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arXiv 2024年

作者： Ma, Haoxiang Shi, Modi Gao, Boyang Huang, Di State Key Laboratory of Software Development Environment Beihang University Beijing China School of Computer Science and Engineering Beihang University Beijing China School of Computer Science and Technology Harbin Institute of Technology Harbin China Geometry Robotics China

We focus on the generalization ability of the 6-DoF grasp detection method in this paper. While learning-based grasp detection methods can predict grasp poses for unseen objects using the grasp distribution learned from the training set, they often exhibit a significant performance drop when encountering objects with diverse shapes and structures. To enhance the grasp detection methods’ generalization ability, we incorporate domain prior knowledge of robotic grasping, enabling better adaptation to objects with significant shape and structure differences. More specifically, we employ the physical constraint regularization during the training phase to guide the model towards predicting grasps that comply with the physical rule on grasping. For the unstable grasp poses predicted on novel objects, we design a contact-score joint optimization using the projection contact map to refine these poses in cluttered scenarios. Extensive experiments conducted on the GraspNet-1billion benchmark demonstrate a substantial performance gain on the novel object set and the real-world grasping experiments also demonstrate the effectiveness of our generalizing 6-DoF grasp detection method. Code is available at https://***/mahaoxiang822/ Generalizing-Grasp. Copyright © 2024, The Authors. All rights reserved.

关键词： Benchmarking

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A TMA-Seq2seq Network for Multi-Factor Time Series Sea Surface Temperature Prediction

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computers, Materials & Continua 2022年第10期73卷 51-67页

作者： Qi He Wenlong Li Zengzhou Hao Guohua Liu Dongmei Huang Wei Song Huifang Xu Fayez Alqahtani Jeong-Uk Kim Department of Information Technology Shanghai Ocean UniversityShanghai201306China State Key Laboratory of Satellite Ocean Environment Dynamics Second Institute of OceanographyMinistry of Natural ResourcesHangzhou310012China College of Computer Dong Hua UniversityShanghai200051China College of Information Technology Shanghai Jian Qiao UniversityShanghai201306China Software Engineering Department College of Computer and Information SciencesKing Saud UniversityRiyadh 12372Saudi Arabia Department of Electrical Engineering Sangmyung UniversitySouth KoreaKorea

Sea surface temperature (SST) is closely related to global climatechange, ocean ecosystem, and ocean disaster. Accurate prediction of SST isan urgent and challenging task. With a vast amount of ocean monitoring dataare continually collected, data-driven methods for SST time-series predictionshow promising results. However, they are limited by neglecting complexinteractions between SST and other ocean environmental factors, such as airtemperature and wind speed. This paper uses multi-factor time series SSTdata to propose a sequence-to-sequence network with two-module attention(TMA-Seq2seq) for long-term time series SST prediction. Specifically, TMASeq2seq is an LSTM-based encoder-decoder architecture facilitated by factorand temporal-attention modules and the input of multi-factor time series. Ittakes six-factor time series as the input, namely air temperature, air pressure,wind speed, wind direction, SST, and SST anomaly (SSTA). A factor attentionmodule is first designed to adaptively learn the effect of different factors onSST, followed by an encoder to extract factor-attention weighted features asfeature representations. And then, a temporal attention module is designedto adaptively select the hidden states of the encoder across all time steps tolearn more robust temporal relationships. The decoder follows the temporalattention module to decode the feature vector concatenated from the weightedfeatures and original input feature. Finally, we use a fully-connect layer tomap the feature into prediction results. With the two attention modules, ourmodel effectively improves the prediction accuracy of SST since it can notonly extract relevant factor features but also boost the long-term *** experiments on the datasets of China Coastal Sites (CCS) demonstrate that our proposed model outperforms other methods, reaching 98.29%in prediction accuracy (PACC) and 0.34 in root mean square error (RMSE).Moreover, SST prediction experiments in China’s East, South,

关键词： Sea surface temperature multi-factor attention long short-term memory

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Incentive-driven Federated Learning in Mobile Edge Networks

Incentive-driven Federated Learning in Mobile Edge Networks

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International Conference on Distributed Computing Systems Workshop

作者： Yanlang Zheng Huan Zhou Liang Zhao Shouzhi Xu Victor C. M. Leung Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering College of Computer and Information Technology China Three Gorges University Yichang China College of Computer Science and Software Engineering Shenzhen University Shenzhen China

Federated Learning (FL) is proposed as a privacy-preserving distributed learning methodology that can better protect the privacy and reduce communication costs. To stimulate sufficient User Equipments (UEs) to participate in FL, proper incentives need to be designed for FL. Existing incentive mechanisms do not jointly consider UE selection and local learning accuracy optimization to reduce the training expenditure. This paper designs a reverse auction-based incentive mechanism for FL to minimize the training expenditure of Base Station (BS). To this end, we first propose a Greedy Winner Determination (GWD) algorithm to select UEs with the minimum bidding prices. Then, we incorporate the Particle Swarm Optimization (PSO)-based local learning accuracy optimization into UE selection to further reduce the training expenditure of BS. In addition, we design a Vickrey Clarke Groves (VCG)-based payment rule to determine the payment to each participating UE. The simulation experiments show that our proposed PSO with Winner Determination (PSOWD) algorithm is superior to other existing methods in different scenarios.

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Domain Adaptive Code Completion via Language Models and Decoupled Domain Databases

Domain Adaptive Code Completion via Language Models and Deco...

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IEEE International Conference on Automated software engineering (ASE)

作者： Ze Tang Jidong Ge Shangqing Liu Tingwei Zhu Tongtong Xu Liguo Huang Bin Luo National Key Laboratory for Novel Software Technology Nanjing University China Nanyang Technological University Singapore Huawei Software Engineering Application Technology China Department of Computer Science Southern Methodist University USA

Large Language Models (LLMs) have demonstrated remarkable performance in code completion. However, due to the lack of domain-specific knowledge, they may not be optimal in completing code that requires intensive domain knowledge for example completing the library names. Although there are several works that have confirmed the effectiveness of fine-tuning techniques to adapt language models for code completion in specific domains. They are limited by the need for constant fine-tuning of the model when the project is in constant iteration. To address this limitation, in this paper, we propose $k$ NM-LM, a retrieval-augmented language model (R-LM), that integrates domain knowledge into language models without fine-tuning. Different from previous techniques, our approach is able to automatically adapt to different language models and domains. Specifically, it utilizes the in-domain code to build the retrieval-based database decoupled from LM, and then combines it with LM through Bayesian inference to complete the code. The extensive experiments on the completion of intra-project and intra-scenario have confirmed that $k$ NM-LM brings about appreciable enhancements when compared to CodeGPT and UnixCoder. A deep analysis of our tool including the responding speed, storage usage, specific type code completion, and API invocation completion has confirmed that $k$ NM-LM provides satisfactory performance, which renders it highly appropriate for domain adaptive code completion. Furthermore, our approach operates without the requirement for direct access to the language model's parameters. As a result, it can seamlessly integrate with black-box code completion models, making it easy to integrate our approach as a plugin to further enhance the performance of these models.

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ExpertDRL: Request Dispatching and Instance Configuration for Serverless Edge Inference with Foundation Models

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IEEE Transactions on Mobile Computing 2025年

作者： Zeng, Yue Zhou, Junlong Ye, Baoliu Qu, Zhihao Guo, Song Gong, Tianjian Li, Pan Nanjing University of Science and Technology Department of Computer Science and Engineering Jiangsu Nanjing210094 China Nanjing University State Key Laboratory for Novel Software Technology Department of Computer Science and Technology Nanjing210023 China Hohai University Key Laboratory of Water Big Data Technology of Ministry of Water Resources Nanjing211100 China Hong Kong University of Science and Technology Hong Kong Southwest University College of Electronic and Information Engineering Chongqing400715 China

The prevalence of the pre-training & fine-tuning paradigm enables machine learning models to quickly adapt to various downstream tasks by fine-tuning pre-trained foundation models (FMs), greatly facilitating various IoT applications that rely on model inference in dynamic edge serverless environments. Efficiently dispatching inference requests and configuring instances to batch inference requests can significantly enhance resource efficiency. However, existing serverless inference solutions are tailored for traditional models, make coarse-grained request dispatching and instance configuration decisions, fail to exploit the shared model backbone characteristics of the FM and capture delayed rewards in dynamic environments, and ignore communication latency between edge sites, resulting in high costs and constraint violations. In this paper, we leverage our insight that fine-grained batch inference requests can effectively exploit the shared model backbone feature of FM to save monetary costs. We propose an algorithm that incorporates deep reinforcement learning (DRL) and expert intervention for fine-grained request dispatching and instance configuration, where the DRL component outputs fractional solutions as guidance, while the expert intervention module integrates our insights—batching reduces monetary costs at the expense of increased inference latency, whereas higher configurations shorten inference latency. This module rounds fractional solutions and adjusts instance configurations to search for optimal solutions while satisfying constraints, with theoretical guarantees rigorously proved. Finally, we conducted our experiments on an OpenFaas-based platform and simulator, and extensive trace-driven evaluation results show that ExpertDRL can save costs by up to 85.14% and improve request acceptance ratio by up to 26.93%, compared to the state-of-the-art solution. © 2002-2012 IEEE.

关键词： Deep reinforcement learning

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Dynamic Random Route Mutation Mechanism for Moving Target Defense in SDN 6

Dynamic Random Route Mutation Mechanism for Moving Target De...

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6th International Symposium on computer and Information Processing Technology, ISCIPT 2021

作者： Zhang, Bofeng Han, Li Sun, Shimin Tianjin University of Technology School of Computer Science and Engineering Tianjin China Tianjin Key Laboratory of Intelligence Computing and Novel Software Technology National Engineering Laboratory for Computer Virus Prevention and Control Technology Tianjin China Tiangong University Tianjin Key Laboratory of Autonomous Intelligent Technology and System School of Computer Science and Technology Tianjin China

ISBN: (纸本)9781665441377

Moving Target Defense (MTD) is commonly used in changing the asymmetric situation between attack and defense in cyberspace. Route mutation is a vital branch of MTD. Current route mutation methods still have some limitations on unpredictability of mutating routing paths and time overhead. In this paper, we propose a Dynamic Random Route Mutation (DRRM) mechanism in order to maximize the unpredictability of mutation and reduce the time overhead. First, we adopt Jaccard distance matrix and temporal constraint to improve mutation space. Mutation space can be dynamically shifted to enhance the unpredictability. Then, we weaken attackers' capabilities of launching effective eavesdropping at a certain node by using route weight. Finally, we construct a pre-distribution strategy to reduce the transmission latency caused by route mutation. Simulation results show that DRRM not only raises the difficulty of network eavesdropping, but also ensures low mutation time overhead. © 2021 IEEE.

关键词： Dynamics

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Benchmarking Graph Representations and Graph Neural Networks for Multivariate Time Series Classification

arXiv

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arXiv 2025年

作者： Yang, Wennuo Wu, Shiling Zhou, Yuzhi Luo, Cheng He, Xilin Xie, Weicheng Shen, Linlin Song, Siyang Computer Vision Institute School of Computer Science & Software Engineering Shenzhen University China Shenzhen Institute of Artificial Intelligence and Robotics for Society China Guangdong Provincial Key Laboratory of Intelligent Information Processing China HBUG Lab University of Exeter United Kingdom

Multivariate Time Series Classification (MTSC) enables the analysis if complex temporal data, and thus serves as a cornerstone in various real-world applications, ranging from healthcare to finance. Since the relationship among variables in MTS usually contain crucial cues, a large number of graph-based MTSC approaches have been proposed, as the graph topology and edges can explicitly represent relationships among variables (channels), where not only various MTS graph representation learning strategies but also different Graph Neural Networks (GNNs) have been explored. Despite such progresses, there is no comprehensive study that fairly benchmarks and investigates the performances of existing widely-used graph representation learning strategies/GNN classifiers in the application of different MTSC tasks. In this paper, we present the first benchmark which systematically investigates the effectiveness of the widely-used three node feature definition strategies, four edge feature learning strategies and five GNN architecture, resulting in 60 different variants for graph-based MTSC. These variants are developed and evaluated with a standardized data pipeline and training/validation/testing strategy on 26 widely-used suspensor MTSC datasets. Our experiments highlight that node features significantly influence MTSC performance, while the visualization of edge features illustrates why adaptive edge learning outperforms other edge feature learning methods. The code of the proposed benchmark is publicly available at https://***/CVI-yangwn/*** Codes 68T10 © 2025, CC BY.

关键词： Graph neural networks

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DSD-MatchingNet:Deformable sparse-to-dense feature matching for learning accurate correspondences

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Virtual Reality & Intelligent Hardware 2022年第5期4卷 432-443页

作者： Yicheng ZHAO Han ZHANG Ping LU Ping LI Enhua WU Bin SHENG Department of Computer Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China ZTE Corporation Shenzhen 518057China State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen 518057China Department of Computing The Hong Kong Polytechnic UniversityHong Kong 999077China School of Design The Hong Kong Polytechnic UniversityHong Kong 999077China State Key Laboratory of Computer Science Institute of SoftwareChinese Academy of SciencesBeijing 100190China Faculty of Science and Technology University of MacaoMacao 999078China

Background Exploring correspondences across multiview images is the basis of various computer vision ***,most existing methods have limited accuracy under challenging *** To learn more robust and accurate correspondences,we propose DSD-MatchingNet for local feature matching in this ***,we develop a deformable feature extraction module to obtain multilevel feature maps,which harvest contextual information from dynamic receptive *** dynamic receptive fields provided by the deformable convolution network ensure that our method obtains dense and robust ***,we utilize sparse-to-dense matching with symmetry of correspondence to implement accurate pixel-level matching,which enables our method to produce more accurate *** Experiments show that our proposed DSD-MatchingNet achieves a better performance on the image matching benchmark,as well as on the visual localization ***,our method achieved 91.3%mean matching accuracy on the HPatches dataset and 99.3%visual localization recalls on the Aachen Day-Night dataset.

关键词： Image matching Deformable convolution network Sparse-to-dense matching

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CardiacMamba: A Multimodal RGB-RF Fusion Framework with State Space Models for Remote Physiological Measurement

arXiv

引用

arXiv 2025年

作者： Wu, Zheng Xie, Yiping Zhao, Bo He, Jiguang Luo, Fei Deng, Ning Yu, Zitong School of Computing and Information Technology Great Bay University Dongguan523000 China Dongguan Key Laboratory for Intelligence and Information Technology Dongguan523000 China Computer Vision Institute School of Computer Science & Software Engineering Shenzhen University Shenzhen518060 China

Heart rate (HR) estimation via remote photoplethysmography (rPPG) offers a non-invasive solution for health monitoring. However, traditional single-modality approaches (RGB or Radio Frequency (RF)) face challenges in balancing robustness and accuracy due to lighting variations, motion artifacts, and skin tone bias. In this paper, we propose CardiacMamba, a multimodal RGB-RF fusion framework that leverages the complementary strengths of both modalities. It introduces the Temporal Difference Mamba Module (TDMM) to capture dynamic changes in RF signals using timing differences between frames, enhancing the extraction of local and global features. Additionally, CardiacMamba employs a Bidirectional SSM for cross-modal alignment and a Channel-wise Fast Fourier Transform (CFFT) to effectively capture and refine the frequency domain characteristics of RGB and RF signals, ultimately improving heart rate estimation accuracy and periodicity detection. Extensive experiments on the EquiPleth dataset demonstrate state-of-the-art performance, achieving marked improvements in accuracy and robustness. CardiacMamba significantly mitigates skin tone bias, reducing performance disparities across demographic groups, and maintains resilience under missing-modality scenarios. By addressing critical challenges in fairness, adaptability, and precision, the framework advances rPPG technology toward reliable real-world deployment in healthcare. The codes are available at: https://***/WuZheng42/CardiacMamba. Copyright © 2025, The Authors. All rights reserved.

关键词： Fast Fourier transforms

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TIGER: A Generating-Then-Ranking Framework for Practical Python Type Inference

TIGER: A Generating-Then-Ranking Framework for Practical Pyt...

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International Conference on software engineering (ICSE)

作者： Chong Wang Jian Zhang Yiling Lou Mingwei Liu Weisong Sun Yang Liu Xin Peng College of Computing and Data Science Nanyang Technological University Singapore Shanghai Key Laboratory of Data Science School of Computer Science Fudan University China School of Software Engineering Sun Yat-sen University China

ISBN: (数字)9798331505691

ISBN: (纸本)9798331505707

Python's dynamic typing system offers flexibility and expressiveness but can lead to type-related errors, prompting the need for automated type inference to enhance type hinting. While existing learning-based approaches show promising inference accuracy, they struggle with practical challenges in comprehensively handling various types, including complex parameterized types and (unseen) user-defined types. In this paper, we introduce TIGER, a two-stage generating-then-ranking (GTR) framework, designed to effectively handle Python's diverse type categories. TIGER leverages fine-tuned pre-trained code models to train a generative model with a span masking objective and a similarity model with a contrastive training objective. This approach allows TIGER to generate a wide range of type candidates, including complex parameterized types in the generating stage, and accurately rank them with user-defined types in the ranking stage. Our evaluation on the ManyTypes4Py dataset shows TIGER's advantage over existing methods in various type categories, notably improving accuracy in inferring user-defined and unseen types by 11.2% and 20.1% respectively in Top-5 Exact Match. Moreover, the experimental results not only demonstrate TIGER's superior performance and efficiency, but also underscore the significance of its generating and ranking stages in enhancing automated type inference.

关键词： Training Codes Accuracy Contrastive learning Python software engineering

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