者： Liu, Xin Wen, Shuhuan Liu, Huaping Richard Yu, F. Yanshan University Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment Key Laboratory of Intelligent Rehabilitation and Neuroregulation in Hebei Province Department of Key Laboratory of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Tsinghua University Department of Computer Science and Technology Beijing100084 China Shenzhen University College of Computer Science and Software Engineering Shenzhen518060 China Carleton University School of Information Technology Department of Systems and Computer Engineering OttawaONK1S 5B6 Canada

Traditional visual-inertial Simultaneous Localization and Mapping (SLAM) systems predominantly rely on feature point matching from a single robot to realize the robot pose estimation and environment map construction. However, in complex scenarios, these traditional systems struggle with issues, such as tracking failures due to illumination changes, rapid movements, and low-texture environments, and they perform poorly in terms of mapping efficiency and global consistency. To address these challenges, we propose a centralized collaborative SLAM system that employs both point and line features for tracking in the robot and map fusion in the cloud. The proposed system leverages the fusion of point and line features across all instances in the process, which allows our method to achieve higher localization accuracy in structured, low-texture scenes. With the aid of classifying gravity-aligned vertical lines and spatial parallel lines, the proposed system can deliver faster and more accurate odometry in complex scenes. Furthermore, we developed intrarobot and interrobot loop closure detection methods based on point and line features, generating a globally consistent sparse point cloud and structured scene map in the cloud. Our method is able to build richer maps while improving accuracy compared to existing methods. Experimental results on public datasets and in real-world environments show that, compared to existing advanced methods, our approach demonstrates better performance. © 2014 IEEE.

关键词： SLAM robotics

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Weakly-Supervised Graph Classification with Even a Single key Subgraph Per Class 24

Weakly-Supervised Graph Classification with Even a Single Ke...

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24th IEEE International Conference on Data Mining, ICDM 2024

作者： Zhang, Lu Zhang, Chenbo Guan, Jihong Zhou, Shuigeng School of Computer Science Fudan University Shanghai Key Lab of Intelligent Information Processing China Tongji University Department of Computer Science & Technology China

ISBN: (纸本)9798331506681

Traditional graph classification requires large amounts of labeled data, which is expensive and time-consuming to acquire, especially in some special scenarios that domain knowledge is indispensable for labeling graphs. Observing that some key subgraphs can determine the properties of graphs (e.g. the toxicity of drug molecules depend on some toxic functional groups), in this paper we explore to classify graphs using unlabeled graphs plus a small number of key subgraphs for each class, which is called weakly-supervised graph classification. To this end, we develop the WeGraph method, where the graph classifier is trained with subgraph-based self-supervised learning and divergence- minimization based fine-tuning. Moreover, we design a key subgraph extraction algorithm to iteratively extract and update the key subgraphs, which makes the training process a closed loop. We conduct extensive experiments on different types of graph datasets to evaluate the effectiveness of WeGraph. Experimental results show that WeGraph can achieve high performance even when only one key subgraph is provided for each class. © 2024 IEEE.

关键词： Self-supervised learning

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PACE: Reputation-Driven Hierarchical Incentive Mechanism for Trusted Healthcare Transactions in Model Marketplace

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IEEE Transactions on Consumer Electronics 2024年第1期71卷 1571-1583页

作者： Lu, Jianfeng Dou, Xiaochi Rathore, Bharati Jhaveri, Rutvij H. Seid, Abegaz Mohammed Erbad, Aiman Wuhan University of Science and Technology School of Computer Science and Technology Wuhan430065 China Wuhan University of Science and Technology Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System China Ministry of Education Key Laboratory of Social Computing and Cognitive Intelligence Dalian University of Technology China United Kingdom Pandit Deendayal Energy University Department of Computer Science and Engineering School of Technology India Hamad Bin Khalifa University College of Science and Engineering Doha Qatar Qatar University College of Engineering Doha Qatar

Federated learning-based model marketplaces have the potential to securely leverage healthcare data for efficient healthcare transactions. However, the willingness to participate in this marketplace is severely hindered by self-interested model sellers, who maximize their personal gains via distorting the quality of their models. To this end, we propose a rePutation-driven hierArchical inCentive mEchanism, called PACE, which combines contract cooperation and game pricing to motivate model sellers to be honest, thereby improving the sustainability of the model marketplace via two-layer cooperation. Specifically, at the training layer, we design a reward payment rule based on multidimensional contracts, while at the trading layer, we use a competitive market pricing game to develop the accuracy pricing rule. In particular, the above rules cleverly combine the fine-grained model sellers' reputations with the willingness of healthcare devices to indirectly affect the model sellers' utilities. Theoretically, we prove that PACE can effectively incentivize model sellers to truthfully report model quality while satisfying both individual rationality and incentive compatibility with a fairness guarantee. Experimental results conducted on four real-world datasets show that our PACE improves the global performance by up to 12.85% and reduces the global loss by at least 19.23% compared with the state-of-the-art baselines. © 1975-2011 IEEE.

关键词： Marketplaces

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Learning to Branch in Combinatorial Optimization With Graph Pointer Networks

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 157-169页

作者： Rui Wang Zhiming Zhou Kaiwen Li Tao Zhang Ling Wang Xin Xu Xiangke Liao IEEE the Xiangjiang Laboratory and the College of Systems Engineering National University of Defense TechnologyChangsha 410073China the Institute of Automation Chinese Academy of SciencesBeijing 100190China the College of Systems Engineering National University of Defense TechnologyChangsha 410073 the Hunan Key Laboratory of Multi-Energy System Intelligent Interconnection Technology Changsha 410073China the Department of Automation Tsinghua UniversityBeijing 100084China the College of Intelligence Science and Technology National University of Defense TechnologyChangsha 410073China the College of Computer Science and Technology National University of Defense TechnologyChangsha 410073China

Traditional expert-designed branching rules in branch-and-bound(B&B) are static, often failing to adapt to diverse and evolving problem instances. Crafting these rules is labor-intensive, and may not scale well with complex *** the frequent need to solve varied combinatorial optimization problems, leveraging statistical learning to auto-tune B&B algorithms for specific problem classes becomes attractive. This paper proposes a graph pointer network model to learn the branch rules. Graph features, global features and historical features are designated to represent the solver state. The graph neural network processes graph features, while the pointer mechanism assimilates the global and historical features to finally determine the variable on which to branch. The model is trained to imitate the expert strong branching rule by a tailored top-k Kullback-Leibler divergence loss function. Experiments on a series of benchmark problems demonstrate that the proposed approach significantly outperforms the widely used expert-designed branching rules. It also outperforms state-of-the-art machine-learning-based branch-and-bound methods in terms of solving speed and search tree size on all the test instances. In addition, the model can generalize to unseen instances and scale to larger instances.

关键词： Branch-and-bound(B&B) combinatorial optimization deep learning graph neural network imitation learning

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