Robotic Servo Tracking of Moving Targets with Dynamic Imitation Constraints
为解决机器人视觉伺服中对移动目标的轨迹约束问题,提出了一种基于模仿轨迹约束的伺服跟踪方法,通过动态模型和实时轨迹生成机制实现高精度跟踪。
为解决机器人视觉伺服中对移动目标的轨迹约束问题,提出了一种基于模仿轨迹约束的伺服跟踪方法,通过动态模型和实时轨迹生成机制实现高精度跟踪。
MOTIF框架通过语义动机推理、知识增强图重构等方法解决冷启动多模态推荐中的交互稀疏、项目拓扑孤立和语义漂移问题。
论文提出GSToken方法,通过在token中编码几何信息来改进3D医学图像的紧凑表示,解决了现有方法丢失空间形状信息的问题。
This study addresses the poor generalization in 3D Gaussian self-supervised learning caused by attribute coupling and proposes the Gaussian-JEPA framework. By replacing pixel-level reconstruction with latent space prediction, this method leverages a joint embedding architecture and multi-scale target generation to decouple geometric and appearance supervision, enabling efficient decoder-free representation learning. Experiments demonstrate that the model yields more consistent representations under resampling and partial observation conditions. Furthermore, frozen features from Gaussian-JEPA significantly outperform those from traditional reconstruction-based pretraining across downstream tasks, including shape completion, part segmentation, and classification. These results confirm that the proposed approach effectively enhances the versatility and reusability of 3D Gaussian representations, establishing a robust foundation for diverse 3D vision applications without requiring task-specific fine-tuning of the backbone encoder.
This work addresses the vulnerability of sensing information leakage in integrated sensing and communication (ISAC) systems due to the open nature of wireless channels. It proposes, for the first time, leveraging passive ambient Internet-of-Things (AIoT) devices as cooperative jammers and virtual targets to actively establish a physical-layer sensing security mechanism. By jointly optimizing base station transmit beamforming and AIoT reflection modulation, the approach injects controlled interference without relying on conventional encryption, thereby preserving sensing and communication performance for legitimate users while degrading an eavesdropper’s ability to estimate target parameters. An efficient algorithm based on the Dinkelbach transformation and block coordinate descent is developed to solve the resulting non-convex optimization problem. Experimental results demonstrate that the legitimate receiver achieves a 14 dB SNR gain in detection probability and exhibits parameter estimation errors two orders of magnitude lower than those of the eavesdropper, significantly enhancing sensing privacy and security.
为解决机器人视觉伺服中对移动目标的轨迹约束问题,提出了一种基于模仿轨迹约束的伺服跟踪方法,通过动态模型和实时轨迹生成机制实现高精度跟踪。
MOTIF框架通过语义动机推理、知识增强图重构等方法解决冷启动多模态推荐中的交互稀疏、项目拓扑孤立和语义漂移问题。
论文提出GSToken方法,通过在token中编码几何信息来改进3D医学图像的紧凑表示,解决了现有方法丢失空间形状信息的问题。
This study addresses the poor generalization in 3D Gaussian self-supervised learning caused by attribute coupling and proposes the Gaussian-JEPA framework. By replacing pixel-level reconstruction with latent space prediction, this method leverages a joint embedding architecture and multi-scale target generation to decouple geometric and appearance supervision, enabling efficient decoder-free representation learning. Experiments demonstrate that the model yields more consistent representations under resampling and partial observation conditions. Furthermore, frozen features from Gaussian-JEPA significantly outperform those from traditional reconstruction-based pretraining across downstream tasks, including shape completion, part segmentation, and classification. These results confirm that the proposed approach effectively enhances the versatility and reusability of 3D Gaussian representations, establishing a robust foundation for diverse 3D vision applications without requiring task-specific fine-tuning of the backbone encoder.
This work addresses the vulnerability of sensing information leakage in integrated sensing and communication (ISAC) systems due to the open nature of wireless channels. It proposes, for the first time, leveraging passive ambient Internet-of-Things (AIoT) devices as cooperative jammers and virtual targets to actively establish a physical-layer sensing security mechanism. By jointly optimizing base station transmit beamforming and AIoT reflection modulation, the approach injects controlled interference without relying on conventional encryption, thereby preserving sensing and communication performance for legitimate users while degrading an eavesdropper’s ability to estimate target parameters. An efficient algorithm based on the Dinkelbach transformation and block coordinate descent is developed to solve the resulting non-convex optimization problem. Experimental results demonstrate that the legitimate receiver achieves a 14 dB SNR gain in detection probability and exhibits parameter estimation errors two orders of magnitude lower than those of the eavesdropper, significantly enhancing sensing privacy and security.