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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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Position-aware pushing and grasping synergy with deep reinforcement learning in clutter

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CAAI Transactions on Intelligence technology 2024年第3期9卷 738-755页

作者： Min Zhao Guoyu Zuo Shuangyue Yu Daoxiong Gong Zihao Wang Ouattara Sie Intelligent Robotics Laboratory Faculty of Information TechnologyBeijing University of TechnologyBeijingChina Beijing Key Laboratory of Computational Intelligence and Intelligent Systems BeijingChina Laboratory of Biomechatronics and Intelligent Robotics(BIRO) Department of Mechanical and Aerospace EngineeringNorth Carolina State UniversityRaleighNorth CarolinaUSA

The positional information of objects is crucial to enable robots to perform grasping and pushing manipulations in *** effectively perform grasping and pushing manipu-lations,robots need to perceive the position information of objects,including the co-ordinates and spatial relationship between objects(e.g.,proximity,adjacency).The authors propose an end-to-end position-aware deep Q-learning framework to achieve efficient collaborative pushing and grasping in ***,a pair of conjugate pushing and grasping attention modules are proposed to capture the position information of objects and generate high-quality affordance maps of operating positions with features of pushing and grasping *** addition,the authors propose an object isolation metric and clutter metric based on instance segmentation to measure the spatial re-lationships between objects in cluttered *** further enhance the perception capacity of position information of the objects,the authors associate the change in the object isolation metric and clutter metric in cluttered environment before and after performing the action with reward function.A series of experiments are carried out in simulation and real-world which indicate that the method improves sample efficiency,task completion rate,grasping success rate and action efficiency compared to state-of-the-art end-to-end *** that the authors’system can be robustly applied to real-world use and extended to novel *** material is available at https://***/NhG\_k5v3NnM}{https://***/NhG\_k5v3NnM.

关键词： deep learning deep neural networks intelligent robots

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Domain Knowledge Used in Meta-Heuristic Algorithms for the Job-Shop Scheduling Problem:Review and Analysis

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Tsinghua science and technology 2024年第5期29卷 1368-1389页

作者： Lin Gui Xinyu Li Qingfu Zhang Liang Gao State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China Department of Computer Science City University of Hong KongHong KongChina

Meta-heuristic algorithms search the problem solution space to obtain a satisfactory solution within a reasonable *** combining domain knowledge of the specific optimization problem,the search efficiency and quality of meta-heuristic algorithms can be significantly improved,making it crucial to identify and summarize domain knowledge within the *** this paper,we summarize and analyze domain knowledge that can be applied to meta-heuristic algorithms in the job-shop scheduling problem(JSP).Firstly,this paper delves into the importance of domain knowledge in optimization algorithm *** that,the development of different methods for the JSP are reviewed,and the domain knowledge in it for meta-heuristic algorithms is summarized and *** of this domain knowledge are analyzed,showing it is indispensable in ensuring the optimization performance of meta-heuristic ***,this paper analyzes the relationship among domain knowledge,optimization problems,and optimization algorithms,and points out the shortcomings of the existing research and puts forward research *** paper comprehensively summarizes the domain knowledge in the JSP,and discusses the relationship between the optimization problems,optimization algorithms and domain knowledge,which provides a research direction for the metaheuristic algorithm design for solving the JSP in the future.

关键词： domain knowledge job-shop scheduling problem meta-heuristic algorithm

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Learnable Flow Model Conditioned on Graph Representation Memory for Anomaly Detection 48

Learnable Flow Model Conditioned on Graph Representation Mem...

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48th IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2023

作者： Zhu, Ziyu Liu, Wenlei Deng, Zhidong Tsinghua University Department of Computer Science and Technology Beijing100084 China State Key Laboratory of Intelligent Technology and Systems China

ISBN: (纸本)9781728163277

Anomaly detection could be applied in a wide range of fields from industrial scene to medical imaging analysis. Although invertible flow models are developed to accomplish unsupervised anomaly detection, they are usually hard to train and have limited capabilities of accurately modeling the distribution of normal samples. To address this problem, we propose a novel enhanced flow model conditioned on graph representation memory (FlowGRM) for visual surface defect detection. In our FlowGRM, a graph neural network is trained to query graph embedding features from memory bank and incorporate them into a learnable flow model as conditional information. Such memorized conditional information, together with the invertible flow model, is jointly optimized to give rise to a probability density score. Experimental results obtained on the industrial visual anomaly detection datasets including MVTec and MTD show that the proposed model has state-of-the-art performance, which could even reach up to 99.6% and 99.2% AUROC scores on the above two bench-marks, respectively. Meanwhile, it requires fewer parameters and saves over 80% training time compared to existing flow models. © 2023 IEEE.

关键词： Anomaly detection

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Enhanced VR Experience with Edge Computing: The Impact of Decoding Latency

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IEEE Transactions on Mobile Computing 2025年第7期24卷 6275-6292页

作者： Huang, Liang Li, Yuqi Liang, Hongyuan Chi, Kaikai Wu, Yuan Zhejiang University of Technology School of Computer Science and Technology China University of Macau State Key Laboratory of Internet of Things for Smart City Department of Computer and Information Science Macau China

Virtual reality (VR) applications have revolutionized digital interaction by providing immersive experiences.360° VR video streaming has experienced significant growth and popularity as a pivotal VR application. However, the combination of limited network bandwidth and the demand for high-quality videos frequently hinders the achievement of a satisfactory quality of experience (QoE). Although prior methods have enhanced QoE, the effects of decoding latency have been poorly studied. It is technically challenging to design a quality adaptation algorithm that can balance the pursuit of high-quality videos and the limitation of limited bandwidth resources. To address this challenge, we propose an edge-end architecture for 360° VR video streaming and aim to enhance overall QoE by solving a performance optimization problem. Specifically, our experiments on commercial mobile devices in real-world situations reveal that decoding latency significantly influences QoE. First, decoding latency plays a major role in contributing to end-to-end latency, which exceeds the transmission latency. Second, decoding latency can differ considerably between devices with varying computational capabilities. Building on this insight, we propose a novel latency-aware quality adaptation (LAQA) algorithm. LAQA lies in developing a solution that can allocate video quality in real-time and enhance overall QoE. LAQA involves not only the quality of the received content, the transmission latency and the quality variance, but also the decoding latency and the fairness of the user quality. Subsequently, we formulate a combinatorial optimization problem to maximize overall QoE. Through extensive validation with experimental data from real-world situations, LAQA offers a promising approach to enhance QoE and ensure fairness performance in different devices. In particular, LAQA achieves 16.77% and 10.66% enhancement over the state-of-the-art combinatorial optimization and reinforcement learning algorithm

关键词： Bandwidth

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Data-driven electrical resistance tomography for robotic large-area tactile sensing

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science China(Information sciences) 2024年第9期67卷 336-337页

作者： Wendong ZHENG Huaping LIU Xiaofeng LIU Fuchun SUN School of Electrical Engineering and Automation Tianjin University of Technology Department of Computer Science and Technology Tsinghua University Key Laboratory of Maritime Intelligent Cyberspace Technology (Hohai University) Ministry of Education

Tactile sensing plays a crucial role in enabling robots to safely interact with objects in dynamic environments [1].Given that potential physical contact can occur at any location during robot interaction, there is a ... 详细信息

关键词： Robot applications

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Time-Varying Formation Tracking Control of Heterogeneous Multi-Agent systems With Intermittent Communications and Directed Switching Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for Intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous Intelligent Unmanned Systems the Frontiers Science Center for Intelligent Autonomous System of Ministry of Education the College of Electronic and Information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education the School of Information Science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems Control theory Autonomous systems Stability

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QTFN:A General End-to-End Time-Frequency Network to Reveal the Time-Varying Signatures of the Time Series

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Big Data Mining and Analytics 2024年第3期7卷 905-919页

作者： Tao Chen Yang Jiao Lei Xie Hongye Su State Key Laboratory of Industrial Control Technology Zhejiang UniversityHangzhou 310027China Shenzhen Key Laboratory of Intelligent Bioinformatics and College of Computer Science and Control EngineeringShenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China

Nonstationary time series are ubiquitous in almost all natural and engineering *** the time-varying signatures from nonstationary time series is still a challenging problem for data *** Time-Frequency Distribution(TFD)provides a powerful tool to analyze these ***,they suffer from Cross-Term(CT)issues that impair the readability of ***,to achieve high-resolution and CT-free TFDs,an end-to-end architecture termed Quadratic TF-Net(QTFN)is proposed in this *** by classic TFD theory,the design of this deep learning architecture is heuristic,which firstly generates various basis functions through ***,more comprehensive TF features can be extracted by these basis ***,to balance the results of various basis functions adaptively,the Efficient Channel Attention(ECA)block is also embedded into ***,a new structure called Muti-scale Residual Encoder-Decoder(MRED)is also proposed to improve the learning ability of the model by highly integrating the multi-scale learning and encoder-decoder ***,although the model is only trained by synthetic signals,both synthetic and real-world signals are tested to validate the generalization capability and superiority of the proposed QTFN.

关键词： Time-Frequency Analysis(TFA) Multi-scale Residual Encoder-Decoder(MRED) quadratic Time-Frequency Distribution(TFD)

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Faithful geometric measures for genuine tripartite entanglement

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Physical Review A 2024年第1期110卷 L010402-L010402页

作者： Xiaozhen Ge Lijun Liu Yong Wang Yu Xiang Guofeng Zhang Li Li Shuming Cheng Department of Control Science and Engineering Department of Applied Mathematics The Department of Mathematics and Computer Science State Key Laboratory for Mesoscopic Physics School of Physics Frontiers Science Center for Nano-optoelectronics and Collaborative Innovation Center of Quantum Matter Shanghai Institute of Intelligent Science and Technology Institute for Advanced Study

We present a faithful geometric picture for genuine tripartite entanglement of discrete, continuous, and hybrid quantum systems. We first find that the triangle relation Ei|jkα≤Ej|ikα+Ek|ijα holds for all subadditive bipartite entanglement measure E, all permutations under parties i,j,k, all α∈[0,1], and all pure tripartite states. Then, we rigorously prove that the nonobtuse triangle area, enclosed by side Eα with 0<α≤1/2, is a measure for genuine tripartite entanglement. Finally, it is significantly strengthened for qubits that given a set of subadditive and nonsubadditive measures, some state is always found to violate the triangle relation for any α>1, and the triangle area is not a measure for any α>1/2. Our results pave the way to study discrete and continuous multipartite entanglement within a unified framework.

关键词： Entanglement measures Quantum correlations in quantum information Quantum correlations, foundations & formalism Resource theories

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A Memristive Spiking Neural Network Circuit for Bio-Inspired Navigation Based on Spatial Cognitive Mechanisms

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IEEE Transactions on Biomedical Circuits and systems 2025年第3期19卷 686-698页

作者： Chen, Zhanfei Wang, Xiaoping Wang, Zilu Yang, Chao Huang, Tingwen Lai, Jingang Zeng, Zhigang School of Mechanical Engineering and Automation Shenzhen518055 China Huazhong University of Science and Technology The Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Hubei Key Laboratory of Brain-Inspired Intelligent Systems School of Artificial Intelligence and Automation Wuhan430074 China Guangxi University of Science and Technology School of Computer Science and Technology Liuzhou545006 China Shenzhen University of Advanced Technology School of Computer Science and Control Engineering Shenzhen518055 China

Cognitive navigation, a high-level and crucial function for organisms' survival in nature, enables autonomous exploration and navigation within the environment. However, most existing works for bio-inspired navigation are implemented with non-neuromorphic computing. This work proposes a bio-inspired memristive spiking neural network (SNN) circuit for goal-oriented navigation, capable of online decision-making through reward-based learning. The circuit comprises three primary modules. The place cell module encodes the agent's spatial position in real-time through Poisson spiking;the action cell module determines the direction of subsequent movement;and the reward-based learning module provides a bio-inspired learning method adaptive to delayed and sparse rewards. To facilitate practical application, the entire SNN is quantized and deployed on a real memristive hardware platform, achieving about a 21 × reduction in energy consumption compared to a typical digital acceleration system in the forward computing phase. This work offers an implementation idea of neuromorphic solution for robotic navigation application in low-power scenarios. © 2007-2012 IEEE.

关键词： intelligent robots

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