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Fast and Adaptive Multi-Agent Planning under Collaborative Temporal Logic Tasks via Poset Products

Research 2024年第2期2024卷 81-94页

作者： Zesen Liu Meng Guo Weimin Bao Zhongkui Li deparment of Mechanics and Engineering science College of EngineeringPeking UniversityBejing 0081 China science and technology Commission of China Aerospace science and technology Corporation Beijing 100048China

Efficient coordination and planning is essential for large-scale multi-agent systems that collaborate in a shared dynamic environment. Heuristic search methods or learning-based approaches often lack the guarantee on correctness and performance. Moreover, when the collaborative tasks contain both spatial and temporal requirements, e.g., as linear temporal logic (LTL) formulas, formal methods provide a verifiable framework for task planning. However, since the planning complexity grows exponentially with the number of agents and the length of the task formula, existing studies are mostly limited to small artificial cases. To address this issue, a new planning paradigm is proposed in this work for system-wide temporal task formulas that are released online and continually. It avoids two common bottlenecks in the traditional methods, i.e., (a) the direct translation of the complete task formula to the associated B點hi automaton and (b) the synchronized product between the B點hi automaton and the transition models of all agents. Instead, an adaptive planning algorithm is proposed, which computes the product of relaxed partially ordered sets (R-posets) on-the-fly and assigns these subtasks to the agents subject to the ordering constraints. It is shown that the first valid plan can be derived with a polynomial time and memory complexity with respect to the system size and the formula length. Our method can take into account task formulas with a length of more than 400 and a fleet with more than 400 agents, while most existing methods fail at the formula length of 25 within a reasonable duration. The proposed method is validated on large fleets of service robots in both simulation and hardware experiments.

关键词： hardware service system

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Fast Cross-Platform Binary Code Similarity Detection Framework Based on CFGs Taking Advantage of NLP and Inductive GNN

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Chinese Journal of Electronics 2024年第1期33卷 128-138页

作者： Jinxue PENG Yong WANG Jingfeng XUE Zhenyan LIU School of computer science and technology Beijing Institute of Technology

Cross-platform binary code similarity detection aims at detecting whether two or more pieces of binary code are similar or not. Existing approaches that combine control flow graphs(CFGs)-based function representation and graph convolutional network(GCN)-based similarity analysis are the best-performing ones. Due to a large amount of convolutional computation and the loss of structural information, the use of convolution networks will inevitably bring problems such as high overhead and sometimes inaccuracy. To address these issues, we propose a fast cross-platform binary code similarity detection framework that takes advantage of natural language processing(NLP)and inductive graph neural network(GNN) for basic blocks embedding and function representation respectively by simulating extracting structural features and temporal features. GNN’s node-centric and small batch is a suitable training way for large CFGs, it can greatly reduce computational overhead. Various NLP basic block embedding models and GNNs are evaluated. Experimental results show that the scheme with long short term memory(LSTM)for basic blocks embedding and inductive learning-based Graph SAGE(GAE) for function representation outperforms the state-of-the-art works. In our framework, we can take only 45% overhead. Improve efficiency significantly with a small performance trade-off.

关键词： Training Semantics Process control Binary codes Feature extraction Natural language processing Graph neural networks

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Multimodal Dependence Attention and Large-Scale Data Based Offline Handwritten Formula Recognition

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Journal of computer science & technology 2024年第3期39卷 654-670页

作者：刘汉超董兰芳张信明 School of computer science and technology University of Science and Technology of ChinaHefei 230022China

Offline handwritten formula recognition is a challenging task due to the variety of handwritten symbols and two-dimensional formula ***,the deep neural network recognizers based on the encoder-decoder frame-work have achieved great improvements on this ***,the unsatisfactory recognition performance for formulas with long LTeX strings is one shortcoming of the existing ***,lacking sufficient training data also limits the capability of these *** this paper,we design a multimodal dependence attention(MDA)module to help the model learn visual and semantic dependencies among symbols in the same formula to improve the recognition perfor-mance of the formulas with long LTeX *** alleviate overfitting and further improve the recognition performance,we also propose a new dataset,Handwritten Formula Image Dataset(HFID),which contains 25620 handwritten formula images collected from real *** conduct extensive experiments to demonstrate the effectiveness of our proposed MDA module and HFID dataset and achieve state-of-the-art performances,63.79%and 65.24%expression accuracy on CROHME 2014 and CROHME 2016,respectively.

关键词： handwritten formula recognition multimodal dependence attention semantic dependence visual dependence Handwritten Formula Image Dataset

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Local saliency consistency-based label inference for weakly supervised salient object detection using scribble annotations

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CAAI Transactions on Intelligence technology 2024年第1期9卷 239-249页

作者： Shuo Zhao Peng Cui Jing Shen Haibo Liu School of computer science and technology Harbin University of Science and TechnologyHarbinChina School of computer science and technology Harbin Engineering UniversityHarbinChina

Recently,weak supervision has received growing attention in the field of salient object detection due to the convenience of ***,there is a large performance gap between weakly supervised and fully supervised salient object detectors because the scribble annotation can only provide very limited foreground/background ***,an intuitive idea is to infer annotations that cover more complete object and background regions for *** this end,a label inference strategy is proposed based on the assumption that pixels with similar colours and close positions should have consistent ***,k-means clustering algorithm was first performed on both colours and coordinates of original annotations,and then assigned the same labels to points having similar colours with colour cluster centres and near coordinate cluster ***,the same annotations for pixels with similar colours within each kernel neighbourhood was set *** experiments on six benchmarks demonstrate that our method can significantly improve the performance and achieve the state-of-the-art results.

关键词： label inference salient object detection weak supervision

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Minimal Context-Switching Data Race Detection with Dataflow Tracking

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Journal of computer science & technology 2024年第1期39卷 211-226页

作者：郑龙李洋辛杰刘海峰郑然廖小飞金海 National Engineering Research Center for Big Data technology and System School of Computer Science and Technology Huazhong University of Science and TechnologyWuhan 430074China Services Computing technology and System Laboratory School of Computer Science and TechnologyHuazhong University of Science and TechnologyWuhan 430074China Cluster and Grid Computing Laboratory School of Computer Science and TechnologyHuazhong University of Science and TechnologyWuhan 430074China

Data race is one of the most important concurrent anomalies in multi-threaded *** con-straint-based techniques are leveraged into race detection,which is able to find all the races that can be found by any oth-er sound race ***,this constraint-based approach has serious limitations on helping programmers analyze and understand data ***,it may report a large number of false positives due to the unrecognized dataflow propa-gation of the ***,it recommends a wide range of thread context switches to schedule the reported race(in-cluding the false one)whenever this race is exposed during the constraint-solving *** ad hoc recommendation imposes too many context switches,which complicates the data race *** address these two limitations in the state-of-the-art constraint-based race detection,this paper proposes DFTracker,an improved constraint-based race detec-tor to recommend each data race with minimal thread context ***,we reduce the false positives by ana-lyzing and tracking the dataflow in the *** this means,DFTracker thus reduces the unnecessary analysis of false race *** further propose a novel algorithm to recommend an effective race schedule with minimal thread con-text switches for each data *** experimental results on the real applications demonstrate that 1)without removing any true data race,DFTracker effectively prunes false positives by 68%in comparison with the state-of-the-art constraint-based race detector;2)DFTracker recommends as low as 2.6-8.3(4.7 on average)thread context switches per data race in the real world,which is 81.6%fewer context switches per data race than the state-of-the-art constraint based race ***,DFTracker can be used as an effective tool to understand the data race for programmers.

关键词： data race satisfiability modulo theory multi-threaded program dynamic detection

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Memory-enhanced text style transfer with dynamic style learning and calibration

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science China(Information sciences) 2024年第4期67卷 181-196页

作者： Fuqiang LIN Yiping SONG Zhiliang TIAN Wangqun CHEN Diwen DONG Bo LIU College of computer science and technology National University of Defense Technology Department of computer science and Engineering The Hong Kong University of Science and Technology Strategic Assessments and Consultation Institute Academy of Military Sciences

Text style transfer aims to rephrase a sentence to match the desired style while retaining the original content. As a controllable text generation task, mainstream approaches use content-independent style embedding as control variables to guide stylistic generation. Nonetheless, stylistic properties are contextsensitive even under the same style. For example, “delicious” and “helpful” convey positive sentiments,although they are more likely to describe food and people, respectively. Therefore, desired style signals must vary with the content. To this end, we propose a memory-enhanced transfer method, which learns fine-grained style representation concerning content to assist transfer. Rather than employing static style embedding or latent variables, our method abstracts linguistic characteristics from training corpora and memorizes subdivided content with the corresponding style representations. The style signal is dynamically retrieved from memory using the content as a query, providing a more expressive and flexible latent style space. To address the imbalance between quantity and quality in different content, we further introduce a calibration method to augment memory construction by modeling the relationship between candidate *** results obtained using three benchmark datasets confirm the superior performance of our model compared to competitive approaches. The evaluation metrics and case study also indicate that our model can generate diverse stylistic phrases matching context.

关键词： style transfer memory-enhanced method text generation deep learning text representation

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Deep Guided Attention Network for Joint Denoising and Demosaicing in Real Image

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Chinese Journal of Electronics 2024年第1期33卷 303-312页

作者： Tao ZHANG Ying FU Jun ZHANG School of computer science and technology Beijing Institute of Technology Advanced Reasearch Institute of Multidisciplinary science Beijing Institute of Technology

Denoising(DN) and demosaicing(DM) are the first crucial stages in the image signal processing pipeline. Recently, researches pay more attention to solve DN and DM in a joint manner, which is an extremely undetermined inverse problem. Existing deep learning methods learn the desired prior on synthetic dataset, which limits the generalization of learned network to the real world data. Moreover, existing methods mainly focus on the raw data property of high green information sampling rate for DM, but occasionally exploit the high intensity and signalto-noise(SNR) of green channel. In this work, a deep guided attention network(DGAN) is presented for real image joint DN and DM(JDD), which considers both high SNR and high sampling rate of green information for DN and DM, respectively. To ease the training and fully exploit the data property of green channel, we first train DN and DM sub-networks sequentially and then learn them jointly, which can alleviate the error accumulation. Besides, in order to support the real image JDD, we collect paired raw clean RGB and noisy mosaic images to conduct a realistic dataset. The experimental results on real JDD dataset show the presented approach performs better than the state-of-the-art methods, in terms of both quantitative metrics and qualitative visualization.

关键词： Training Visualization Inverse problems Green products Noise reduction Pipelines Signal processing

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Hybrid concurrency control protocol for data sharing among heterogeneous blockchains

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Frontiers of computer science 2024年第3期18卷 1-12页

作者： Tiezheng GUO Zhiwei ZHANG Ye YUAN Xiaochun YANG Guoren WANG School of computer science and technology Beijing Institute of TechnologyBeijing 100029China School of computer science and Engineering Northeastern UniversityShenyang 110167China

With the development of information technology and cloud computing,data sharing has become an important part of scientific *** traditional data sharing,data is stored on a third-party storage platform,which causes the owner to lose control of the *** a result,there are issues of intentional data leakage and tampering by third parties,and the private information contained in the data may lead to more significant ***,data is frequently maintained on multiple storage platforms,posing significant hurdles in terms of enlisting multiple parties to engage in data sharing while maintaining *** this work,we propose a new architecture for applying blockchains to data sharing and achieve efficient and reliable data sharing among heterogeneous *** design a new data sharing transaction mechanism based on the system architecture to protect the security of the raw data and the processing *** also design and implement a hybrid concurrency control protocol to overcome issues caused by the large differences in blockchain performance in our system and to improve the success rate of data sharing *** took Ethereum and Hyperledger Fabric as examples to conduct crossblockchain data sharing *** results show that our system achieves data sharing across heterogeneous blockchains with reasonable performance and has high scalability.

关键词： data sharing blockchain concurrency control protocol crosschain

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Formal Verification of Robot Forward Kinematics Based on DH Coordinate System

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Ruan Jian Xue Bao/Journal of Software 2024年第9期35卷

作者： Xie, Guo-Jun Yang, Huan-Huan Shi, Zheng-Pu Chen, Gang College of computer science and technology Nanjing University of Aeronautics and Astronautics Nanjing 211106 China College of computer science and technology National University of Defense Technology Changsha 410073 China

The DH coordinate system plays a vital role in analyzing robot kinematics. In the robot control system built upon the DH coordinate system, the robot structure complexity poses challenges to developing a secure control system. Depending solely on manual methods can introduce system vulnerabilities and security hazards, thereby endangering the overall safety of the robot. The formal method becomes a promising direction to design, develop, and verify hardware and software systems by deductive reasoning and code extraction. Based on this, this study designs a formal verification framework for robot forward kinematics based on the DH calibration, during which the robot kinematics theory is rigorously proven and the correctness of the control algorithm in Coq is verified to ensure the motion safety of the robot. First, it formally models the DH coordinate system, defines the transformation matrix among adjacent coordinate systems, and verifies the equivalence of this transformation matrix with the composite helical motion. Then, the forward kinematics of the robotic arm is formally defined, with its motion detachability verified. Subsequently, this study formally models the common connecting rod structures and robots in industrial robots and verifies their forward kinematics. Finally, the code extraction from Coq to OCaml is implemented, and the extracted code is analyzed and verified. © 2024 Chinese Academy of sciences. All rights reserved.

关键词： Formal verification

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APF-GAN:Exploring asymmetric pre-training and fine-tuning strategy for conditional generative adversarial network

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Computational Visual Media 2024年第1期10卷 187-192页

作者： Yuxuan Li Lingfeng Yang Xiang Li College of computer science Nankai UniversityTianjinChina School of computer science and Engineering Nanjing University of Science and TechnologyNanjingChina

The use of generative adversarial network(GAN)-based models for the conditional generation of image semantic segmentation has shown promising results in recent ***,there are still some limitations,including limited diversity of image style,distortion of detailed texture,unbalanced color tone,and lengthy training *** address these issues,we propose an asymmetric pre-training and fine-tuning(APF)-GAN model.

关键词： tuning network asymmetric

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