检索结果-内蒙古大学图书馆

Two Model-Free Schemes for Solving Kinematic Tracking Control of Redundant Robot Manipulators Based on Cmac Networks

学校读者我要写书评

暂无评论

SSRN

SSRN 2022年

作者： Tan, Ning Li, Chaoyuan Yu, Peng Ni, Fenglei School of Computer Science and Engineering Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education Sun Yat-sen University Guangzhou510006 China Harbin China

Kinematic tracking control of robotic manipulators is a basic and vital issue in robotics. Existing studies show that cerebellum, a pivotal region of brain, plays a major role in human motion control, which prompts us to devise two model-free CMAC-based (MFCB) schemes for the kinematic tracking control of redundant manipulators in this article. The first MFCB scheme is based on a CMAC network and a GND algorithm. The CMAC network is utilized to generate approximate joint angle commands for the manipulator. By using the Jacobian matrix of the manipulator which is estimated by the GND algorithm, the task space error is transformed into joint space error, which is taken as the teaching signal for training the CMAC. For the second scheme, another CMAC network replaces the GND algorithm to achieve the estimation of the Jacobian matrix of the manipulator. The effectiveness and robustness of the proposed control schemes are verified by both simulations and physical experiments. © 2022, The Authors. All rights reserved.

关键词： Redundant manipulators

$\text{MR}^{2}$-Net: Retinal OCTA Image Stitching via Multi-Scale Representation Learning and Dynamic Location Guidance

学校读者我要写书评

暂无评论

IEEE Journal of Biomedical and Health Informatics 2024年第1期29卷 482-494页

作者： Haiting Mao Yuhui Ma Dan Zhang Yanda Meng Shaodong Ma Yuchuan Qiao Huazhu Fu Caifeng Shan Da Chen Yitian Zhao Jiong Zhang Laboratory of Advanced Theranostic Materials and Technology Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo China School of Cyber Science and Engineering Ningbo University of Technology Ningbo China Department of Computer Science University of Exeter Exeter U.K. Institution of Science and Technology for Brain-Inspired Intelligence Fudan University Shanghai China Institute of High Performance Computing (IHPC) A*STAR Singapore School of Intelligence Science and Technology Nanjing University Nanjing China Qilu University of Technology Jinan China

Optical coherence tomography angiography (OCTA) plays a crucial role in quantifying and analyzing retinal vascular diseases. However, the limited field of view (FOV) inherent in most commercial OCTA imaging systems poses a significant challenge for clinicians, restricting the possibility to analyze larger retinal regions of high resolution. Automatic stitching of OCTA scans in adjacent regions may provide a promising solution to extend the region of interest. However, commonly-used stitching algorithms face difficulties in achieving effective alignment due to noise, artifacts and dense vasculature present in OCTA images. To address these challenges, we propose a novel retinal OCTA image stitching network, named $\text{MR}^{2}$ -Net, which integrates multi-scale representation learning and dynamic location guidance. In the first stage, an image registration network with a progressive multi-resolution feature fusion is proposed to derive deep semantic information effectively. Additionally, we introduce a dynamic guidance strategy to locate the foveal avascular zone (FAZ) and constrain registration errors in overlapping vascular regions. In the second stage, an image fusion network based on multiple mask constraints and adjacent image aggregation (AIA) strategies is developed to further eliminate the artifacts in the overlapping areas of stitched images, thereby achieving precise vessel alignment. To validate the effectiveness of our method, we conduct a series of experiments on two delicately constructed datasets, i.e., OPTOVUE-OCTA and SVision-OCTA. Experimental results demonstrate that our method outperforms other image stitching methods and effectively generates high-quality wide-field OCTA images, achieving a structural similarity index (SSIM) score of 0.8264 and 0.8014 on the two datasets, respectively.

关键词： Feature extraction Image stitching Retina Image registration Convolutional codes Bioinformatics Representation learning

Distilling the Unknown to Unveil Certainty

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Zhao, Zhilin Cao, Longbing Zhang, Yixuan Lin, Kun-Yu Zheng, Wei-Shi The Data Science Lab School of Computing Macquarie University SydneyNSW2109 Australia The DataX Research Centre Macquarie University SydneyNSW2109 Australia The China-Austria Belt and Road Joint Laboratory on Artificial Intelligence and Advanced Manufacturing Hangzhou Dianzi University Zhejiang Hangzhou310005 China The School of Computer Science and Engineering Sun Yat-sen University Guangzhou510275 China The School of Computer Science and Engineering Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education Sun Yat-sen University Guangzhou510275 China

Out-of-distribution (OOD) detection is essential in identifying test samples that deviate from the in-distribution (ID) data upon which a standard network is trained, ensuring network robustness and reliability. This paper introduces OOD knowledge distillation, a pioneering learning framework applicable whether or not training ID data is available, given a standard network. This framework harnesses unknown OOD-sensitive knowledge from the standard network to craft a certain binary classifier adept at distinguishing between ID and OOD samples. To accomplish this, we introduce Confidence Amendment (CA), an innovative methodology that transforms an OOD sample into an ID one while progressively amending prediction confidence derived from the standard network. This approach enables the simultaneous synthesis of both ID and OOD samples, each accompanied by an adjusted prediction confidence, thereby facilitating the training of a binary classifier sensitive to OOD. Theoretical analysis provides bounds on the generalization error of the binary classifier, demonstrating the pivotal role of confidence amendment in enhancing OOD sensitivity. Extensive experiments spanning various datasets and network architectures confirm the efficacy of the proposed method in detecting OOD samples. Copyright © 2023, The Authors. All rights reserved.

关键词： Deep neural networks

Benchmarking Deep Models for Salient Object Detection

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Zhou, Huajun Lin, Yang Yang, Lingxiao Lai, Jianhuang Xie, Xiaohua School of Computer Science and Engineering Sun Yat-sen University Guangzhou510006 China Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education Guangzhou510006 China

In recent years, deep network-based methods have continuously refreshed state-of-the-art performance on Salient Object Detection (SOD) task. However, the performance discrepancy caused by different implementation details may conceal the real progress in this task. Making an impartial comparison is required for future researches. To meet this need, we construct a general SALient Object Detection (SALOD) benchmark to conduct a comprehensive comparison among several representative SOD methods. Specifically, we re-implement 14 representative SOD methods by using consistent settings for training. Moreover, two additional protocols are set up in our benchmark to investigate the robustness of existing methods in some limited conditions. In the first protocol, we enlarge the difference between objectness distributions of train and test sets to evaluate the robustness of these SOD methods. In the second protocol, we build multiple train subsets with different scales to validate whether these methods can extract discriminative features from only a few samples. In the above experiments, we find that existing loss functions usually specialized in some metrics but reported inferior results on the others. Therefore, we propose a novel Edge-Aware (EA) loss that promotes deep networks to learn more discriminative features by integrating both pixel- and image-level supervision signals. Experiments prove that our EA loss reports more robust performances compared to existing losses. Code is available at https://***/moothes/SALOD. Copyright © 2022, The Authors. All rights reserved.

关键词： Object detection

学校读者我要写书评

暂无评论

Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Jianghao Xiong Jianhuang Lai School of Computer Science and Engineering Sun Yat-Sen University China Guangdong Province Key Laboratory of Information Security Technology China Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education China Key Laboratory of Video and Image Intelligent Analysis and Applicaiton Technology Ministry of Public Security China

Group re-identification (G-ReID) aims to re-identify a group of people that is observed from non-overlapping camera systems. The existing literature has mainly addressed RGB-based problems, but RGB-infrared (RGB-IR) cross-modality matching problem has not been studied yet. In this paper, we propose a metric learning method Closest Permutation Matching (CPM) for RGB-IR G-ReID. We model each group as a set of single-person features which are extracted by MPANet, then we propose the metric Closest Permutation Distance (CPD) to measure the similarity between two sets of features. CPD is invariant with order changes of group members so that it solves the layout change problem in G-ReID. Furthermore, we introduce the problem of G-ReID without person labels. In the weak-supervised case, we design the Relation-aware Module (RAM) that exploits visual context and relations among group members to produce a modality-invariant order of features in each group, with which group member features within a set can be sorted to form a robust group representation against modality change. To support the study on RGB-IR G-ReID, we construct a new large-scale RGB-IR G-ReID dataset CM-Group. The dataset contains 15,440 RGB images and 15,506 infrared images of 427 groups and 1,013 identi-ties. Extensive experiments on the new dataset demonstrate the effectiveness of the proposed models and the complexity of CM-Group. The code and dataset are available at: https://***/WhollyOat/CM-Group.

关键词：

CodeEnhance: A Codebook-Driven Approach for Low-Light Image Enhancement

学校读者我要写书评

暂无评论

arXiv 2024年

作者： Wu, Xu Hou, XianXu Lai, Zhihui Zhou, Jie Zhang, Ya-Nan Pedrycz, Witold Shen, Linlin The Computer Vision Institute College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518060 China Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen518060 China School of AI and Advanced Computing Xi’an Jiaotong-Liverpool University China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University SZU Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Guangdong Shenzhen518060 China The Department of Electrical & Computer Engineering University of Alberta University of Alberta Canada

Low-light image enhancement (LLIE) aims to improve low-illumination images. However, existing methods face two challenges: (1) uncertainty in restoration from diverse brightness degradations;(2) loss of texture and color information caused by noise suppression and light enhancement. In this paper, we propose a novel enhancement approach, CodeEnhance, by leveraging quantized priors and image refinement to address these challenges. In particular, we reframe LLIE as learning an image-to-code mapping from low-light images to discrete codebook, which has been learned from high-quality images. To enhance this process, a Semantic Embedding Module (SEM) is introduced to integrate semantic information with low-level features, and a Codebook Shift (CS) mechanism, designed to adapt the pre-learned codebook to better suit the distinct characteristics of our low-light dataset. Additionally, we present an Interactive Feature Transformation (IFT) module to refine texture and color information during image reconstruction, allowing for interactive enhancement based on user preferences. Extensive experiments on both real-world and synthetic benchmarks demonstrate that the incorporation of prior knowledge and controllable information transfer significantly enhances LLIE performance in terms of quality and fidelity. The proposed CodeEnhance exhibits superior robustness to various degradations, including uneven illumination, noise, and color distortion. Copyright © 2024, The Authors. All rights reserved.

关键词： Image enhancement

DPA-2:a large atomic model as a multitask learner

学校读者我要写书评

暂无评论

npj Computational Materials 2024年第1期10卷 185-199页

作者： Duo Zhang Xinzijian Liu Xiangyu Zhang Chengqian Zhang Chun Cai Hangrui Bi Yiming Du Xuejian Qin Anyang Peng Jiameng Huang Bowen Li Yifan Shan Jinzhe Zeng Yuzhi Zhang Siyuan Liu Yifan Li Junhan Chang Xinyan Wang Shuo Zhou Jianchuan Liu Xiaoshan Luo Zhenyu Wang Wanrun Jiang Jing Wu Yudi Yang Jiyuan Yang Manyi Yang Fu-Qiang Gong Linshuang Zhang Mengchao Shi Fu-Zhi Dai Darrin M.York Shi Liu Tong Zhu Zhicheng Zhong Jian Lv Jun Cheng Weile Jia Mohan Chen Guolin Ke Weinan E Linfeng Zhang Han Wang AI for Science Institute BeijingP.R.China DP Technology BeijingP.R.China Academy for Advanced Interdisciplinary Studies Peking UniversityBeijingP.R.China State Key Lab of Processors Institute of Computing TechnologyChinese Academy of SciencesBeijingP.R.China University of Chinese Academy of Sciences BeijingP.R.China HEDPS CAPTCollege of EngineeringPeking UniversityBeijingP.R.China Ningbo Institute of Materials Technology and Engineering Chinese Academy of SciencesNingboP.R.China CAS Key Laboratory of Magnetic Materials and Devices and Zhejiang Province Key Laboratory of Magnetic Materials and Application Technology Chinese Academy of SciencesNingboP.R.China School of Electronics Engineering and Computer Science Peking UniversityBeijingP.R.China Shanghai Engineering Research Center of Molecular Therapeutics&New Drug Development School of Chemistry and Molecular EngineeringEast China Normal UniversityShanghaiP.R.China Laboratory for Biomolecular Simulation Research Institute for Quantitative Biomedicine and Department of Chemistry and Chemical BiologyRutgers UniversityPiscatawayNJUSA Department of Chemistry Princeton UniversityPrincetonNJUSA College of Chemistry and Molecular Engineering Peking UniversityBeijingP.R.China Yuanpei College Peking UniversityBeijingP.R.China School of Electrical Engineering and Electronic Information Xihua UniversityChengduP.R.China State Key Laboratory of Superhard Materials College of PhysicsJilin UniversityChangchunP.R.China Key Laboratory of Material Simulation Methods&Software of Ministry of Education College of PhysicsJilin UniversityChangchunP.R.China International Center of Future Science Jilin UniversityChangchunP.R.China Key Laboratory for Quantum Materialsof Zhejiang Province Department of PhysicsSchool of ScienceWestlake UniversityHangzhouP.R.China Atomistic Simulations Italian Institute of TechnologyGenovaItaly State Key Laboratory of Physical Chemistry of Solid Surface iChEMCollege of Chemistry and Chemical EngineeringXiame

The rapid advancements in artificial intelligence(AI)are catalyzing transformative changes in atomic modeling,simulation,and ***-driven potential energy models havedemonstrated the capability to conduct large-scale,long-duration simulations with the accuracy of ab initio electronic structure ***,the model generation process remains a bottleneck for large-scale *** propose a shift towards a model-centric ecosystem,wherein a large atomic model(LAM),pretrained across multiple disciplines,can be efficiently fine-tuned and distilled for various downstream tasks,thereby establishing a new framework for molecular *** this study,we introduce the DPA-2 architecture as a prototype for ***-trained on a diverse array of chemical and materials systemsusing a multi-task approach,DPA-2demonstrates superior generalization capabilities across multiple downstream tasks compared to the traditional single-task pre-training and fine-tuning *** approach sets the stage for the development and broad application of LAMs in molecular and materials simulation research.

关键词： DPA establishing thereby

VCSE: Time-Domain Visual-Contextual Speaker Extraction Network

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Li, Junjie Ge, Meng Pan, Zexu Wang, Longbiao Dang, Jianwu Tianjin Key Laboratory of Cognitive Computing and Application College of Intelligence and Computing Tianjin University Tianjin China Department of Electrical and Computer Engineering National University of Singapore Singapore Japan Advanced Institute of Science and Technology Ishikawa Japan

Speaker extraction seeks to extract the target speech in a multi-talker scenario given an auxiliary reference. Such reference can be auditory, i.e., a pre-recorded speech, visual, i.e., lip movements, or contextual, i.e., phonetic sequence. References in different modalities provide distinct and complementary information that could be fused to form top-down attention on the target speaker. Previous studies have introduced visual and contextual modalities in a single model. In this paper, we propose a two-stage time-domain visual-contextual speaker extraction network named VCSE, which incorporates visual and self-enrolled contextual cues stage by stage to take full advantage of every modality. In the first stage, we pre-extract a target speech with visual cues and estimate the underlying phonetic sequence. In the second stage, we refine the pre-extracted target speech with the self-enrolled contextual cues. Experimental results on the real-world Lip Reading Sentences 3 (LRS3) database demonstrate that our proposed VCSE network consistently outperforms other state-of-the-art baselines. Copyright © 2022, The Authors. All rights reserved.

关键词： Extraction

Iterative Sound Source Localization for Unknown Number of Sources

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Fu, Yanjie Ge, Meng Yin, Haoran Qian, Xinyuan Wang, Longbiao Zhang, Gaoyan Dang, Jianwu Tianjin Key Laboratory of Cognitive Computing and Application College of Intelligence and Computing Tianjin University Tianjin China Department of Electrical and Computer Engineering National University of Singapore Singapore Japan Advanced Institute of Science and Technology Ishikawa Japan

Sound source localization aims to seek the direction of arrival (DOA) of all sound sources from the observed multichannel audio. For the practical problem of unknown number of sources, existing localization algorithms attempt to predict a likelihood-based coding (i.e., spatial spectrum) and employ a pre-determined threshold to detect the source number and corresponding DOA value. However, these threshold-based algorithms are not stable since they are limited by the careful choice of threshold. To address this problem, we propose an iterative sound source localization approach called ISSL, which can iteratively extract each source's DOA without threshold until the termination criterion is met. Unlike threshold-based algorithms, ISSL designs an active source detector network based on binary classifier to accept residual spatial spectrum and decide whether to stop the iteration. By doing so, our ISSL can deal with an arbitrary number of sources, even more than the number of sources seen during the training stage. The experimental results show that our ISSL achieves significant performance improvements in both DOA estimation and source number detection compared with the existing threshold-based algorithms. Copyright © 2022, The Authors. All rights reserved.

关键词： Direction of arrival