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WRC Symposium on Advanced Robotics and Automation (WRC SARA)

作者： Linqi Zhou Zhihua Chen Jun Liu Zhi Liu Yumeng Chen Liting Zhang key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition and MOE Key Lab of Nondestructive Testing Technology Nanchang Hangkong University Nanchang China State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China

Gait planning of quadruped robots plays an important role in achieving less walking, including dynamic and static gait. In this article, a static and dynamic gait control method based on center of gravity stability margin is proposed. Firstly, the robot model and kinematics modeling are introduced. Secondly, the robot’s foot static and dynamic gait were planned and the foot trajectory was designed. Finally, two types of gait of the robot were simulated using Vrep simulation software, and the differences in stability and speed between the coordinated gait with speed and stability in the static and dynamic gait of a 12 degree of freedom robot were analyzed, verifying the effectiveness of the gait control method proposed in this paper.

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Modeling Inter-Intra Heterogeneity for Graph Federated Learning

arXiv

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arXiv 2024年

作者： Yu, Wentao Chen, Shuo Tong, Yongxin Gu, Tianlong Gong, Chen School of Computer Science and Engineering Nanjing University of Science and Technology China Center for Advanced Intelligence Project RIKEN Japan State Key Laboratory of Complex & Critical Software Environment Beihang University China Jinan University China Department of Automation Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University China

Heterogeneity is a fundamental and challenging issue in federated learning, especially for the graph data due to the complex relationships among the graph nodes. To deal with the heterogeneity, lots of existing methods perform the weighted federation based on their calculated similarities between pairwise clients (i.e., subgraphs). However, their inter-subgraph similarities estimated with the outputs of local models are less reliable, because the final outputs of local models may not comprehensively represent the real distribution of subgraph data. In addition, they ignore the critical intra-heterogeneity which usually exists within each subgraph itself. To address these issues, we propose a novel Federated learning method by integrally modeling the Inter-Intra Heterogeneity (FedIIH). For the inter-subgraph relationship, we propose a novel hierarchical variational model to infer the whole distribution of subgraph data in a multi-level form, so that we can accurately characterize the inter-subgraph similarities with the global perspective. For the intra-heterogeneity, we disentangle the subgraph into multiple latent factors and partition the model parameters into multiple parts, where each part corresponds to a single latent factor. Our FedIIH not only properly computes the distribution similarities between subgraphs, but also learns disentangled representations that are robust to irrelevant factors within subgraphs, so that it successfully considers the inter- and intra- heterogeneity simultaneously. Extensive experiments on six homophilic and five heterophilic graph datasets in both non-overlapping and overlapping settings demonstrate the effectiveness of our method when compared with nine state-of-the-art methods. Specifically, FedIIH averagely outperforms the second-best method by a large margin of 5.79% on all heterophilic datasets. Code is available at https://***/blgpb/FedIIH. Copyright © 2024, The Authors. All rights reserved.

关键词： Federated learning

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Eliminating Contextual Prior Bias for Semantic image Editing via Dual-Cycle Diffusion

arXiv

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arXiv 2023年

作者： Yang, Zuopeng Chu, Tianshu Lin, Xin Gao, Erdun Liu, Daqing Yang, Jie Wang, Chaoyue Institute of Image Processing and Pattern Recognition Department of Automation Shanghai Jiao Tong University Shanghai200240 China the Institute of Artificial Intelligence and Blockchain Guangzhou University Guangzhou510006 China the School of Mathematics and Statistics The University of Melbourne MelbourneVIC3010 Australia the JD Explore Academy Beijing100176 China

The recent success of text-to-image generation diffusion models has also revolutionized semantic image editing, enabling the manipulation of images based on query/target texts. Despite these advancements, a significant challenge lies in the potential introduction of contextual prior bias in pre-trained models during image editing, e.g., making unexpected modifications to inappropriate regions. To address this issue, we present a novel approach called Dual-Cycle Diffusion, which generates an unbiased mask to guide image editing. The proposed model incorporates a Bias Elimination Cycle that consists of both a forward path and an inverted path, each featuring a Structural Consistency Cycle to ensure the preservation of image content during the editing process. The forward path utilizes the pre-trained model to produce the edited image, while the inverted path converts the result back to the source image. The unbiased mask is generated by comparing differences between the processed source image and the edited image to ensure that both conform to the same distribution. Our experiments demonstrate the effectiveness of the proposed method, as it significantly improves the D-CLIP score from 0.272 to 0.283. The code will be available at https://***/JohnDreamer/DualCycleDiffsion. © 2023, CC BY-NC-SA.

关键词： Diffusion

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An Active Landing Recovery Method for Quadrotor UAV: Localization, Tracking and Buffering Landing

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IFAC-PapersOnLine 2023年第2期56卷 3366-3372页

作者： Yongkang Xu Zhihua Chen Shoukun Wang Junzheng Wang National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing CO 100081 P.R.China Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition and MOE Key Lab of Nondestructive Testing Technology School of Information Engineering Nanchang Hangkong University Nanchang CO 330063 P.R. China

This paper proposes a principle of fully autonomous ground mobile landing recovery of Unmanned Aerial Vehicles (UAV) for the problems of relatively fixed landing point, passive recovery, poor flexibility, and environmental adaptability, which mainly includes localization, landing point tracking, and buffering landing for quadrotor UAV. Firstly, aiming at the problem that it is difficult to accurately obtain the position of a UAV in dynamic mobile landing recovery, a target location method based on Asynchronous Multisensor Information Fusion(AMIF) and servo turntable focus tracking is proposed. Secondly, to achieve fast and high-precision tracking of UAVs, a tracking control strategy of an independently driven landing recovery system and a Stewart six-degree of freedom platform is proposed. Then, to solve the problems of large impact force and center of gravity instability in the landing process of UAV, a stationarity control algorithm based on model prediction and a compliance control algorithm based on adaptive variable impedance are designed to achieve active compliance control while adjusting the position and attitude of the receiving surface in real-time. Finally, a quadrotor unmanned landing and recovery experimental platform is built to verify the feasibility of the ground mobile landing and recovery strategy proposed in this paper and the effectiveness of the control algorithm.

关键词： Quadrotor UAV Mobile Autonomous recovery Target localization Falling point tracking Buffering landing

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An Self-supervised Learning & Self-attention Based Method for Defects Classification on PCB Surface images

An Self-supervised Learning & Self-attention Based Method fo...

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作者： Lijie Zhou Xufeng Ling Shan Zhu Zheng Sun Jie Yang AI School Tianhua College Shanghai Normal University Institute of Image Processing and Pattern Recognition Shanghai Jiao tong University

Automatic detection of PCB defects become a difficult work in electronics industry,with the rapid development of Integrated Circuit.A good detection method can effectively improve production efficiency and reduce the costs of quality *** traditional image processing methods have the backwards of complicated system structure,difficult image segmentation,and low detection accuracy,*** order to solve the above problems,this paper proposes a method of extracting features by self-supervised learning with supervised learning to complete the classification *** method uses a deep neural network model based on self-supervised learning technology,uses multi-head self-attention mechanism;automatically recognize single or multiple defect areas in PCB,to extract defects features of PCB,and uses full connection classifier to classify *** open-source(DeepPCB) is selected as the dataset,including 6 defect categories and non-defect *** the training process,data enhancement technology is used to increase the training samples,train the model and make it converge,and realize low error recognition on the verification *** experimental results show that the features extracted by the selfsupervised learning method are richer than those extracted by the supervised *** composite model formed by combining the self-attention mechanism has high accuracy and good robustness,reaches the classification accuracy of 94.33%,and has high accuracy and good generalization ability.

关键词： PCB Defects Detection Self-supervised Learning Deep Learning Self-attention

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Few-Shot Classification with Task-Adaptive Semantic Feature Learning

SSRN

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SSRN 2022年

作者： Pan, Mei-Hong Xin, Hong-Yi Xia, Chun-Qiu Shen, Hong-Bin Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China University of Michigan Shanghai Jiao Tong University Joint Institute Shanghai Jiaotong University Shanghai200240 China

Few-shot classification aims to learn a classifier that categorizes objects of unseen classes with limited samples. One general approach is to mine as much information as possible from limited samples. This can be achieved by incorporating data from multiple modals. However, existing multi-modality methods only use additional modality in support samples while adhering to a single modal in query samples. Such approach could lead to information imbalance between support and query samples, which confounds model generalization from support to query samples. Towards this problem, we propose a task-adaptive semantic feature learning mechanism to incorporate semantic features for both support and query samples. The semantic feature learner is trained episodic-wisely by regressing from the feature vectors of the support samples. It is utilized to predict semantic features for the query samples. Such method maintains a consistent training scheme between support and query samples and enables direct model transfer from support to query data, which significantly improves model generalization. We conduct extensive experiments on four benchmarks in both inductive and tranductive settings. Results show that the proposed TasNet outperforms state-of-the-art methods with an improvement of 1% to 5% in classification accuracy, demonstrating the superiority of our method. The exhaustive ablation studies further validate the effectiveness of our framework. © 2022, The Authors. All rights reserved.

关键词： Machine learning

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Discovering the nuclear localization signal universe through a deep learning model with interpretable attention units

Patterns

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patterns 2025年

作者： Li, Yi-Fan Pan, Xiaoyong Shen, Hong-Bin Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

We describe NLSExplorer, an interpretable approach for nuclear localization signal (NLS) prediction. By utilizing the extracted information on nuclear-specific sites from the protein language model to assist in NLS detection, NLSExplorer achieves superior performance with greater than 10% improvement in the F1 score compared with existing methods on benchmark datasets and highlights other nuclear transport segments. We applied NLSExplorer to the nucleus-localized proteins in the Swiss-Prot database to extract valuable segments. A comprehensive analysis of these segments revealed a potential NLS landscape and uncovered features of nuclear transport segments across 416 species. This study introduces a powerful tool for exploring the NLS universe and provides a versatile network that can efficiently detect characteristic domains and motifs. © 2025 The Author(s)

关键词： Deep learning

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A Decentralized Framework for Kernel PCA with Projection Consensus Constraints

arXiv

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arXiv 2022年

作者： He, Fan Yang, Ruikai Shi, Lei Huang, Xiaolin Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University The MOE Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Key Laboratory for Contemporary Applied Mathematics China School of Mathematical Sciences Fudan University Shanghai200240 China

This paper studies kernel PCA in a decentralized setting, where data are distributively observed with full features in local nodes and a fusion center is prohibited. Compared with linear PCA, the use of kernel brings challenges to the design of decentralized consensus optimization: the local projection directions are data-dependent. As a result, the consensus constraint in distributed linear PCA is no longer valid. To overcome this problem, we propose a projection consensus constraint and obtain an effective decentralized consensus framework, where local solutions are expected to be the projection of the global solution on the column space of local dataset. We also derive a fully non-parametric, fast and convergent algorithm based on alternative direction method of multiplier, of which each iteration is analytic and communication-efficient. Experiments on a truly parallel architecture are conducted on real-world data, showing that the proposed decentralized algorithm is effective to utilize information of other nodes and takes great advantages in running time over the central kernel PCA. Copyright © 2022, The Authors. All rights reserved.

关键词： Principal component analysis

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Universal Adversarial Perturbation Generated by Attacking Layer-wise Relevance Propagation 10

Universal Adversarial Perturbation Generated by Attacking La...

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10th IEEE International Conference on Intelligent Systems, IS 2020

作者： Wang, Zifei Huang, Xiaolin Yang, Jie Kasabov, Nikola Shanghai Jiao Tong University Institute of Image Processing and Pattern Recognition Shanghai China Auckland University of Technology Knowledge Engineering and Discovery Research Institute Auckland New Zealand

ISBN: (纸本)9781728154565

The vulnerability of Deep Neural Networks (DNNs) to adversarial attacks has become an important research area of machine learning. It has been known that many state-of-the-art DNNs suffer the risk of universal adversarial perturbations, which are image-agnostic and able to lead misclassifications with high probability. In this paper, we propose a novel method to create such universal adversarial perturbations. Our approach is the first to generate universal perturbations by attacking the attention heat maps with the interpretation method, Layer-wise Relevance Propagation. It is demonstrated that our method achieves high fooling ratios on image classification DNNs pre-trained by imageNet dataset. Moreover, our attack shows good transferability across different DNNs. © 2020 IEEE.

关键词： Deep neural networks

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Discriminative Asymmetric Learning for Efficient Surgical Instrument Parsing

Discriminative Asymmetric Learning for Efficient Surgical In...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jiaqi Liu Yu Qiao Jie Yang Guang-Zhong Yang Yun Gu Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Shanghai China

Semantic segmentation of surgical instruments provides essential priors for autonomous surgery. This task is however challenging since the fine-structure of surgical instruments requires the accurate segmentation of detailed regions in images. As the visual guidance for autonomous surgery, the algorithm should also be real-time and friendly to embedded systems. In this paper, a discriminative asymmetric learning framework is proposed to balance the efficiency and effectiveness of surgical instrument segmentation. Two convolutional neural networks with specific designs are deployed to extract the detail and semantic features of instruments. To reduce the redundancy of visual representation, the aggregator-discriminator mechanism is proposed to distinguish the features learned from different levels. Experiments demonstrate that the proposed method contributes to competitive segmentation accuracy and a higher efficiency compared to existing methods.

关键词： image segmentation Visualization Embedded systems Instruments Semantics Redundancy Surgery

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