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Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation

IEEE Transactions on Pattern Analysis and Machine Intelligence 2025年第7期47卷 5520-5537页

作者： Jian Liu Wei Sun Hui Yang Pengchao Deng Chongpei Liu Nicu Sebe Hossein Rahmani Ajmal Mian National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering School of Robotics and the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an China Department of Information Engineering and Computer Science University of Trento Trento Italy School of Computing and Communications Lancaster University Lancaster U.K. Department of Computer Science The University of Western Australia Crawley WA Australia

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization to intra-class unknown objects. However, these methods require manual collection and labeling of large-scale real-world training data. To address this problem, we introduce a diffusion-based paradigm for domain-generalized category-level 9-DoF object pose estimation. Our motivation is to leverage the latent generalization ability of the diffusion model to address the domain generalization challenge in object pose estimation. This entails training the model exclusively on rendered synthetic data to achieve generalization to real-world scenes. We propose an effective diffusion model to redefine 9-DoF object pose estimation from a generative perspective. Our model does not require any 3D shape priors during training or inference. By employing the Denoising Diffusion Implicit Model, we demonstrate that the reverse diffusion process can be executed in as few as 3 steps, achieving near real-time performance. Finally, we design a robotic grasping system comprising both hardware and software components. Through comprehensive experiments on two benchmark datasets and the real-world robotic system, we show that our method achieves state-of-the-art domain generalization performance.

关键词： Shape Solid modeling Three-dimensional displays Pose estimation Training Robots Grasping Diffusion models Real-time systems Point cloud compression

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EZAC: Encrypted Zero-day Applications Classification using CNN and K-Means

EZAC: Encrypted Zero-day Applications Classification using C...

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International Conference on Computer Supported Cooperative Work in Design

作者： Yan Li Yifei Lu Shuren Li School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing China State Key Lab of Mathematical Engineering and Advanced Computing Wuxi China

ISBN: (纸本)9781728165974;9781728165981

With the rapid development of traffic encryption technology and the continuous emergence of various network services, the classification of encrypted zero-day applications has become a major challenge in network supervision. More seriously, many attackers will utilize zero-day applications to hide their attack behaviors and make attack undetectable. However, there are very few existing studies on zero-day applications. Existing works usually select and label zero-day applications from unlabeled datasets, and these are not true zero-day applications classification. To address the classification of zero-day applications, this paper proposes an Encrypted Zero-day Applications Classification (EZAC) method that combines Convolutional Neural Network (CNN) and K-Means, which can effectively classify zero-day applications. We first use CNN to classify the flows, and for the flows that may be zero-day applications, we use K-Means to divide them into several categories, which are then manually labeled. Experimental results show that the EZAC achieves 97.4% accuracy on a public dataset (CIC-Darknet2020), which outperforms the state-of-the-art methods.

关键词： Conferences Collaborative work Encryption Convolutional neural networks

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Empirical investigation of stochastic local search for maximum satisfiability

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Frontiers of Computer Science 2019年第1期13卷 86-98页

作者： Yi CHU Chuan LUO Shaowei CAI Haihang YOU State Key Laboratory of Computer Architecture Institute of Computing TechnologyChinese Academy of Sciences Beijing 100190China University of Chinese Academy of Sciences Beijing 100049China State Key Laboratory of Mathematical Engineering and Advanced Computing Wuxi 214125China State Key Laboratory of Computer Science Institute of SoftwareChinese Academy of SciencesBeijing 100190China

The maximum satisfiability (MAX-SAT)problem is an important NP-hard problem in theory,and has a broad range of applications in *** local search (SLS)is becoming an increasingly popular method for solving ***,a powerful SLS algorithm called CCLS shows efficiency on solving random and crafted MAX-SAT ***,the performance of CCLS on solving industrial MAX-SAT instances lags far *** this paper,we focus on experimentally analyzing the performance of SLS algorithms for solving industrial MAXSAT ***,we conduct experiments to analyze why CCLS performs poor on industrial *** we propose a new strategy called additive BMS (Best from Multiple Selections)to ease the serious *** integrating CCLS and additive BMS,we develop a new SLS algorithm for MAXSAT called CCABMS,and related experiments indicate the efficiency of ***,we experimentally analyze the effectiveness of initialization methods on SLS algorithms for MAX-SAT,and combine an effective initialization method with CCABMS,resulting in an enhanced *** results show that our enhanced algorithm performs better than its state-of-the-art SLS competitors on a large number of industrial MAX-SAT instances.

关键词： empirical investigation stochastic local search maximum satisfiability industrial instances additive BMS

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H ∞ Asynchronous Control for Discrete-Time Semi-Markov Jump Systems

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IFAC-PapersOnLine 2022年第3期55卷 143-148页

作者： Liqiang Jin Yanyan Yin Yanqing Liu Kok Lay Teo Fei Liu National Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University Wuxi 214122 China School of Electrical Engineering Computing and Mathematical Sciences Curtin University Perth Western Australia 6102 Australia School of Mathematical Sciences Sunway University Kuala Lumpur 47500 Malaysia Tianjin University of Finance and Economics Tianjin China

This paper investigates the problem of H ∞ asynchronous control for discrete-time semi-Markov jump systems. In practice, it is difficult to ensure that controller modes and system modes are updated synchronously. Therefore, a hidden semi-Markov model is introduced to characterize such an asynchronous phenomenon between system modes and controller modes. Meanwhile, the switching signal of the controller is generated by a given conditional probability related to the system mode. Based on the mode-dependent and elapsed-time-dependent Lyapunov function, together with the semi-Markov kernel (SMK) method, sufficient conditions constructed by linear matrix inequalities (LMIs) are derived to ensure the existence of an asynchronous controller such that the resulting system is σ-error mean square stable and satisfies an H ∞ performance index. Finally, a numerical example is given to illustrate the effectiveness and feasibility of the method proposed.

关键词： Asynchronous control semi-Markov jump systems hidden semi-Markov model semi-Markov kernel (SMK) σ-error mean square stable

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Structural engineering of sulfur-doped carbon encapsulated bismuth sulfide core-shell structure for enhanced potassium storage performance

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Nano Research 2021年第10期14卷 3545-3551页

作者： Changlai Wang Jian Lu Huigang Tong Shuilin Wu Dongdong Wang Bin Liu Ling Cheng Zhiyu Lin Lin Hu Hui Wang Wenjun Zhang Qianwang Chen Department of Materials Science and Engineering Center of Super-Diamond and Advanced FilmsCity University of Hong KongKowloonHong Kong 999077China Hefei National Laboratory for Physical Science at Microscale Department of Materials Science and EngineeringUniversity of Science and Technology of ChinaHefei 230026China The Anhui High Magnetic Field Laboratory Hefei Institutes of Physical ScienceChinese Academy of SciencesHefei 230031China Division of Chemistry and Biological Chemistry School of Physical and Mathematical SciencesNanyang Technological University21 Nanyang LinkSingapore 637371Singapore State Key Laboratory of Chemical Resource Engineering Beijing University of Chemical TechnologyBeijing 100029China

Owing to the high theoretical capacity,metal sulfides have emerged as promising anode materials for potassium-ion batteries(PIBs).However,sluggish kinetics,drastic volume expansion,and polysulfide dissolution during charge/discharge result in unsatisfactory electrochemical ***,we design a core-shell structure consisting of an active bismuth sulfide core and a highly conductive sulfur-doped carbon shell(Bi2S3@SC)as a novel anode material for *** from its unique core-shell structure,this Bi2S3@SC is endowed with outstanding potassium storage performance with high specific capacity(626 mAh·g^(-1)under 50 mA·g^(-1))and excellent rate capability(268.9 mAh·g^(-1)at 1 A·g^(-1)).More importantly,a Bi2S3@SC//KFe[Fe(CN)6]full cell is successfully fabricated,which achieves a high reversible capacity of 257 mAh·g^(-1)at 50 mA·g^(-1)over 50 cycles,holding great potentials in practical *** functional theory(DFT)calculations reveal that potassium ions have a low diffusion barrier of 0.54 eV in Bi2S3 due to the weak van der Waals interactions between *** work heralds a promising strategy in the structural design of high-performance anode materials for PIBs.

关键词： structural engineering potassium-ion batteries core-shell structure diffusion barrier full cell

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Preface-Special Issue on mathematical Optimization:Past,Present and Future

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Journal of the Operations Research Society of China 2020年第2期8卷 197-198页

作者： Zai-Wen Wen Ya-Xiang Yuan Beijing International Center for Mathematical Research Peking UniversityBeijing 100871China State Key Laboratory of Scientific and Engineering Computing Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China

mathematical optimization is one of the foundations of fields such as operations research,computational mathematics,scientific and engineering computing,machine learning,and data *** tasks usually include formulating appropriate mathematical models to describe related practical problems,designing suitable numerical methods to find optimal solutions,and exploring the theoretical properties of the models and *** evolution of modern computer architecture and the popularity of big/complex/smart data had a significant impact on mathematical *** success of large-scale optimization in machine learning and signal processing certainly provides a very exciting paradigm on“Modeling+algorithms+computing power”.

关键词： optimization. mathematical optimization

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An Inexact Preconditioned Zeroth-order Proximal Method for Composite Optimization

arXiv

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arXiv 2024年

作者： Liu, Shanglin Wang, Lei Xiao, Nachuan Liu, Xin State Key Laboratory of Scientific and Engineering Computing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing101408 China Department of Statistics Pennsylvania State University University Park16802 United States Institute of Operational Research and Analytics National University of Singapore Singapore117597 Singapore

In this paper, we consider the composite optimization problem, where the objective function integrates a continuously differentiable loss function with a nonsmooth regularization term. Moreover, only the function values for the differentiable part of the objective function are available. To efficiently solve this composite optimization problem, we propose a preconditioned zeroth-order proximal gradient method in which the gradients and preconditioners are estimated by finite-difference schemes based on the function values at the same trial points. We establish the global convergence and worst-case complexity for our proposed method. Numerical experiments exhibit the superiority of our developed method. Copyright © 2024, The Authors. All rights reserved.

关键词： Gradient methods

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The Behavior of Pressure Water and Capillary Water Transport in Cement Mortar and the Accompanying Morphological Changes of C-S-H Gels Measured by 1h Nmr

SSRN

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SSRN 2023年

作者： Chen, Qing Wang, Yonggang Chen, Gege Guan, Xiaofei Jiang, Zhengwu Zhu, Hehua Key Laboratory of Advanced Civil Engineering Materials The Ministry of Education School of Materials Science and Engineering Tongji University Shanghai201804 China State Key Laboratory for Disaster Reduction in Civil Engineering Tongji University Shanghai200092 China College of Civil Engineering and Architecture Guangxi University Guangxi Nanning530004 China Ministry of Education Shenzhen University Shenzhen518060 China School of mathematical sciences Tongji University Shanghai200092 China

The durability of cementitious materials is significantly influenced by water transport behavior. Based on 1H nuclear magnetic resonance (1H NMR) technology, a water penetration system for cement mortar was designed, with which the evolutions of the resistance and the water distribution in different length-scale pores of the hardened mortars are tested during the water transport process. The findings demonstrated that in all types of pores, the capillary water content varied non-linearly with time, the water absorption rate decreased with increasing specimen saturation, while the pressure water content varied linearly with time and the moisture transport rate was little changed within a certain range. Pressure water promoted water transport in the coarser pores, thus increasing the total water transport content. The capillary and pressure water transport process was not merely a process of filling fine pores first and then coarse pores but was accompanied by the deformation of the C-S-H gel. Swelling of C-S-H gels occurs between 0 and 80% of the pressure water transfer content;when the water content exceeded 80%, the pressure water causes C-S-H shrinkage deformation. © 2023, The Authors. All rights reserved.

关键词： Nuclear magnetic resonance

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Creation of Magnetic Skyrmions in Two-Dimensional Van Der Waals Ferromagnets by Lattice Distortion

SSRN

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SSRN 2025年

作者： Zhang, Tingjia Yang, Chendi Lv, Xiaowei Zhao, Tuoyu Shi, Wu Li, Wei Liang, Jia Che, Renchao School of Materials and Chemistry University of Shanghai for Science and Technology Shanghai200093 China Laboratory of Advanced Materials Shanghai Key Lab of Molecular Catalysis and Innovative Materials Academy for Engineering and Technology Advanced Coatings Research Center of Ministry of Education of China Fudan University Shanghai200438 China State Key Laboratory of Surface Physics Institute for Nanoelectronic Devices and Quantum Computing Fudan University Shanghai200433 China Zhangjiang Fudan International Innovation Center Fudan University Shanghai201210 China Department of Physics Fudan University Shanghai200433 China Department of Materials Science State Key Laboratory of Photovoltaic Science and Technology Fudan University Shanghai200433 China

Two-dimensional (2D) van der Waals (vdW) ferromagnets provide an excellent platform for exploring exotic physical phenomena such as magnetic skyrmions and quantum topological phases. However, the centrosymmetric crystal structure inherent in these 2D vdW ferromagnets theoretically precludes the formation of magnetic skyrmions and topological phases. In this study, we investigate the origin of the absence of magnetic skyrmions in 2D vdW ferromagnets and propose an effective strategy to induce lattice distortion through doping, thereby enabling the formation of magnetic skyrmions. Specifically, we demonstrate that Co doping in Fe3GeTe2 leads to significant lattice distortion, transforming the original centrosymmetric crystal structure into a non-centrosymmetric one. This structural modification enables the emergence of a considerable Dzyaloshinskii-Moriya interaction (DMI), giving rise to Néel-type skyrmions. Additionally, the scalar spin chirality of these magnetic skyrmions acts as a virtual magnetic field, thereby inducing the topological Hall effect (THE) in Co-doped Fe3GeTe2. Our findings present a reliable method to manipulate spin textures and induce the THE in 2D vdW ferromagnets with non-zero DMI through lattice distortion, offering a promising route for the development of vdW ferromagnet-based spintronic devices. © 2025, The Authors. All rights reserved.

关键词： Van der Waals forces

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An efficient matrix multiplication with enhanced privacy protection in cloud computing and its applications

arXiv

引用

arXiv 2021年

作者： Liu, Chun Hu, Xuexian Chen, Xiaofeng Wei, Jianghong Liu, Wenfen State Key Laboratory of Mathematical Engineering and Advanced Computing PLA Strategic Support Force Information Engineering University Zhengzhou450001 China Xidian University China State Key Laboratory of Cryptology P.O. Box 5159 Beijing100878 China Xidian University China and State Key Laboratory of Mathematical Engineering and Advanced Computing PLA Strategic Support Force Information Engineering University Zhengzhou450001 China Guangxi Key Laboratory of Cryptogpraphy and Information Security School of Computer Science and Information Security Guilin University of Electronic Technology Guilin541004 China

As one of the most important basic operations, matrix multiplication computation (MMC) has varieties of applications in the scientific and engineering community such as linear regression, k-nearest neighbor classification and biometric identification. However handling these tasks with large-scale datasets will lead to huge computation beyond resource-constrained client’s computation power. With the rapid development of cloud computing, outsourcing intensive tasks to cloud server has become a promising method. While the cloud server is generally out of the control of clients, there are still many challenges concerned with the privacy security of clients’ sensitive data. Motivated by this, Lei et al. presented an efficient encryption scheme based on random permutation to protect the privacy of client’s data in outsourcing MMC task. Nevertheless, there exists inherent security flaws in their scheme, revealing the statistic information of zero elements in the original data thus not satisfying the computational indistinguishability (IND-ZEA). Aiming to enhance the security of the outsourcing MMC task, we propose a new encryption scheme based on subtly designed invertible matrix where the additive perturbation is introduced besides the multiplicative perturbation. Furthermore, we show that the proposed encryption scheme can be applied to not only MMC task but also other kinds of outsourced tasks such as linear regression and principal component analysis. Theoretical analyses and experiments indicate that our methods are more secure in terms of data privacy, with comparable performance to the state-of-the-art scheme based on matrix transformation. Copyright © 2021, The Authors. All rights reserved.

关键词： Principal component analysis

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