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An Investigation into the Application of an RL-GABased Multi-Modal Motion Somatosensory Optimization Control Strategy for a Novel Rehabilitation Robot

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IEEE Robotics and Automation Letters 2025年

作者： Wu, Junyu Wang, He Zhang, Gongzi Liu, Yubin Zhao, Jie Cai, Hegao Harbin Institute of Technology State Key Laboratory - Robot Research Institute Heilongjiang Harbin150001 China Harbin Engineering University College of Intelligent Systems Science and Engineering Heilongjiang Harbin150001 China General Hospital Department of Rehabilitation Medicine Beijing100853 China

The increasing prevalence of balance disorders presents significant challenges to rehabilitation therapy, prompting the development of rehabilitation robots as effective tools for motion training. To enhance the patient experience and rehabilitation outcomes in human-robot collaborative training, a motion control strategy based on reinforcement learning and genetic algorithms (RL-GA) with somatosensory enhancement is proposed and implemented in a novel rehabilitation robot. This study introduces a mathematical model of the human sensory system to quantify somatosensory feedback related to motion and integrates the washout algorithm (WA) into the robot's control system, facilitating the reproduction of somatosensation and motion simulation. Three typical rehabilitation modes—level walking, stair climbing, and stair descending—are selected, with natural gait features extracted as predefined trajectories. The WA parameters for each mode are optimized using RL-GA in various rehabilitation scenarios. Simulation results demonstrate that the washout filtering optimization method using RL-GA reduces theoretical somatosensory error by approximately 10% to 20% across all three rehabilitation modes, compared to traditional GA optimization. The experimental results further confirm the reliability and feasibility of the proposed method. The proposed approach enhances the realism of robot-assisted motion, thereby theoretically improving training effectiveness and accelerating the rehabilitation process. © 2016 IEEE.

关键词： Collaborative robots

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UNeLF: Unconstrained Neural Light Field for Self-Supervised Angular Super-Resolution

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IEEE Transactions on Circuits and systems for Video technology 2025年

作者： Zhao, Mingyuan Sheng, Hao Chen, Rongshan Cong, Ruixuan Cui, Zhenglong Yang, Da Beihang University State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and Engineering Beijing100191 China Beihang University Data Science and Intelligent Computing Laboratory Hangzhou International Innovation Institute Hangzhou311115 China Macao Polytechnic University Faculty of Applied Sciences 999078 China

Compared to supervised learning methods, self-supervised learning methods address the domain gap problem between light field (LF) datasets collected under varying acquisition conditions, which typically leads to decreased performance when differences exist in the distribution between the training and test sets. However, current self-supervised light field angular super-resolution (LFASR) techniques primarily focus on exploiting discrete spatial-angular features while neglecting continuous LF information. In contrast to previous work, we propose a self-supervised unconstrained neural light field (UNeLF) to continuously represent LF for LFASR. Specifically, any LF can be described as the camera pose for each sub-aperture image (SAI) and the two-plane that captures these SAIs. To describe the former, we introduce a SAIs-dependent pose optimization method to solve the issue that arises from the narrow baseline of most LF data, which hinders robust camera pose estimation. This mechanism reduces the number of trainable camera parameters from a quadratic to a constant scale, thereby alleviating the complexity of joint optimization. For the latter, we propose a novel adaptive two-plane parameterization strategy to determine the two-plane that captures these SAIs, facilitating refocusing. Finally, we jointly optimize the camera parameters, near-far planes and neural light field, efficiently mapping each adaptive two-plane parameterized ray to its correspondence color in a continuous manner. Comprehensive experiments demonstrate that UNeLF achieves faster training and inference with fewer computational resources while exhibiting superior performance on both synthetic and real-world datasets. © 1991-2012 IEEE.

关键词： Self-supervised learning

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Simultaneous enhancement of sensitivity, resonant frequency, and overload capability of piezoresistive accelerometers by heavily-doped fillet structures on sensing beams

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IEEE Sensors Journal 2025年

作者： Xia, Yong Wang, Tao Lv, Yang Han, Xiangguang Yu, Mingzhi Tan, Renjie Huang, Mimi Jia, Chen Zhao, Libo Sun, Lin Yang, Ping Lu, Dejiang Xi'an Jiaotong University School of Mechanical Engineering State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technologies Xi'an710049 China Ningbo CRRC Times Transducer Technology Co. LTD Department of Basic Research and Development Ningbo315021 China Research Institute for Intelligent Sensing Technology and System School of Instrument Science and Technology State Key Laboratory for Manufacturing Systems Engineering State Industry-Education Integration Center for Medical Innovations International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technologies Xi'an Jiaotong University Xi'an710049 China Shandong Laboratory of Advanced Materials and green Manufacturing at Yantai Yantai264000 China

High sensitivity, high natural frequency, and high overload capability are desired for accelerometers used in industrial applications, but simultaneously enhancing all is challenging. Here, via designing novel heavily-doped fillet structures, we prove the sensitivity, resonant frequency, and overload capability can be simultaneously enhanced. The enhancements are attributed to regulations of stress concentration and effective sensing regions by the heavily-doped fillets. The sensors with and without fillets are designed, fabricated, packaged, and tested. The results show a sensitivity of 0.31±0.02 mV/g@5V, a natural frequency of 37.87±2.09 kHz, and an overload of 10040.17±531.76 g for sensors with 10-μm fillets, which are superior to 0.27±0.01 mV/g@5V, 34.13±0.90 kHz, and 7368.55±843.92 g for those no-fillet counterparts. Additionally, the developed sensor further exhibited feasibility in air-bearing vibration monitoring. The proposed design is envisioned to give insights into the novel designs of high-performance stress-based sensors, including accelerometers, pressure sensors, and strain gauges. © 2001-2012 IEEE.

关键词： Strain gages

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Light-EvoOPT: A Lightweight Evolutionary Optimization Framework for Ultra-Large-Scale Mixed Integer Linear Programs

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IEEE Transactions on Evolutionary Computation 2025年

作者： Ye, Huigen Xu, Hua Coello, Carlos A. Coello Tsinghua University State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Beijing100084 China Department of Computer Science D.F México07300 Mexico Tecnologico de Monterrey Faculty of Excellence The School of Engineering and Sciences N.L Monterrey Mexico

Machine Learning (ML)-based optimization frameworks emerge as a promising technique for solving large-scale Mixed Integer Linear Programs (MILPs), as they can capture the mapping between problem structures and optimal solutions to expedite their solution process. However, existing solution frameworks often suffer from high model computation costs, incomplete problem reduction, and reliance on large-scale solvers, leading to performance bottlenecks in ultra-large-scale problems with complex constraints. To address these issues, this paper proposes Light-EvoOPT, a Lightweight Evolutionary Optimization Framework for Ultra-Large-Scale Mixed Integer Linear Programs, which can be divided into four stages: (1) Problem Formulation for problem division to reduce model computational costs, (2) Model-based Initial Solution Prediction for predicting and constructing the initial solution using a small-scale training dataset, (3) Problem Reduction for both variable and constraint reduction, and (4) Evolutionary Optimization for current solution improvement employing a lightweight optimizer. Experiments on four benchmark datasets with tens of millions of variables and constraints and a real-world problem show that the proposed framework based on the sole use of a lightweight optimizer, trained on only one-thousandth of the scale of ultra-large-scale problems, is able to outperform state-of-the-art ML-based frameworks and advanced solvers (e.g. Gurobi) within a specified computational time, validating the feasibility and effectiveness of our proposed ML-based evolutionary optimization framework for ultra-large-scale MILPs. © 2025 IEEE. All rights reserved.

关键词： Mixed-integer linear programming

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Bridging VLM and KMP: Enabling Fine-grained robotic manipulation via Semantic keypoints Representation

arXiv

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arXiv 2025年

作者： Zhu, Junjie Liu, Huayu Wang, Jin Wen, Bangrong Huang, Kaixiang Li, Xiaofei Zhang, Haiyun Lu, Guodong The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310058 China Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems Zhejiang University Hangzhou310058 China School of Robotics Ningbo University of Technology Ningbo315211 China Robotics Research Center of Yuyao City Ningbo315400 China

From early Movement Primitive (MP) techniques to modern Vision-Language Models (VLMs), autonomous manipulation has remained a pivotal topic in robotics. As two extremes, VLM-based methods emphasize zero-shot and adaptive manipulation but struggle with fine-grained planning. In contrast, MP-based approaches excel in precise trajectory generalization but lack decision-making ability. To leverage the strengths of the two frameworks, we propose VL-MP, which integrates VLM with Kernelized Movement Primitives (KMP) via a low-distortion decision information transfer bridge, enabling fine-grained robotic manipulation under ambiguous situations. One key of VL-MP is the accurate representation of task decision parameters through semantic keypoints constraints, leading to more precise task parameter generation. Additionally, we introduce a local trajectory feature-enhanced KMP to support VL-MP, thereby achieving shape preservation for complex trajectories. Extensive experiments conducted in complex real-world environments validate the effectiveness of VL-MP for adaptive and fine-grained manipulation. Copyright © 2025, The Authors. All rights reserved.

关键词： Semantics

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Towards Label-Efficient Deep Learning-based Aging-related Bug Prediction with Spiking Convolutional Neural Networks

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IEEE Transactions on Emerging Topics in Computing 2025年

作者： Tian, Yunzhe Li, Yike Chen, Kang Zhang, Zhenguo Tong, Endong Liu, Jiqiang Qin, Fangyun Zheng, Zheng Niu, Wenjia Hebei Boshilin Technology Development Co. Ltd. Shijiazhuang050051 China Beijing Jiaotong University Beijing Key Laboratory of Security and Privacy in Intelligent Transportation Beijing100044 China Tangshan Research Institute of Beijing Jiaotong University Tangshan063000 China Capital Normal University College of Information Engineering Beijing100048 China Nanjing University State Key Laboratory for Novel Software Technology Nanjing210093 China Beihang University Laboratory of Dependable Intelligent Systems School of Automation Science and Electrical Engineering Beijing100191 China

Recent advances in Deep Learning (DL) have enhanced Aging-Related Bug (ARB) prediction for mitigating software aging. However, DL-based ARB prediction models face a dual challenge: overcoming overfitting to enhance generalization and managing the high labeling costs associated with extensive data requirements. To address the first issue, we utilize the sparse and binary nature of spiking communication in Spiking Neural Networks (SNNs), which inherently provides brain-inspired regularization to effectively alleviate overfitting. Therefore, we propose a Spiking Convolutional Neural Network (SCNN)-based ARB prediction model along with a training framework that handles the model's spatial-temporal dynamics and non-differentiable nature. To reduce labeling costs, we introduce a Bio-inspired and Diversity-aware Active Learning framework (BiDAL), which prioritizes highly informative and diverse samples, enabling more efficient usage of the limited labeling budget. This framework incorporates bio-inspired uncertainty to enhance informativeness measurement along with using a diversity-aware selection strategy based on clustering to prevent redundant labeling. Experiments on three ARB datasets show that ARB-SCNN effectively reduces overfitting, improving generalization performance by 6.65% over other DL-based classifiers. Additionally, BiDAL boosts label efficiency for ARB-SCNN training, outperforming four state-of-the-art active learning methods by 4.77% within limited labeling budgets. © 2013 IEEE.

关键词： Active learning

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Robust Nonnegative Matrix Factorization With Self-Initiated Multigraph Contrastive Fusion

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IEEE Transactions on Neural Networks and Learning systems 2025年第5期36卷 8787-8801页

作者： Li, Songtao Wu, Shiqian Tang, Chang Zhang, Junchi Wei, Zushuai Jianghan University State Key Laboratory of Precision Blasting School of Artificial Intelligence Wuhan430080 China Wuhan University of Science and Technology Institute of Robotics and Intelligent Systems School of Information Science and Engineering Wuhan430081 China China University of Geosciences School of Computer Science Wuhan430074 China

Graph regularized nonnegative matrix factorization (GNMF) has been widely used in data representation due to its excellent dimensionality reduction. When it comes to clustering polluted data, GNMF inevitably learns inaccurate representations, leading to models that are unusually sensitive to outliers in the data. For example, in a face dataset, obscured by items such as a mask or glasses, there is a high probability that the graph regularization term incorrectly describes the association relationship for that sample, resulting in an incorrect elicitation in the matrix factorization process. In this article, a novel self-initiated unsupervised subspace learning method named robust nonnegative matrix factorization with self-initiated multigraph contrastive fusion (RNMF-SMGF) is proposed. RNMF-SMGF is capable of creating samples with different angles and learning different graph structures based on these different angles in a self-initiated method without changing the original data. In the process of subspace learning guided by graph regularization, these different graph structures are fused into a more accurate graph structure, along with entropy regularization, L2,12 -norm constraints to facilitate the robust learning of the proposed model and the formation of different clusters in the low-dimensional space. To demonstrate the effectiveness of the proposed model in robust clustering, we have conducted extensive experiments on several benchmark datasets and demonstrated the effectiveness of the proposed method. © 2012 IEEE.

关键词： Non-negative matrix factorization

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Joint Design of Radar Receive Filter and Unimodular ISAC Waveform with Sidelobe Level Control

arXiv

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arXiv 2025年

作者： Zhang, Kecheng Liu, Ya-Feng Wang, Zhongbin Yuan, Weijie Keskin, Musa Furkan Wymeersch, Henk Xia, Shuqiang School of System Design and Intelligent Manufacturing The Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China State Key Laboratory of Scientific and Engineering Computing Institute of Computational Mathematics and Scientific/Engineering Computing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical Engineering Chalmers University of Technology Gothenburg41296 Sweden ZTE Corporation The State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518055 China

Integrated sensing and communication (ISAC) has been considered a key feature of next-generation wireless networks. This paper investigates the joint design of the radar receive filter and dual-functional transmit waveform for the multiple-input multiple-output (MIMO) ISAC system. While optimizing the mean square error (MSE) of the radar receive spatial response and maximizing the achievable rate at the communication receiver, besides the constraints of full-power radar receiving filter and unimodular transmit sequence, we control the maximum range sidelobe level, which is often overlooked in existing ISAC waveform design literature, for better radar imaging performance. To solve the formulated optimization problem with convex and nonconvex constraints, we propose an inexact augmented Lagrangian method (ALM) algorithm. For each subproblem in the proposed inexact ALM algorithm, we custom-design a block successive upper-bound minimization (BSUM) scheme with closed-form solutions for all blocks of variable to enhance the computational efficiency. Convergence analysis shows that the proposed algorithm is guaranteed to provide a stationary and feasible solution. Extensive simulations are performed to investigate the impact of different system parameters on communication and radar imaging performance. Comparison with the existing works shows the superiority of the proposed algorithm. © 2025, CC BY-NC-SA.

关键词： Mean square error

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Text2Scenario: Text-Driven Scenario Generation for Autonomous Driving Test

arXiv

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arXiv 2025年

作者： Cai, Xuan Bai, Xuesong Cui, Zhiyong Xie, Danmu Fu, Daocheng Yu, Haiyang Ren, Yilong State Key Laboratory of Intelligent Transportation Systems School of Transportation Science and Technology Beihang University Beijing Beijing100191 China Zhongguancun Laboratory Beijing Beijing100191 China Key Laboratory of Transport Industry of Comprehensive Transportation Theory Nanjing Modern Multimodal Transportation Laboratory Ministry of Transport Jiangsu Province Nanjing210000 China Shanghai Artificial Intelligence Laboratory Shanghai Shanghai200232 China

Autonomous driving (AD) testing constitutes a critical methodology for assessing performance benchmarks prior to product deployment. The creation of segmented scenarios within a simulated environment is acknowledged as a robust and effective strategy;however, the process of tailoring these scenarios often necessitates laborious and time-consuming manual efforts, thereby hindering the development and implementation of AD technologies. In response to this challenge, we introduce Text2Scenario, a framework that leverages a Large Language Model (LLM) to autonomously generate simulation test scenarios that closely align with user specifications, derived from their natural language inputs. Specifically, an LLM, equipped with a meticulously engineered input prompt scheme functions as a text parser for test scenario descriptions, extracting from a hierarchically organized scenario repository the components that most accurately reflect the user’s preferences. Subsequently, by exploiting the precedence of scenario components, the process involves sequentially matching and linking scenario representations within a Domain Specific Language corpus, ultimately fabricating executable test scenarios. The experimental results demonstrate that such prompt engineering can meticulously extract the nuanced details of scenario elements embedded within various descriptive formats, with the majority of generated scenarios aligning closely with the user’s initial expectations, allowing for the efficient and precise evaluation of diverse AD stacks void of the labor-intensive need for manual scenario configuration. Project page: https://***/***/. © 2025, CC BY-SA.

关键词： Digital elevation model

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Towards Depth-continuous Scene Representation with Displacement Field for Robust Light Field Depth Estimation

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IEEE Transactions on Multimedia 2025年

作者： Chen, Rongshan Sheng, Hao Yang, Da Cong, Ruixuan Cui, Zhenglong Wang, Sizhe Wang, Tun Zhao, Mingyuan Beihang University State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and Engineering Beijing100191 China Beihang University Key Laboratory of Data Science and Intelligent Computing International Innovation Institute 166 Shuanghongqiao Street Pingyao Town Yuhang District Hangzhou31 1115 China Macao Polytechnic University Faculty of Applied Sciences Macao999078 China

The light field (LF) captures both the spatial and angular information of scenes, enabling accurate depth estimation. However, previous deep learning methods typically model surface depth only while ignoring the continuous nature of depth in 3D scenes. In this paper, we use the displacement field (DF) to describe this continuous property, and propose a novel depth-continuous scene representation for robust LF depth estimation. Experiments demonstrate that our representation enables the network to generate highly detailed depth maps with fewer parameters and faster speeds. Specifically, inspired by the signed distance field in 3D object descriptions, we aim to exploit the intrinsic depth-continuous property of 3D scenes via DF and define a novel depth-continuous scene representation. Then, we introduce a simple, yet general, learning framework for depth-continuous scene embedding, and the proposed network, DepthDF, achieves state-of-the-art performance on both synthetic and real-world LF datasets, ranking 1st on the HCI 4D light field benchmark. Furthermore, previous LF depth estimation methods can also be seamlessly integrated into this framework. Finally, we extend this framework beyond LF depth estimation to various tasks, including multiview stereo depth inference, LF superresolution, and LF salient object detection. Our experiments demonstrate an improved performance when continuous scene representation is applied, suggesting that our framework can potentially provide insights for more fields. © 1999-2012 IEEE.

关键词： Stereo image processing

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