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Autonomous Driving via Brain-Inspired Causality-Aware Contrastive Learning with Time-Frequency Prediction

IEEE Internet of Things Journal 2025年

作者： Wang, Chengyu Wang, Luhan Lu, Zhaoming Wu, Celimuge Shou, Guochu Wen, Xiangming Beijing University of Posts and Telecommunications Beijing Key Laboratory of Network System Architecture and Convergence Beijing Laboratory of Advanced Information Networks Beijing China Meta-Networking Research Center The University of Electro-Communications Tokyo182-8585 Japan

Developing trustworthy reinforcement learning (RL) agents for safety-critical control tasks, such as end-to-end autonomous driving, has been a longstanding challenge due to low sample efficiency. Prior works have attempted to address this challenge by performing self-supervised auxiliary tasks like self-reconstruction or predicting long-term future states. However, there still remain unexplored sequential features and causality relationships inherent in sequential state, action, and reward signals in the frequency domain. To fully exploit the temporal and frequential features, we propose a contrastive RL framework called BRain-Inspired causalitY-Aware coNTrastive learning (BRYANT) to achieve efficient representation learning and human-like autonomous driving. Different from existing temporal predictive methods, we transform the sequential latent representations, reward, and action signals into the frequency domain, followed by the symmetric temporal prediction pattern for real and imaginary parts of the frequential signals. To capture the temporal causality for the latent representations, we introduce a brain-inspired network structure called Closed-form Continuous-time (CfC) network to parameterize the derivative of the latent representations and establish the neural dynamic model. Experimental results conducted in the CARLA simulator demonstrate the effectiveness of BRYANT in efficient representation learning, enabling agents to concentrate on potential risks and decrease the collision rate compared to several state-of-the-art RL methods. Furthermore, through the visualization of the latent representation prediction process, we reveal the causal relationships between the critic Q values and the latent representation vectors in the frequency domain, and demonstrate the effectiveness of the frequency domain prediction. © 2014 IEEE.

关键词： Reinforcement learning

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Towards Expanding Precise Timing for Collaborative Its with Deterministic Communications in 6G

Towards Expanding Precise Timing for Collaborative Its with ...

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IEEE Conference on Wireless Communications and networking

作者： Hongxing Li Haotian Li Qianhan Gao Guochu Shou Yaqiong Liu Zhigang Guo Yihong Hu State Key Laboratory of Networking and Switching Technology School of Computer Science (National Pilot Software Engineering School) Beijing Key Laboratory of Network System Architecture and Convergence School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing China

ISBN: (数字)9798350368369

ISBN: (纸本)9798350368376

The demand for precise timing continues to grow with the rapid development of smart cities, where intelligent transportation emerges as a critical application heavily dependent on accurate time distribution. Deterministic communication is anticipated to be a defining feature of nextgeneration mobile networks (6G), enabling end-to-end timecritical applications, and unlocking new possibilities for achieving end-to-end precise time synchronization as well. To cope with the challenge of delivering precise time synchronization across broader areas at a lower cost, this paper proposes a method to achieve end-to-end precise time synchronization by leveraging the deterministic characteristics of communication networks. Specially, the proposed approach adopts the Software-Defined networking (SDN) paradigm to implement deterministic networking for the seamless integration of Time-Sensitive networking (TSN) and cellular networks. Furthermore, to mitigate the impact of wireless channel uncertainties on synchronization accuracy, we propose a network delay measurement mechanism based on the principle of time redundancy, designed to reduce end-to-end network delay variation. Experimental results validate the effectiveness of the proposed method, demonstrating its capability to constrain the end-to-end relative time error of wired and wireless converged networks to the microsecond scale, without necessitating modifications to the existing network infrastructure.

关键词： 6G mobile communication Wireless communication Cellular networks Uncertainty Accuracy Measurement uncertainty Transportation Delays Synchronization Software defined networking

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A generic service interfacing approach for home networking

A generic service interfacing approach for home networking

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2010 International Conference on Consumer Electronics, ICCE 2010

作者： Chen, Shudong Lukkien, Johan Bosman, Remi Verhoeven, Richard System Architecture and Networking Eindhoven University of Technology Netherlands

ISBN: (纸本)9781424443161

This paper presents a generic service interfacing approach which enables the interoperability of networked devices and the reusability of services. Services are specified through a set of interfaces which are language and deployment platform independent. External service orchestration is applied to separate control from service functionalities which increases the flexibility of achieving applications through service composition. The system is validated through a mapping onto WSDL, dynamically building a 3D video viewing system. ©2010 IEEE.

关键词： WSDL

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Interference of human's ankle to the channel characteristics of near surface WUSN

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The Journal of China Universities of Posts and Telecommunications 2014年第1期21卷 36-42页

作者： LI Li WU Wei CHEN Jian-ya LIU Yun-jie State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications Beijing Key Laboratory of Network System Architecture and Convergence Beijing University of Posts and Telecommunications

Because of its potential applications in agriculture, environment monitoring and so on, wireless underground sensor network（WUSN） has been researched more and more extensively in recent years. The main and most important difference of WUSN to terrestrial wireless sensor network（WSN） is the channel characteristics, which determines the design methodology of it. In this paper, the propagation character of electromagnetic（EM） wave in the near surface WUSN is analyzed, as well as the path loss model of it is given. In addition, the influence of human＇s ankle to the channel characteristics of near surface WUSN is investigated by electromagnetic theory analysis, simulation and experiment. A novel path loss model of near surface WUSN which takes the interference of human＇s ankle into consideration is proposed. It is verified that the existing of human above the WUSN system may cause additional attenuation to the signal of near surface WUSN which propagates as lateral wave along the ground. Moreover, the relation of the attenuation and operating frequency is deduced, which gives a reference to extend the frequency band applied in WUSN.

关键词： WUSN lateral wave human tissue path loss model EM wave attenuation

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Resource scheduling virtualization in service-oriented future Internet architecture

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The Journal of China Universities of Posts and Telecommunications 2015年第4期22卷 92-100页

作者： Li Lan Chen Jianya Cui Hongyan Huang Tao Liu Yunjie State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications Beijing Key Laboratory of Network System Architecture and Convergence Beijing University of Posts and Telecommunications

Service-oriented future internet architecture（SOFIA） is a clean-slate network architecture. In SOFIA, a service request is mainly processed through service resolution and network resource allocation. To realize the network resource allocation, we reference the idea of network virtualization and propose resource scheduling virtualization. In resource scheduling virtualization, a service request is abstracted as a virtual network（VN） and the network resources are allocated by mapping the VN onto the physical network. Resource scheduling virtualization provides centralized resource scheduling control within an autonomous system（AS） and achieves better controllability compared with the distributed schemes. Besides, resource scheduling virtualization supports multi-site selection as well. Meanwhile, we propose a collection of resource scheduling algorithms based on maximum resource tree（MRT） adapting to different scenarios. According to the simulation results, the proposed algorithms show good performance on the key metrics, such as acceptance ratio, revenue, cost and utilization. Moreover, the simulation results reveal that our algorithm is more efficient than the traditional ones.

关键词： SOFIA resource scheduling virtualization virtual network embedding maximum resource tree（MRT）

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Design of in-network caching scheme in CCN based on grey relational analysis

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The Journal of China Universities of Posts and Telecommunications 2014年第2期21卷 1-8页

作者： CUI Xian-dong HUANG Tao LIU Jiang LI Li CHEN Jian-ya LIU Yun-jie State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications Beijing Key Laboratory of Network System Architecture and Convergence Beijing University of Posts and Telecommunications Future Network Industry Innovation Center of China

In-network caching is one of the most important issues in content centric networking （CCN）, which may extremely influence the performance of the caching system. Although much work has been done for in-network caching scheme design in CCN, most of them have not addressed the multiple network attribute parameters jointly during caching algorithm design. Hence, to fill this gap, a new in-network caching based on grey relational analysis （GRA） is proposed. The authors firstly define two newly metric parameters named request influence degree （RID） and cache replacement rate, respectively. The RID indicates the importance of one node along the content delivery path from the view of the interest packets arriving The cache replacement rate is used to denote the caching load of the node. Then combining hops a request traveling from the users and the node traffic, four network attribute parameters are considered during the in-network caching algorithm design. Based on these four network parameters, a GRA based in-network caching algorithm is proposed, which can significantly improve the performance of CCN. Finally, extensive simulation based on ndnSIM is demonstrated that the GRA-based caching scheme can achieve the lower load in the source server and the less average hops than the existing the betweeness （Betw） scheme and the ALWAYS scheme.

关键词： CCN in-network caching request influence degree cache replacement rate grey relational analysis

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Tight worst-case response-time analysis for ethernet AVB using eligible intervals

Tight worst-case response-time analysis for ethernet AVB usi...

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IEEE International Workshop on Factory Communication systems (WFCS)

作者： Jingyue Cao Pieter J. L. Cuijpers Reinder J. Bril Johan J. Lukkien System Architecture and Networking Eindhoven University of Technology

Busy period analysis is often used as a basis for worst-case response time analysis of priority based systems. However, when shaping strategies are used to prevent starvation of lower priorities, it becomes difficult to achieve tightness results using this method. The reason for this is that a busy period is defined as the longest interval in which there exists pending load. It is exclusively based on execution time, and does not take the amount of provided bandwidth into account. As a consequence, it is less suitable for the study of idling systems. In particular, we do not yet have tightness results regarding the analysis of the Ethernet AVB standard, in which credit-based shaping is applied. In this paper, we propose an alternative to the use of busy periods. We show that, by defining an eligible interval in such a way that provisioning is taken into account, tight worst-case response time bounds can more easily be obtained for Ethernet AVB, at least in the case of either lower-or higher-priority interference.

关键词： Bandwidth Standards Interference Switches Schedules Time factors Timing

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Enhancing end-to-end QoS for multimedia streaming in IMS-based networks

Enhancing end-to-end QoS for multimedia streaming in IMS-bas...

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2nd International Conference on systems and Networks Communications, ICSNC 2007

作者： Özçelebi, Tanir Radovanovic, Igor Chaudron, Michel Eindhoven University of Technology Dept. of Mathematics and Computer Science System Architecture and Networking PO. Box 513 5600 MB Eindhoven Netherlands

ISBN: (纸本)9780769529387

Convergence of the emerging IP Multimedia Subsystem (IMS) includes unlicensed, nondedicated and nondeterministic, hence uncontrollable, computer access networks for IP multimedia services. It enables provision of resource demanding real-time services and multimedia communication raising new end-to-end Quality-of-Service (QoS) challenges, for which quality adaptation using resource management is proposed as a solution in this paper. This is an integrated solution taking both IMS and computer access networks into account as well as the two end-devices and the application servers (AS) involved in communication. The best user experience is targeted under real-time variation of available network (e.g. bandwidth, buffer space) and end-device (e.g. battery, CPU, memory, storage) resources throughout a session. The multimedia content is dynamically adapted to fit the resource availability variations, achieving maximum system (i.e. network and end-devices) resource utilization and enhanced QoS. The resource availability update signalling is carried over Session Initiation Protocol (SIP) during the session. This is work in progress. © 2007 IEEE.

关键词： Quality of service

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A generic service interfacing approach for home networking

A generic service interfacing approach for home networking

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IEEE International Conference on Consumer Electronics (ICCE)

作者： Shudong Chen Johan Lukkien Remi Bosman Richard Verhoeven System Architecture and Networking Eindhovan University of Technology Netherlands

ISBN: (纸本)9781424443147

关键词： Mice Ecosystems Paper technology Context-aware services Collaboration Logic Prototypes Consumer electronics Personal digital assistants TV

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Software authentication to enhance trust in Body Sensor Networks

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8th International Workshop on Security and Trust Management, STM 2012

作者： De Groot, Joep Bui, Vinh Linnartz, Jean-Paul Lukkien, Johan Verhoeven, Richard Signal Processing Systems Group Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands System Architecture and Networking Group Mathematics and Computer Science Eindhoven University of Technology Eindhoven Netherlands

ISBN: (纸本)9783642380037

This paper studies an approach to enhance the trust in the widespread use of Body Sensor Networks (BSN) in Healthcare. To address the wide variety in medical indications and differences between patients, we assume that such BSNs are programmable and highly flexible in their functionality. Yet this opens a vulnerability to malicious attacks and intrusion of the patient's privacy. We study the work flow in a typical medical scenario, we map the (implied or evidence-based) trust relations and we use this to propose a scheme for verifying the authenticity and trustworthiness without prohibitively interfering with common practices. Our proposed framework is currently being refined in the VITRUVIUS project, for instance to test the feasibility of its implementation. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Authentication

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