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Transformer-Based Sequence Modeling with Action Discretization for Robotic Grasping

Transformer-Based Sequence Modeling with Action Discretizati...

引用

2024 China Automation Congress, CAC 2024

作者： Hou, Yaokun Zheng, Song Xu, Zhezhuang Yuan, Meng Huang, Ping Huang, Weibing College of Electrical Engineering and Automation Fuzhou University Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Fuzhou350000 China Evomotion Co. Ltd. Guangdong Shenzhen518000 China

ISBN: (纸本)9798350368604

The powerful representational and sequential modeling capabilities of Transformer have been validated in various fields such as natural language processing. However, how to better address sequential decision-making problems like robotic grasping through the Transformer architecture and achieve autonomous control of robotic grasping remains a longstanding challenge. Models that directly output continuous decision actions for robotic arms often rely on mean squared error (MSE) loss for training, which is unable to effectively handle the randomness and diversity of actions. This limitation leads to the generation of relatively singular actions in certain grasping scenarios, reducing the success rate of grasping. To address this issue, this paper proposes a Transformer-based method for discretizing robotic arm actions, where actions are discretized by dimension to enable autoregressive modeling. Experimental results demonstrate that this method effectively improves the grasping performance of robotic arms in simulation environments. © 2024 IEEE.

关键词： Mean square error

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Research on a rectangular microwave filter with rectangular groove

Research on a rectangular microwave filter with rectangular ...

引用

2022 International Symposium on Sensor Technology and control, ISSTC 2022

作者： Qian, Jun Hou, Yifeng School of Electronic and Information Engineering Wuzhou University Wuzhou Guangxi China Guangxi Key Laboratory of Image Processing and Intelligent Information System Wuzhou University Wuzhou Guangxi China

In this paper, a rectangular microwave filter with rectangular groove is designed. The filter adopts symmetrical three-stage structure. The first section is the slot line waveguide section to realize the input / output of microwave signal, the second section is the transition section, which adopts the impedance gradient structure, and the third section is the sspps section composed of periodic symmetrical rectangular groove and 90 degree bending structure. By adjusting the geometric size of the rectangular groove and its air gap, the passband width and stopband characteristics of the filter can be adjusted, and its microwave sub wavelength binding effect can be further improved, making the anti space electromagnetic interference ability of sspps filter more excellent. The filter can be applied to L ?s Band civil microwave communication system. © Published under licence by IOP Publishing Ltd.

关键词： Electromagnetic pulse

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Language Reasoning in Vision-Language-Action Model for Robotic Grasping

Language Reasoning in Vision-Language-Action Model for Robot...

引用

2024 China Automation Congress, CAC 2024

作者： Fan, Lingling Chen, Kang Xu, Zhezhuang Yuan, Meng Huang, Ping Huang, Weibing College of Electrical Engineering and Automation Fuzhou University Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Fuzhou350000 China Evomotion Co. Ltd. Guangdong Shenzhen518000 China

ISBN: (纸本)9798350368604

Grasping tasks are crucial for the interaction between the robot and environment, requiring the robot to make autonomous decisions based on environmental conditions and instructions. Recently, multimodal Vision Language Models (VLMs) have demonstrated significant potential for robotic grasping. However, previous work has often been confined to high-level planning due to the gap between the text output of VLMs and the numerical predictions of robot actions, as well as the challenges of transferring rich semantic information from large models to the prediction of grasping actions. In this paper, we co-fine-tune a pre-trained VLM using the mix of large-scale visual language data and robotic grasping trajectory data, integrating model into an end-to-end robot control system to construct a Vision Language Action Model (VLA) capable of generating the robot’s underlying actions. Simultaneously, to fully leverage the prior knowledge and reasoning capabilities of the pre-trained model, we insert a language reasoning structure to bridge the mapping from high-level tasks to low-level actions. This method first deduces the relevant information regarding the target object and the end-effector motions, followed by predicting the grasping actions value with finer granularity based on the language reasoning, thereby enhancing the accuracy of action predictions. A series of grasping experiments demonstrate that our method achieves a high grasping success rate under flexible language instructions and exhibits strong generalization capabilities for unseen objects and scenes. © 2024 IEEE.

关键词： Visual languages

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Integrating Regularization and PnP Priors for SAR Image Reconstruction Using Multi-agent Consensus Equilibrium

Integrating Regularization and PnP Priors for SAR Image Reco...

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2024 International Workshop on the Theory of Computational Sensing and its Applications to Radar, Multimodal Sensing and Imaging, CoSeRa 2024

作者： Fan, Yizhe Liu, Mingqian Shao, Mingxiao Zhang, Bingchen Wu, Yirong Aerospace Information Research Institute Chinese Academy of Sciences Beijing China Key Laboratory of Technology in Geo-spatial Information Processing and Application System China University of Chinese Academy of Sciences School of Electronic Electrical and Communication Engineering China Aeronautical Remote Sensing Center Chinese Academy of Sciences China

ISBN: (纸本)9798350365504

Multi-agent consensus equilibrium mechanism is a generalization of popular used PnP-ADMM method and composite regularization in computational sensing. We propose a novel SAR image sparse reconstruction method based on MACE mechanism. High-quality SAR images necessitate low ambiguity, high SNR, and low coherent speckle. We therefore integrate regularization priors and PnP priors for azimuth ambiguity suppression, sparsity inducing and despeckling. The proposed method's performance is evaluated through experiments on both simulated and QILU-1 satellite SAR data. © 2024 IEEE.

关键词： Image reconstruction

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Research on a Microwave Filter with Pentagram Grooves 3

Research on a Microwave Filter with Pentagram Grooves

引用

2022 3rd International Conference on Electrical, Electronic information and Communication Engineering, EEICE 2022

作者： Hou, Y.F. Qian, J. School of Electronic and Information Engineering Wuzhou University Guangxi Wuzhou China Guangxi Key Laboratory of Image Processing and Intelligent Information System Wuzhou University Guangxi Wuzhou China

This paper introduces a microwave filter with pentagram grooves, which belongs to an artificial surface plasmon (SSPPs) type microwave bandpass *** filter adopts a two-stage structure. The first section is a slot-line waveguide section, and one side of this section adopts an exponential curve structure to prevent sudden changes in electromagnetic impedance and achieve a good connection with the second *** second segment is the SSPPs segment, which adopts a novel mirror-symmetric pentagram-shaped groove air gap structure. By adjusting the geometric size of the pentagram-shaped groove, the microwave subwavelength confinement effect can be further improved,making the SSPPs filter more excellent in pass-band characteristics and anti-space electromagnetic *** filter can be applied to the civil microwave communication system of L~1/4S band. © Published under licence by IOP Publishing Ltd.

关键词： Microwave filters

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A Probabilistic Topology Inference Method for Networked Dynamical system via Single Excitation

A Probabilistic Topology Inference Method for Networked Dyna...

引用

IEEE Conference on Decision and control

作者： Qing Jiao Yushan Li Jianping He Dept. of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

A growing number of works have investigated inferring the topology of networked dynamical systems from observations, such as to better understand the system behaviour. Despite the tremendous advances, most of them require the observations to be abundant. This paper focuses on inferring the topology by injecting single excitation on a node and collecting several steps of noisy observations. The problem is challenging because the noises cannot be depressed in several observations and are mixed with the injected excitation, making it hard to directly reveal the topology. To practice, we develop a probabilistic method based on the hypothesis test framework. First, we infer the neighbors that are within h-hop of the excited node and derive the accuracy guarantees. Then, we extend the method to infer the exact h-hop neighbors. A computable lower bound for the accuracy probability is established to provide confidence support in the inference procedures. Furthermore, we give the conditions of excitation input to ensure a desired inference probability, which provides guidance for the input design. Numerical simulations are conducted to verify the effectiveness of the proposed method.

关键词： Lower bound Accuracy Network topology Noise Probabilistic logic Numerical simulation Topology Noise measurement Reliability Dynamical systems

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Research on a Microwave Band-pass Filter 2

Research on a Microwave Band-pass Filter

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2nd International Conference on Electronic Materials and information Engineering, EMIE 2022

作者： Qian, Jun Hou, Yifeng School of Electronic and Information Engineering Wuzhou University Guangxi Wuzhou China Guangxi Key Laboratory of Image Processing and Intelligent Information System Wuzhou University Guangxi Wuzhou China

ISBN: (纸本)9781713865629

This paper introduces a broadband microwave bandpass filter. The structure of the filter is a filter cavity formed by two balanced dielectric sheets. On the two dielectric sheets, the relative face of the microwave input end and the microwave output end is symmetrically provided with a guided wave surface, the middle face is symmetrically provided with a filter groove surface for filtering, and the surface of an exponential curve structure is arranged along the microwave transmission direction, A plurality of arc-shaped filter grooves are arranged on the opposite surface of the dielectric sheet perpendicular to the microwave transmission direction. This special structure is analyzed and calculated by the finite difference time domain method. The results show that the filter can fully improve the subwavelength binding effect in microwave band and make the anti electromagnetic interference ability of the filter better. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Finite difference time domain method

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Early Forest Fire Detection Based on Deep Learning 3

Early Forest Fire Detection Based on Deep Learning

引用

3rd International Conference on Industrial Artificial Intelligence, IAI 2021

作者： Li, Mengna Zhang, Youmin Mu, Lingxia Xin, Jing Yu, Ziquan Liu, Han Xie, Guo Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Shaanxi Xi'an710048 China

ISBN: (纸本)9781665435178

Early fire detection is very important for preventing forest fires. In this paper, a new image-based fire detection algorithm, named as h-EfflcientDet, is proposed to complete the task of early forest fire detection. h-EfflcientDet is based on a popular deep learning approach EfficientDet (scalable and efficient object detection) by replacing the nonlinear activation function swish of the EfficientDet with the hard version of swish and combing also with an efficient feature fusion network BIFPN (bidirectional feature pyramid network), which can improve significantly the efficiency of the fire detection model. The experiment results show that the proposed h-EfficientDet can detect the fire in real-time with the detection speed of 21 FPS. The detection accuracy is up to 98.35% with a low miss detection rate. © 2021 IEEE.

关键词： Fires

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Receiver system Design for Universal Polyphase DFT Digital Channelization Algorithm 5

Receiver System Design for Universal Polyphase DFT Digital C...

引用

5th IEEE International Conference on Electronics Technology, ICET 2022

作者： Lu, Shihang Su, Zhengyu Liao, Kaisheng Li, Chao Xiao, Zhuoling Yan, Bo Lin, Shuisheng Wu, Bo University of Electronic Science and Technology of China Science and Technology on Electronic Information Control Laboratory National Key Laboratory of Science and Technology on Blind Signal Processing School of Information and Communication Engineering China

ISBN: (纸本)9781665485081

Receiver plays a vital role in various electronic countermeasure systems and has always been a hot topic to research. Based on the traditional receiver digital channelization structure, this paper further researches and derives the high-efficiency digital channelization structure based on polyphase discrete Fourier transform corresponding to various application scenarios. Then we design a 256-sub-channel digital channelization system and implement it on a 64-channel parallel digital down converter to verify the structure. The system design relies on system on chip as the platform, and we verify the feasibility of it on field programmable gate array. © 2022 IEEE.

关键词： system-on-chip

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A Fuzzy Creative Works Generation Algorithm Based on Graph Neural Network 6th

A Fuzzy Creative Works Generation Algorithm Based on Graph N...

引用

6th Euro-China Conference on Intelligent Data Analysis and Applications, ECC 2019

作者： Zhang, Fuquan Wang, Yiou Zhao, Guifen Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou350121 China Beijing Institute of Science and Technology Information Beijing100044 China

ISBN: (纸本)9789811650352

A fuzzy creative works generation algorithm based on graph neural network is proposed. Firstly, the multi-label fuzzy creative data set is constructed. Secondly, fuzzy logical correlations between creative objects are dynamically calculated by graphical neural networks to capture relevant digital objects and their relationships. Thirdly, the projectiles, boundary markers and location words of the creative scene objects are generated by analyzing related attributes of each entity based on graph neural network. Fuzzy creative works are automatically generated by adjusting the appropriate location. Finally, the experiments are deployed, and experimental results show that the accuracy rate of the proposed algorithm is improved by 9.6% on average compared with the manual selection, which indicates the feasibility of the proposed algorithm replacing the manual selection. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Fuzzy neural networks

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