检索结果-内蒙古大学图书馆

10th International Conference on Learning Representations, ICLR 2022

作者： Li, Jiayi Lu, Tao Cao, Xiaoge Cai, Yinghao Wang, Shuo School of Artificial Intelligence University of Chinese Academy of Sciences China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences China

Meta-Imitation Learning is a promising technique for the robot to learn a new task from observing one or a few human demonstrations. However, it usually requires a significant number of demonstrations both from humans and robots during the meta-training phase, which is a laborious and hard work for data collection, especially in recording the actions and specifying the correspondence between human and robot. In this work, we present an approach of meta-imitation learning by watching video demonstrations from humans. In comparison to prior works, our approach is able to translate human videos into practical robot demonstrations and train the meta-policy with adaptive loss based on the quality of the translated data. Our approach relies only on human videos and does not require robot demonstration, which facilitates data collection and is more in line with human imitation behavior. Experiments reveal that our method achieves the comparable performance to the baseline on fast learning a set of vision-based tasks through watching a single video demonstration. © 2022 ICLR 2022 - 10th International Conference on Learning Representationss. All rights reserved.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

Data-driven control of Event-triggered Linear systems 11

Data-driven Control of Event-triggered Linear Systems

引用

11th IEEE Data Driven control and Learning systems Conference, DDCLS 2022

作者： Wang, Xin Sun, Jian Wang, Gang State Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China

ISBN: (数字)9781665496759

ISBN: (纸本)9781665496759

The present paper considers the data-driven control of unknown linear time-invariant discrete-time systems under an event-triggering transmission scheme. To this end, we begin by presenting a dynamic event-triggering scheme (ETS) based on periodic sampling, and a discrete-time looped-functional (DLF) approach, through which a model-based stability condition is derived. Combining the model-based condition with a recent data-based system representation, a data-driven stability criterion in the form of linear matrix inequalities (LMIs) is established, which offers a way of co-designing the ETS matrix and the controller using pre-collected noisy input-state data. Finally, numerical simulations showcase the efficacy of ETS in reducing data transmissions as well as of the proposed co-design methods. © 2022 IEEE.

关键词： Stability criteria

来源：评论

学校读者我要写书评

暂无评论

Mutually trustworthy human-machine knowledge automation and hybrid augmented intelligence:mechanisms and applications of cognition,management,and control for complex systems

引用

Frontiers of Information Technology & Electronic Engineering 2022年第8期23卷 1142-1157页

作者： Fei-Yue WANG Jianbo GUO Guangquan BU Jun Jason ZHANG The State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China State Grid Cooperation of China Beijing 100031China China Electric Power Research Institute Beijing 100192China School of Electrical Engineering and Automation Wuhan UniversityWuhan 430072China

In this paper,we aim to illustrate the concept of mutually trustworthy human-machine knowledge automation(HM-KA)as the technical mechanism of hybrid augmented intelligence(HAI)based complex system cognition,management,and control(CMC).We describe the historical development of complex system science and analyze the limitations of human intelligence and machine *** need for using human-machine HAI in complex systems is then explained in *** concept of“mutually trustworthy HM-KA”mechanism is proposed to tackle the CMC challenge,and its technical procedure and pathway are demonstrated using an example of corrective control in bulk power grid *** is expected that the proposed mutually trustworthy HM-KA concept can provide a novel and canonical mechanism and benefit real-world practices of complex system CMC.

关键词： complex systems Human-machine knowledge automation Parallel systems Bulk power grid dispatch Artificial intelligence Internet of Minds(IoM)

来源：评论

学校读者我要写书评

暂无评论

VistaScenario: Interaction Scenario Engineering for Vehicles with Intelligent systems for Transport automation

arXiv

引用

arXiv 2024年

作者： Chang, Cheng Zhang, Jiawei Ge, Jingwei Zhang, Zuo Wei, Junqing Li, Li Wang, Fei-Yue DiDi Autonomous Driving Company Beijing100094 China The Department of Automation BNRist Tsinghua University Beijing100084 China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

Intelligent vehicles and autonomous driving systems rely on scenario engineering for intelligence and index (I&I), calibration and certification (C&C), and verification and validation (V&V). To extract and index scenarios, various vehicle interactions are worthy of much attention, and deserve refined descriptions and labels. However, existing methods cannot cope well with the problem of scenario classification and labeling with vehicle interactions as the core. In this paper, we propose VistaScenario framework to conduct interaction scenario engineering for vehicles with intelligent systems for transport automation. Based on the summarized basic types of vehicle interactions, we slice scenario data stream into a series of segments via spatiotemporal scenario evolution tree. We also propose the scenario metric Graph-DTW based on Graph Computation Tree and Dynamic Time Warping to conduct refined scenario comparison and labeling. The extreme interaction scenarios and corner cases can be efficiently filtered and extracted. Moreover, with naturalistic scenario datasets, testing examples on trajectory prediction model demonstrate the effectiveness and advantages of our framework. VistaScenario can provide solid support for the usage and indexing of scenario data, further promote the development of intelligent vehicles and transport automation. Copyright © 2024, The Authors. All rights reserved.

关键词： Intelligent systems

来源：评论

学校读者我要写书评

暂无评论

City-wide Solar Radiation Potential Analysis by Coupling Physical Modelling and Machine Learning

City-wide Solar Radiation Potential Analysis by Coupling Phy...

引用

2024 Symposium on Spatial Information to Empower the Metaverse

作者： Chen, Xiana Yu, Junxian Tu, Wei Chen, Long Guangdong Key Laboratory of Urban Informatics Shenzhen University Guangdong Shenzhen518060 China Ministry of Natural Resources Key Laboratory for Geo-Environmental Monitoring of Great Bay Area Shenzhen University Guangdong Shenzhen518060 China Shenzhen Key Laboratory of Spatial Smart Sensing and Services Guangdong Shenzhen518060 China School of Architecture and Urban Planning Shenzhen University Guangdong Shenzhen518060 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Addressing the challenges posed by climate change and meeting urban energy demands is of utmost importance in today's world. Building Integrated Photovoltaics (BIPV) emerges as a crucial solution for energy conservation and carbon emissions reduction in urban environments. However, traditional methods of assessing solar radiation on buildings using physical models are often computationally intensive and time-consuming. This paper introduces a novel hybrid approach that integrates physical model-based solar radiation calculation with machine learning techniques to analyze Solar Radiation Potential (SRP) across city-wide building infrastructure. The proposed approach precisely evaluates the SRP of representative blocks by leveraging computing-intensive physical models integrated with 3D building data. Subsequently, two machine learning models are developed to effectively predict the SRP of building roofs and facades across the entire city. To validate the efficacy of this approach, an experiment was conducted in Shenzhen, China, yielding insightful results. The findings reveal that Shenzhen has a huge potential for BIPV solar power generation, with mean annual total building roof and facade solar radiation values of 9.22 * 107kwℎ and 2.47 * 108kwℎ, respectively. It can be further observed that relying solely on rooftop installations is insufficient to meet electricity demand. This study not only provides an innovative alternative for city-wide SRP estimation by combining physical modeling and machine learning but also offers valuable insights for fostering low-carbon urban environments and informing data-driven and model-driven urban planning and management strategies. © Author(s) 2024.

关键词： Solar power generation

来源：评论

学校读者我要写书评

暂无评论

GLaLT: Global-Local Attention-Augmented Light Transformer for Scene Text Recognition

引用

IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING systems 2024年第7期35卷 10145-10158页

作者： Zhang, Hui Luo, Guiyang Kang, Jian Huang, Shan Wang, Xiao Wang, Fei-Yue Beijing Jiaotong Univ Sch Comp & Informat Technol Beijing 100044 Peoples R China Beijing Univ Posts & Telecommun State Key Lab Networking & Switching Technol Beijing 100876 Peoples R China Tsinghua Univ Dept Elect Engn Beijing 100084 Peoples R China China Telecom Beijing 100033 Peoples R China Tencent Dept Informat Secur Beijing 100193 Peoples R China Anhui Univ Sch Artificial Intelligence Hefei 230093 Peoples R China Chinese Acad Sci Inst Automation State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

Recent years have witnessed the growing popularity of connectionist temporal classification (CTC) and attention mechanism in scene text recognition (STR). CTC-based methods consume less time with few computational burdens, while they are not as effective as attention-based methods. To retain computational efficiency and effectiveness, we propose the global-local attention-augmented light Transformer (GLaLT), which adopts a Transformer-based encoder-decoder structure to orchestrate CTC and attention mechanism. The encoder integrates the self-attention module with the convolution module to augment the attention, where the self-attention module pays more attention to capturing long-term global dependencies and the convolution module focuses on local context modeling. The decoder consists of two parallel modules: one is the Transformer-decoder-based attention module and the other is the CTC module. The first one is removed in the testing phase and can guide the second one to extract robust features in the training phase. Extensive experiments on standard benchmarks demonstrate that GLaLT achieves state-of-the-art performance for both regular and irregular STR. In terms of tradeoffs, the proposed GLaLT is at or near the frontiers for maximizing speed, accuracy, and computational efficiency at the same time.

关键词： Text recognition Transformers Decoding Character recognition Feature extraction Image recognition Training Attention mechanism connectionist temporal classification (CTC) scene text recognition (STR)

来源：评论

学校读者我要写书评

暂无评论

Iterative assist-as-needed control with interaction factor for rehabilitation robots

引用

Science China(Technological Sciences) 2021年第4期64卷 836-846页

作者： CAO Ran CHENG Long YANG ChenGuang DONG Zhe School of Artificial Intelligence University'of Chinese Academy of SciencesBeijing 100049China State Key Laboratory for Management and Control of Complex Systems Institute of Automation.Chinese Academy of SciencesBeijing 100190China School of Automation Science and Engineering South China University of TechnologyGuangzhou 510641China School of Electrical and Control Engineering North China Universityof TechnologyBeijing 100144China

Rehabilitation robots for stroke patients have drawn considerable attention because they can reduce the economic and labor costs brought by traditional rehabilitation. control methods for rehabilitation robots have been developed to stimulate the active motion of patients and to improve the effectiveness of rehabilitation care. However, current control methods can only roughly adjust the system’s stiffness and may fail in achieving satisfactory performance. To this end, this paper introduces a novel cost function consisting of the tracking error term and the stiffness term. The cost function contains an interaction factor that represents the patient’s motion intention to balance the weight of these two terms. When the patients try to actively do training tasks, the weight of stiffness term increases, which leads to the larger allowable tracking error and lower stiffness eventually. An iterative updating law of the stiffness matrix is given to reduce the proposed cost function. Theoretical analysis based on the Lyapunov theory is given to ensure the feasibility of the proposed algorithm. Furthermore, a force estimation is used to improve interaction control performance. Finally, simulation experiments are provided to show the effectiveness of the proposed algorithm.

关键词： human-robot interaction impedance stiffness control rehabilitation

来源：评论

学校读者我要写书评

暂无评论

A New Recursive Composite Adaptive controller for Robot Manipulators

引用

Space(Science & Technology) 2021年第1期2021卷 77-83页

作者： Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In this paper,a new recursive implementation of composite adaptive control for robot manipulators is *** investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form,which,to our knowledge,is the first result on this point in the *** proposed algorithm has an amount of computation O(n),which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree *** manipulator of the Chinese Space Station is employed as a simulation example,and the results verify the effectiveness of this proposed recursive algorithm.

关键词： Robot manipulators robot

来源：评论

学校读者我要写书评

暂无评论

The Potential of Low-Altitude Airspace: The Future of Urban Air Transportation

IEEE Transactions on Intelligent Vehicles

引用

IEEE Transactions on Intelligent Vehicles 2024年第8期9卷 5250-5254页

作者： Hailong Huang Jiangcheng Su Fei-Yue Wang Department of Aeronautical and Aviation Engineering Hong Kong Polytechnic University Hong Kong China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Engineering Macau University of Science and Technology Macau China

Many megacities, such as London, New York, Paris, Tokyo, Beijing, and Shanghai, have been born due to urban- ization. While citizens enjoy the convenience of city life, such cities suffer from drawbacks of transportation: the average commute time has been increasing over the past years. With the maturity of electric vertical take-off and landing (eVTOL) aircraft technology, decision-makers have started to look upward to the low-altitude airspace. This blue space has the potential to reshape the transportation system and shorten the average travel time in daily life. To explore this emerging area, we held a Distributed/Decentralized Hybrid Workshop on Sustain- ability for Transportation and Logistics (DHW-STL), and this letter summarizes the outcomes of our discussion. Here, we first pinpoint the pain issues of conventional transportation. Then, we present the emerging low-altitude airspace transportation option, followed by a discussion on how such a new transportation option can integrate with the conventional ground-based transportation system. Some thoughts about the pathway to further development of the integrated transportation system are shared finally.

关键词： Aircraft Transportation Urban areas Air traffic control Traffic congestion Meters Aircraft propulsion Motors Logistics Indexes

来源：评论

学校读者我要写书评

暂无评论

Mechanical design paradigm based on ACP method in parallel manufacturing 1

Mechanical design paradigm based on ACP method in parallel m...

引用

1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Li, Shimeng Wang, Yutong Wang, Xiao Wang, Feiyue Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex Systems Beijing China Qingdao Academy of Intelligent Industries Qingdao China

ISBN: (纸本)9781665433372

Parallel Manufacturing is a new manufacturing paradigm in industry, deeply integrating informalization, automation, and artificial intelligence. In this paper we propose a new mechanical design paradigm in Parallel Manufacturing based on ACP method. The key is to regard the design procedure based on artificial design and emulation method as two independent procedures, which can be modeled as a parallel system. The design procedure based on ACP method does not include a real system, which is an inventive extension of the traditional parallel system. This method can be implemented with social information by introducing the definition of SDV, SDM, and Intelligent Design Manager, making it highly adaptive for social manufacturing and Parallel Manufacturing. © 2021 IEEE.

关键词： Manufacture

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：