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IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2023年第10期8卷 4301-4306页

作者： Guo, Lulu Shan, Ce Shi, Tengfei Li, Xuan Wang, Fei-Yue Tongji Univ Dept Control Sci & Engn Shanghai 201804 Peoples R China Beihang Univ Sch Comp Sci & Engn Beijing 100083 Peoples R China Peng Cheng Lab Shenzhen 518000 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

Trajectory prediction for challenging scenarios has always been a significant problem in the field due to the complexity of dynamic scenarios and interactions. Furthermore, there is often a dynamic gap between evaluating and validating methods on fixed datasets and real driving scenarios. This letter forms part of a series of reports emanating from the IEEE Transactions on Intelligent Vehicles's Decentralized and Hybrid Workshops (DHW) dedicated to the field of Scenarios Engineering. Our research proposes a scenario engineering-based calibration and validation framework for trajectory prediction of autonomous vehicles to more effectively validate the performance of the method in challenging scenarios. First, Scenarios Engineering (SE) uses OpenSCENARIO and real dataset to generate high-definition maps for challenging driving scenarios. Then, the vectorization approach is employed to extract contextual details from the scene and agent trajectory information from the HD map, and the graph neural network is used to model the high-order interaction to realize the interactive trajectory prediction. Compared with the traditional method, the trajectory prediction can be calibrated through SE so that the prediction process can use more traffic information and attribute characteristics, and improve the evaluation index of prediction. The DHW discusses a practical case to verify the potential of the trajectory prediction framework based on scenarios generation in improving the authenticity and accuracy of trajectory prediction.

关键词： Index Terms-Autonomous vehicles graph neural network HD maps OpenSCENARIO scenarios engineering trajectory prediction

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Knowledge-Embedded Mutual Guidance for Visual Reasoning

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IEEE TRANSACTIONS ON CYBERNETICS 2024年第4期54卷 2579-2591页

作者： Zheng, Wenbo Yan, Lan Chen, Long Li, Qiang Wang, Fei-Yue Wuhan Univ Technol Sch Comp Sci & Artificial Intelligence Wuhan 430070 Peoples R China Wuhan Univ Technol Sanya Sci & Educ Innovat Pk Sanya 572000 Peoples R China Hunan Univ Coll Comp Sci & Engn Changsha 410082 Peoples R China Natl Supercomp Ctr Changsha Changsha 410082 Hunan Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100864 Peoples R China Waytous Inc Beijing 100864 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

Visual reasoning between visual images and natural language is a long-standing challenge in computer vision. Most of the methods aim to look for answers to questions only on the basis of the analysis of the offered questions and images. Other approaches treat knowledge graphs as flattened tables to search for the answer. However, there are two major problems with these works: 1) the model disregards the fact that the world we surrounding us interlinks our hearing and speaking of natural language and 2) the model largely ignores the structure of the KG. To overcome these challenging deficiencies, a model should jointly consider two modalities of vision and language, as well as the rich structural and logical information embedded in knowledge graphs. To this end, we propose a general joint representation learning framework for visual reasoning, namely, knowledge-embedded mutual guidance. It realizes mutual guidance not only between visual data and natural language descriptions but also between knowledge graphs and reasoning models. In addition, it exploits the knowledge derived from the reasoning model to boost knowledge graphs when applying the visual relation detection task. The experimental results demonstrate that the proposed approach performs dramatically better than state-of-the-art methods on two benchmarks for visual reasoning.

关键词： Attention model joint learning knowledge embedding visual reasoning

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Supervised learning for parameterized Koopmans-Beckmann's graph matching

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PATTERN RECOGNITION LETTERS 2021年 143卷 8-13页

作者： Zeng, Shaofeng Liu, Zhiyong Yang, Xu Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China

In this paper, we discuss a novel graph matching problem, namely the parameterized Koopmans- Beckmann's graph matching (KBGMw). KBGMw is defined by a weighted linear combination of a series of Koopmans-Beckmann's graph matching. First, we show that KBGMw can be taken as a special case of the parameterized Lawler's graph matching, subject to certain conditions. Second, based on structured SVM, we propose a supervised learning method for automatically estimating the parameters of KBGMw. Experimental results on both synthetic and real image matching data sets show that the proposed method achieves relatively better performances, even superior to some deep learning methods. (c) 2020 Elsevier B.V. All rights reserved.

关键词： Graph matching Koopmans-Beckmann Supervised learning Structured SVM

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SynerFill: A Synergistic RGB-D Image Inpainting Network via Fast Fourier Convolutions

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

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IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2024年第1期9卷 69-78页

作者： Liu, Kunhua Zhang, Yunqing Xie, Yuting Li, Leixin Wang, Yutong Chen, Long Qingdao Univ Technol Sch Mech & Automot Engn Qingdao 266520 Peoples R China Sun Yat Sen Univ Sch Comp Sci & Engn Guangzhou 510006 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

Map inpainting is an important technology in the production of maps for autonomous driving vehicles. In recent years, scholars have often used methods such as point cloud inpainting, RGB image inpainting, and depth inpainting to repair maps. However, these methods require high computational power and result in longer algorithmic processing times. To address this issue, we propose SynerFill, a synergistic RGB-D images inpainting method that can simultaneously inpaint RGB and depth images. We design its network architecture and loss functions, which include a generator, an RGB image discriminator, a depth image discriminator, and an edge image discriminator. Second, we collect real-world data and build a large-scale, multi-scene, multi-weather dataset called the Synthetic City RGB-D (SCRGB-D) Dataset based on 3ds Max, CARLA, and Unreal Engine 4. To verify SynerFill, we conduct experiments on the SCRGB-D dataset, DynaFill dataset, and SceneNet dataset. The experimental results show that SynerFill achieves state-of-the-art (SOTA) performance.

关键词： Image edge detection Feature extraction Point cloud compression Generators Maintenance engineering Vehicle dynamics Autonomous vehicles GAN generator discriminator SCRGB-D dataset synergistic RGB-D images inpainting

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Civilian Autonomous Carriers for Peaceful Services: Intelligent Vehicle Carries Enabled Future Transportation and Logistics

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

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IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2023年第11期8卷 4463-4467页

作者： Wang, Fei-Yue Huang, Hailong Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Hong Kong Polytech Univ Dept Aeronaut & Aviat Engn Hong Kong Peoples R China

Our editorial focuses on intelligent vehicle carries-enabled future transportation and logistics, aiming at facilitating the realization of smart urban environments. Various promising applications can be expected ranging from low-altitude air parcel delivery to offshore aquaculture. Our goal is to attract more good ideas in this direction.

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Multiagent-Reinforcement-Learning-Based Stable Path Tracking control for a Bionic Robotic Fish With Reaction Wheel

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2023年第12期70卷 12670-12679页

作者： Qiu, Changlin Wu, Zhengxing Wang, Jian Tan, Min Yu, Junzhi Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Peking Univ Coll Engn Dept Adv Mfg & Robot State Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China Guangdong Ocean Univ Coll Elect & Informat Engn Zhanjiang 524088 Peoples R China

The path tracking of the robotic fish is a hotspot with its high maneuverability and environmental friendliness. However, the periodic oscillation generated by bionic fish-like propulsion mode may lead to unstable control. To this end, this article proposes a novel framework involving a newly designed platform and multiagent reinforcement learning (MARL) method. First, a bionic robotic fish equipped with a reaction wheel is developed to enhance the stability. Second, an MARL-based control framework is proposed for the cooperative control of tail-beating and reaction wheel. Correspondingly, a hierarchical training method including initial training and iterative training is designed to deal with the control coupling and frequency difference between two agents. Finally, extensive simulations and experiments indicate that the developed robotic fish and the proposed MARL-based control framework can effectively improve the accuracy and stability of path tracking. Remarkably, headshaking is reduced about 40%. It provides a promising reference for the stability optimization and cooperative control of bionic swimming robots featuring oscillatory motions.

关键词： Multiagent reinforcement learning (MARL) path tracking control reaction wheel robotic fish underwater robot

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Learning for Depth control of a Robotic Penguin: A Data-Driven Model Predictive control Approach

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2023年第11期70卷 11422-11432页

作者： Pan, Jie Zhang, Pengfei Wang, Jian Liu, Mingxin Yu, Junzhi Peking Univ Dept Adv Mfg & Robot Coll Engn State Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Guangdong Ocean Univ Coll Elect & Informat Engn Zhanjiang 524088 Peoples R China

For bionic underwater robots, it is a great challenge for depth control due to model uncertainty and strong nonlinearity. To this end, we propose a data-driven model predictive control (MPC) approach using reinforcement learning (RL) for robotic penguin depth control. First, by imitating the underwater mode of the biological penguin, a robotic prototype with a tendon-driven head, two-degrees-of-freedom wings, and a tendon-driven tail was designed. Then, a data-driven MPC framework is proposed considering the structure and motion properties of the robotic penguin. Especially, a data-based learning environment is constructed using a motion capture system, computational fluid dynamics, and a backpropagation neural network. Meanwhile, to maximize the benefits of the controller while ensuring safety and stability, a data-driven MPC using the RL scheme is applied to approximate the optimal policy. Combined with an appropriate reward design and periodic training, the closed-loop controller performance is significantly improved, and the validity of the proposed framework is finally tested by extensive simulations and experiments. Notably, this work will provide valuable insights into the learning-based motion control of bionic underwater robots.

关键词： Data-driven model predictive control (MPC) depth control motion control reinforcement learning (RL) robotic penguin

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Semantic Coherence Guided Multiview Similarity for Image Classification with Varied Supervision

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第6期5卷 3072-3082页

作者： Zhang, Chunjie Cao, Ping Bai, Huihui Zheng, Xiaolong Beijing Jiaotong University Institute of Information Science Beijing100044 China Beijing Jiaotong University Beijing Key Laboratory of Advanced Information Science and Network Technology Beijing100044 China University of Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems The State of Key Laboratory of Management and Control for Complex System Institute of Automation Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100190 China

Pairwise similarity has been widely used for image classification by propagating the class information from labeled images to unlabeled images and predicting the classes of unlabeled images accordingly. Although widely used, pairwise similarity based classification methods have two drawbacks. On one hand, visual-semantic similarity consistency does not always hold due to semantic gap. On the other hand, the reliability of pairwise similarity is also influenced by the number and underlying distribution of labeled images. A well-designed classification model cannot be easily generalized to few-shot classification tasks. To solve these two problems, in this article, we propose a semantic coherence guided multiview similarity (SCG-MV) for image classification method with varied supervision levels. We measure the semantic coherence between image pairs for classifier learning. This is achieved by first conducting line search along the line segment between each image pair, and then measure the semantics of each interval. The similarity of one image pair can then be obtained by aggregating the semantic coherence of all the intervals. In this way, we can model image similarities more finely and discriminatively. To make use of multiview information, we also use the semantic coherence guided image similarities to learn multiview classifiers. The proposed semantic coherence guided method can be combined with other similarity based methods for image classification with various levels of supervision. We conduct both few-shot and fully supervised classification experiments on four datasets with the results well prove the discriminative power and generalization ability of the proposed method. © 2020 IEEE.

关键词： Semantics

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Guest Editorial of the Special Issue on the 3rd IEEE International Conference on Digital Twins and Parallel Intelligence (IEEE DTPI 2023)

IEEE JOURNAL OF RADIO FREQUENCY IDENTIFICATION

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IEEE JOURNAL OF RADIO FREQUENCY IDENTIFICATION 2024年 8卷 860-864页

作者： Wang, Yutong Wang, Xiao Bennett, Gisele Wang, Fei-Yue Chinese Acad Sci Inst Automat State Key Lab Multimodal Artificial Intelligence S Beijing 100190 Peoples R China Anhui Univ Sch Artificial Intelligence Hefei 230031 Peoples R China MEPSS LLC Indian Harbor Beach FL 32937 USA Chinese Acad Sci State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

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Parallel Manufacturing for Industrial Metaverses:A New Paradigm in Smart Manufacturing

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IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2063-2070页

作者： Jing Yang Xiaoxing Wang Yandong Zhao The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Beijing SANBODY Technology Company LtdBeijing 214000China North Automatic Control Technology Institute Taiyuan 030006China

To tackle the complexity of human and social factors in manufacturing systems, parallel manufacturing for industrial metaverses is proposed as a new paradigm in smart manufacturing for effective and efficient operations of those systems, where Cyber-Physical-Social systems(CPSSs) and the Internet of Minds(Io M) are regarded as its infrastructures and the "Artificial systems", "Computational experiments"and "Parallel execution"(ACP) method is its methodological foundation for parallel evolution, closed-loop feedback, and collaborative optimization. In parallel manufacturing, social demands are analyzed and extracted from social intelligence for product R&D and production planning, and digital workers and robotic workers perform the majority of the physical and mental work instead of human workers, contributing to the realization of low-cost, high-efficiency and zero-inventory manufacturing. A variety of advanced technologies such as Knowledge Automation(KA), blockchain, crowdsourcing and Decentralized Autonomous Organizations(DAOs) provide powerful support for the construction of parallel manufacturing, which holds the promise of breaking the constraints of resource and capacity, and the limitations of time and space. Finally, the effectiveness of parallel manufacturing is verified by taking the workflow of customized shoes as a case,especially the unmanned production line named Flex Vega.

关键词： Parallel Manufacturing Digital Workers CPSS Smart Manufacturing Industrial Metaverses

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