检索结果-内蒙古大学图书馆

33rd British Machine Vision Conference Proceedings, BMVC 2022

作者： Yu, Yinfeng Cao, Lele Sun, Fuchun Liu, Xiaohong Wang, Liejun Department of Computer Science and Technology State Key Lab on Intelligent Technology and Systems Tsinghua University Beijing China Motherbrain EQT Stockholm Sweden College of Information Science and Engineering Xinjiang University Urumqi China

Audio-visual embodied navigation, as a hot research topic, aims training a robot to reach an audio target using egocentric visual (from the sensors mounted on the robot) and audio (emitted from the target) input. The audio-visual information fusion strategy is naturally important to the navigation performance, but the state-of-the-art methods still simply concatenate the visual and audio features, potentially ignoring the direct impact of context. Moreover, the existing approaches requires either phase-wise training or additional aid (e.g. topology graph and sound semantics). Up till this date, the work that deals with the more challenging setup with moving target(s) is still rare. As a result, we propose an end-to-end framework FSAAVN (feature self-attention audio-visual navigation) to learn chasing after a moving audio target using a context-aware audio-visual fusion strategy implemented as a self-attention module. Our thorough experiments validate the superior performance (both quantitatively and qualitatively) of FSAAVN in comparison with the state-of-the-arts, and also provide unique insights about the choice of visual modalities, visual/audio encoder backbones and fusion patterns. © 2022. The copyright of this document resides with its authors.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

Chaining Simultaneous Thoughts for Numerical Reasoning

Chaining Simultaneous Thoughts for Numerical Reasoning

引用

2022 Findings of the Association for Computational Linguistics: EMNLP 2022

作者： Shao, Zhihong Huang, Fei Huang, Minlie The CoAI Group DCST Tsinghua University Institute for Artificial Intelligence State Key Lab of Intelligent Technology and Systems Beijing National Research Center for Information Science and Technology Tsinghua University Beijing100084 China

Given that rich information is hidden behind ubiquitous numbers in text, numerical reasoning over text should be an essential skill of AI systems. To derive precise equations to solve numerical reasoning problems, previous work focused on modeling the structures of equations, and has proposed various structured decoders. Though structure modeling proves to be effective, these structured decoders construct a single equation in a pre-defined autoregressive order, potentially placing an unnecessary restriction on how a model should grasp the reasoning process. Intuitively, humans may have numerous pieces of thoughts popping up in no pre-defined order;thoughts are not limited to the problem at hand, and can even be concerned with other related problems. By comparing diverse thoughts and chaining relevant pieces, humans are less prone to errors. In this paper, we take this inspiration and propose CANTOR, a numerical reasoner that models reasoning steps using a directed acyclic graph where we produce diverse reasoning steps simultaneously without pre-defined decoding dependencies, and compare and chain relevant ones to reach a solution. Extensive experiments demonstrated the effectiveness of CANTOR under both fully-supervised and weakly-supervised settings. © 2022 Association for Computational Linguistics.

关键词： Directed graphs

来源：评论

学校读者我要写书评

暂无评论

Efficient learning of robust quadruped bounding usingpretrained neural networks

引用

IET Cyber-systems and Robotics 2022年第4期4卷 331-338页

作者： Zhicheng Wang Anqiao Li Yixiao Zheng Anhuan Xie Zhibin Li Jun Wu Qiuguo Zhu Institute of Cyber-Systems and Control Zhejiang UniversityZhejiangChina Intelligent Robot Research Center Zhejiang LabZhejiangChina Department of Computer Science University College LondonLondonUK State Key Laboratory of Industrial Control Technology Zhejiang UniversityZhejiangChina

Bounding is one of the important gaits in quadrupedal locomotion for negotiating *** authors proposed an effective approach that can learn robust bounding gaits more efficiently despite its large variation in dynamic body *** authors first pretrained the neural network(NN)based on data from a robot operated by conventional model-based controllers,and then further optimised the pretrained NN via deep reinforcement learning(DRL).In particular,the authors designed a reward function considering contact points and phases to enforce the gait symmetry and periodicity,which improved the bounding *** NN-based feedback controller was learned in the simulation and directly deployed on the real quadruped robot Jueying Mini successfully.A variety of environments are presented both indoors and outdoors with the authors’*** authors’approach shows efficient computing and good locomotion results by the Jueying Mini quadrupedal robot bounding over uneven *** cover image is based on the Research Article Efficient learning of robust quadruped bounding using pretrained neural networks by Zhicheng Wang et al.,https://***/10.1049/csy2.12062.

关键词： legged locomotion reinforcement learning robot learning

来源：评论

学校读者我要写书评

暂无评论

AMOR: a recipe for building adaptable modular knowledge agents through process feedback 24

AMOR: a recipe for building adaptable modular knowledge agen...

引用

Proceedings of the 38th International Conference on Neural Information Processing systems

作者： Jian Guan Wei Wu Zujie Wen Peng Xu Hongning Wang Minlie Huang The CoAI group DCST Institute for Artificial Intelligence State Key Lab of Intelligent Technology and Systems Beijing National Research Center for Information Science and Technology Tsinghua University Beijing China and Ant Group Ant Group The CoAI group DCST Institute for Artificial Intelligence State Key Lab of Intelligent Technology and Systems Beijing National Research Center for Information Science and Technology Tsinghua University Beijing China

ISBN: (纸本)9798331314385

The notable success of large language models (LLMs) has sparked an upsurge in building language agents to complete various complex tasks. We present AMOR, an agent framework based on open-source LLMs, which reasons with external knowledge bases and adapts to specific domains through human supervision to the reasoning process. AMOR builds reasoning logic over a finite state machine (FSM) that solves problems through autonomous executions and transitions over disentangled modules. This allows humans to provide direct feedback to the individual modules, and thus naturally forms process supervision. Based on this reasoning and feedback framework, we develop AMOR through two-stage fine-tuning: warm-up and adaptation. The former fine-tunes the LLM with examples automatically constructed from various public datasets, enabling AMoR to generalize across different knowledge environments, while the latter tailors AMOR to specific domains using process feedback. Extensive experiments across multiple domains demonstrate the advantage of AMoR to strong baselines, thanks to its FSM-based reasoning and process feedback mechanism. The code and data are publicly available at https://***/JianGuanTHU/AMOR.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Speed Tracking Control of PMSM Using Adaptive Extended Harmonic state Observer

Speed Tracking Control of PMSM Using Adaptive Extended Harmo...

引用

Data Driven Control and Learning systems (DDCLS)

作者： Xianyu Wang Zhonghua Pang Haibin Guo Shengnan Gao Key Lab of Fieldbus Technology and Automation of Beijing North China University of Technology Beijing China State Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing China

This paper investigates the speed tracking control issue of a permanent magnet synchronous motor (PMSM). A speed tracking controller based on an adaptive extended harmonic state observer and an extended state observer is proposed under the PMSM non-cascaded structure to suppress multiple disturbances and improve the speed tracking performance. Specifically, an adaptive extended harmonic state observer is designed to estimate mismatched periodic and mismatched aperiodic disturbances with uncertain frequencies, and another extended state observer is developed to estimate matched disturbances. Based on the disturbance estimates, a linear feedback controller is designed to solve the PMSM speed tracking problem under matched and mismatched disturbances. Finally, the effectiveness of the proposed control scheme is verified by the simulation study.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Distributed Sliding Mode Control with Disturbance Observer Of Multi-manipulator systems

Distributed Sliding Mode Control with Disturbance Observer O...

引用

第43届中国控制会议

作者： Yu Lin Jiayu Zou Kuo Wang Hai-Tao Zhang School of Artificial Intelligence and Automation Engineering Research Center of Autonomous Intelligent Unmanned Systems and the State Key Lab of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper proposes a distributed control strategy for the composite disturbance problem in multimanipulator ***,the disturbance observer is used for the access to observe the composite disturbance and motion state of the *** a slide mode control law is developed to improve the accuracy of the tracking ***,sufficient conditions are derived to guarantee asymptotical convergency of the developed control ***,the numerical simulations are conducted to verify the effectiveness of the present control scheme.

关键词： Multi-manipulator systems sliding mode control composite disturbance the disturbance observer

来源：评论

学校读者我要写书评

暂无评论

Learning to Solve Multi-AGV Scheduling Problem with Pod Repositioning Optimization in RMFS

Learning to Solve Multi-AGV Scheduling Problem with Pod Repo...

引用

IEEE International Conference on Industrial technology (ICIT)

作者： Xuan Zhou Xiang Shi Wenqing Chu Jingchen Jiang Lele Zhang Fang Deng State Key Lab of Autonomous Intelligent Unmanned Systems School of Automation Beijing Institute of Technology Beijing China Beijing Institute of Technology Chongqing Innovation Center Chongqing China

ISBN: (数字)9798350340266

ISBN: (纸本)9798350340273

This paper studies a novel non-deterministic polynomial-hard (NP-hard) warehouse optimization problem, the multi-automated guided vehicle (multi-AGV) scheduling problem with pod repositioning optimization (MAS-PR), in a robotic mobile fulfillment system (RMFS). A major challenge in MAS-PR is that the storage assignment of pods and the task allocation decision of AGVs are closely coupled. To address this problem, an end-to-end Problem-Specific Mask-based Deep Reinforcement Learning (PSMDRL) method is proposed in this paper. In PSMDRL, we transform the MAS-PR into a Markov Decision Process (MDP) model, and then use an attention-based network model to learn the efficient allocation and retrieval policy. A mask strategy with problem-specific knowledge and a model structure with decoder embedding are designed to further improve the efficiency and effectiveness. Experimental results demonstrate that the proposed PSMDRL is more effective and efficient than the representative algorithms in solving the MAS-PR problem.

关键词： Service robots Computational modeling Transforms Deep reinforcement learning Path planning Decoding Computational efficiency

来源：评论

学校读者我要写书评

暂无评论

Forming Circle Formations of Multi-agent systems Under Actuator Faults 5th

Forming Circle Formations of Multi-agent Systems Under Actu...

引用

5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021

作者： Liu, Jiajun Ru, Xinfeng Xia, Weiguo Wang, Chen China National Aeronautical Radio Electronic Research Institute and National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian China National Engineering Research Center of Software Engineering and the State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

ISBN: (纸本)9789811939976

A distributed fault-tolerant formation control law is designed in this paper for multi-agent systems under external disturbances and actuator faults including time-varying loss of effectiveness faults. The initial position of each agent is already on a circle and the control purpose is to form a desired formation on this circle. Based on this local information, a distributed adaptive formation control law is designed by employing the congelation of variables method to deal with time-varying actuator faults. Finally, a simulation example is given to verify the effectiveness of the adaptive fault-tolerant control design method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

来源：评论

学校读者我要写书评

暂无评论

International experience of carbon neutrality and prospects of key technologies:Lessons for China

引用

Petroleum Science 2023年第2期20卷 893-909页

作者： Zheng-Meng Hou Ying Xiong Jia-Shun Luo Yan-Li Fang Muhammad Haris Qian-Jun Chen Ye Yue Lin Wu Qi-Chen Wang Liang-Chao Huang Yi-Lin Guo Ya-Chen Xie Institute of Subsurface Energy Systems Clausthal University of TechnologyClausthal-Zellerfeld38678Germany School of Earth and Space Sciences Peking UniversityBeijing100871China State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation Southwest Petroleum UniversityChengdu610500SichuanChina Sino-German Energy Research Center Sichuan UniversityChengdu610065SichuanChina Department of Petroleum&Gas Engineering University of Engineering&Technology54890LahorePakistan Yunnan Key Lab.of Sino-German Blue Mining and Utilization of Special Underground Space Kunming650093YunnanChina Sino-German Research Institute of Carbon Neutralization and Green Development Zhengzhou UniversityZhengzhou450000HenanChina State Key Laboratory of Geomechanics and Geotechnical Engineering Institute of Rock and Soil MechanicsChinese Academy of SciencesWuhan430071HubeiChina

Carbon neutrality(or climate neutrality)has been a global consensus,and international experience exchange is *** the differences in the degree of social development,resource endowment and technological level,each country should build a carbon-neutral plan based on its national *** with other major developed countries(e.g.,Germany,the United states and Japan),China's carbon neutrality has much bigger challenges,including a heavy and time-pressured carbon reduction task and the current energy structure that is over-dependent on fossil *** we provide a comprehensive review of the status and prospects of the key technologies for low-carbon,near-zero carbon,and negative carbon *** innovations associated with coal,oil-gas and hydrogen industries and their future potential in reducing carbon emissions are particularly explained and *** on integrated analysis of international experience from the world's major developed countries,in-depth knowledge of the current and future technologies,and China's energy and ecological resources potential,five lessons for the implementation of China's carbon neutrality are proposed:(1)transformation of energy production pattern from a coal-dominated pattern to a diversified renewable energy pattern;(2)renewable power-to-X and large-scale underground energy storage;(3)integration of green hydrogen production,storage,transport and utilization;(4)construction of clean energy systems based on smart sector coupling(ENSYSCO);(5)improvement of ecosystem carbon sinks both in nationwide forest land and potential desert in Northwest *** paper provides an international perspective for a better understanding of the challenges and opportunities of carbon neutrality in China,and can serve as a theoretical foundation for medium-long term carbon neutral policy formulation.

关键词： International experience Carbon reduction technologies Carbon neutrality Energy transition Underground energy storage Carbon capture,utilization and storage(CCUS)

来源：评论

学校读者我要写书评

暂无评论

Learning Instructions with Unlabeled Data for Zero-Shot Cross-Task Generalization

Learning Instructions with Unlabeled Data for Zero-Shot Cros...

引用

2022 Conference on Empirical Methods in Natural Language Processing, EMNLP 2022

作者： Gu, Yuxian Ke, Pei Zhu, Xiaoyan Huang, Minlie The CoAI group Tsinghua University Beijing China Institute for Artificial Intelligence State Key Lab of Intelligent Technology and Systems Beijing National Research Center for Information Science and Technology Department of Computer Science and Technology Tsinghua University Beijing China

Training language models to learn from human instructions for zero-shot cross-task generalization has attracted much attention in NLP communities. Recently, instruction tuning (IT), which fine-tunes a pre-trained language model on a massive collection of tasks described via human-craft instructions, has been shown effective in instruction learning for unseen tasks. However, IT relies on a large amount of human-annotated samples, which restricts its generalization. Unlike labeled data, unlabeled data are often massive and cheap to obtain. In this work, we study how IT can be improved with unlabeled data. We first empirically explore the IT performance trends versus the number of labeled data, instructions, and training tasks. We find it critical to enlarge the number of training instructions, and the instructions can be underutilized due to the scarcity of labeled data. Then, we propose Unlabeled Data Augmented Instruction Tuning (UDIT) to take better advantage of the instructions during IT by constructing pseudo-labeled data from unlabeled plain texts. We conduct extensive experiments to show UDIT's effectiveness in various scenarios of tasks and datasets. We also comprehensively analyze the key factors of UDIT to investigate how to better improve IT with unlabeled data. The code is publicly available at https://***/thu-coai/UDIT. © 2022 Association for Computational Linguistics.

关键词： Zero-shot learning

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：