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A Novel graph-embedded musical chairs optimization with secure elliptic encryption framework for intelligent edge computing in healthcare iot networks 基于安全椭圆加密框架的新型嵌入式音乐椅优化,用于医疗物联网智能边缘计算
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2026-01-01 Epub Date: 2025-11-05 DOI: 10.1016/j.jii.2025.101007
R. Gowthamani , S. Oswalt Manoj
Internet of Things (IoT) health systems have severe issues distinguishing malicious from legitimate traffic and ensuring secure and efficient data transmission for real-time patient care. Existing solutions have high complexity, low dynamic attack adaptability, and low encryption strength. For the purpose of solving these problems, this study suggests a security-enhanced intelligent edge computing system that involves Normalized Distance-Based Encoding (NDBE) for effective feature extraction, Adaptive Layout Decomposition with Graph Embedding Neural Networks (ADGENN) for malicious data identification, Musical Chairs Optimization Algorithm (MCOA) for adaptive hyperparameter tuning, and a novel Light-weight Dynamic Elliptic Curve Cryptography with Schoof's Algorithm (LDECCSA) for data encryption protection. Together, these modules enhance classification efficiency, reduce computational costs, and facilitate low-latency, safe communication. Evaluated on the ToN-IoT and CICIoMT2024 dataset, the system achieves up to 99.87 % accuracy, 97 % throughput, and a low latency of 1.2 s, which performs better than current cutting-edge solutions by a large margin. The significance of this work is that it has the capacity to handle some of the most significant issues in healthcare. Systems are currently confronting, wherein IoT devices and edge computing have taken patient tracking to a new height, but also created gargantuan challenges such as cyberattacks, data breaches, and performance congestion. The major novelties are the application of NDBE for pre-processing network traffic, dynamic graph-based classification through ADGENN, resource-aware optimization through MCOA, and light-weighted, secure ECC with dynamic curve generation. While the model shows better efficiency and resilience, its dependence on pre-labeled datasets might restrict flexibility towards unknown real-world threats, and resource-limited IoT devices might struggle with heavy computation. In summary, the framework offers a real-world, scalable solution for real-time threat identification, secure data transfer, and effective healthcare surveillance in an IoT-based, cutting-edge healthcare environment.
物联网(IoT)卫生系统在区分恶意流量和合法流量以及确保安全高效的数据传输以实现实时患者护理方面存在严重问题。现有的解决方案存在复杂度高、动态攻击适应性差、加密强度低等问题。为了解决这些问题,本研究提出了一种安全增强的智能边缘计算系统,该系统包括用于有效特征提取的归一化距离编码(NDBE)、用于恶意数据识别的基于图嵌入神经网络的自适应布局分解(ADGENN)、用于自适应超参数调优的音乐椅子优化算法(MCOA)、用于自适应超参数调优的智能边缘计算系统。基于Schoof算法的轻型动态椭圆曲线加密(LDECCSA)数据加密保护。这些模块共同提高了分类效率,降低了计算成本,并促进了低延迟、安全的通信。在ToN-IoT和CICIoMT2024数据集上进行评估,该系统达到99.87%的准确率、97%的吞吐量和1.2 s的低延迟,大大优于当前的前沿解决方案。这项工作的意义在于,它有能力处理医疗保健中一些最重要的问题。系统目前面临的问题是,物联网设备和边缘计算将患者跟踪带到了一个新的高度,但也带来了巨大的挑战,如网络攻击、数据泄露和性能拥堵。主要的创新点是应用NDBE对网络流量进行预处理,通过ADGENN进行基于动态图的分类,通过MCOA进行资源感知优化,以及采用动态曲线生成的轻量级安全ECC。虽然该模型显示出更好的效率和弹性,但它对预标记数据集的依赖可能会限制对未知现实世界威胁的灵活性,并且资源有限的物联网设备可能会在繁重的计算中挣扎。总之,该框架为基于物联网的尖端医疗保健环境中的实时威胁识别、安全数据传输和有效医疗保健监控提供了一个真实的、可扩展的解决方案。
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引用次数: 0
Onboard camera-LiDAR deployment optimization: Towards applications for pavement distress detection with multi-sensor fusion 车载摄像头-激光雷达部署优化:面向多传感器融合的路面遇险检测应用
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2026-01-01 Epub Date: 2025-11-29 DOI: 10.1016/j.jii.2025.101018
Ganghao Sun , Ciyun Lin , Bowen Gong , Hongchao Liu
Multi-sensor fusion has emerged as a solution for accuracy and cost-effective pavement distress detection. However, optimizing the deployment to utilize sensors’ diverse capabilities and enhance their effectiveness has not been thoroughly addressed. Therefore, this study proposed a novel framework for onboard camera-LiDAR deployment optimization. First, mathematical models were formulated to calculate the scanning area of different sensors, taking into account their inherent attributes and external factors. Then, the differential evolutionary algorithm was improved to solve the object function to maximize the overlap area and optimize the deployment parameters. Finally, simulations and field experiments were conducted to verify the reliability of the proposed model. Experimental results demonstrated that the method achieved mean relative errors of 6.80% and 6.89% for points number deviation, and 2.89% and 2.52% with overlap area deviations in simulation and field tests, respectively, which indicated the effective of the proposed method for detecting pavement distress.
多传感器融合已成为准确且经济有效的路面损伤检测解决方案。然而,优化部署以利用传感器的各种功能并提高其有效性尚未得到彻底解决。因此,本研究提出了车载摄像头-激光雷达部署优化的新框架。首先,考虑不同传感器的固有属性和外部因素,建立数学模型计算不同传感器的扫描面积;然后,对差分进化算法进行改进,求解目标函数,使重叠面积最大化,优化部署参数;最后,通过仿真和现场试验验证了模型的可靠性。实验结果表明,该方法对点数偏差的平均相对误差为6.80%,对重叠面积偏差的平均相对误差为6.89%,对路面破损检测的平均相对误差为2.89%,对路面破损检测的平均相对误差为2.52%,表明了该方法的有效性。
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引用次数: 0
Behavioral planning and parameter meta learning for embodied intelligence robots in adaptive assembly 自适应装配中具身智能机器人的行为规划和参数元学习
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2026-01-01 Epub Date: 2025-10-30 DOI: 10.1016/j.jii.2025.100995
Baotong Chen , Guangjun Xu , Lei Wang , Chun Jiang , Zelin Zhang , Zhaohui Wang , Xuhui Xia
Embodied intelligence (EI) is an emerging frontier in robotics that tightly integrates perception, action, and cognition. By continuously interacting with their environments, EI robots can self-evolve and adapt to uncertainties in flexible assembly tasks, thereby enhancing adaptability and execution efficiency. This paper proposes a behavioral planning and parameter meta learning approach for EI robots in adaptive assembly, with the aims of enabling low-code/no-code execution in complex assembly scenarios. This method leverages sensors to capture real-time environmental data and adopts a blackboard mechanism for information storage and sharing, thereby ensuring seamless data flow. The synergistic integration of PDDL-based reasoning with behavior tree orchestration is deployed to achieve dynamic behavior planning. Furthermore, a motion feedback-driven closed loop for parameter meta learning and behavior evolution is constructed based on the PEARL (Probabilistic Embedding for Actor-Critic Reinforcement Learning) and SAC (Soft Actor-Critic) algorithms. The proposed method was validated through a series of hole-and-axis assembly simulations under interference conditions. In addition, we evaluated robustness under different tolerances. The framework maintained a success rate of over 94% and stable adaptive latency under all tolerance levels, with faster adaptation speed, higher precision, and better efficiency.
具身智能(EI)是机器人领域的一个新兴前沿,它将感知、行动和认知紧密结合在一起。EI机器人通过与环境的不断交互,能够自我进化,适应柔性装配任务中的不确定性,从而提高适应性和执行效率。本文提出了一种用于EI机器人自适应装配的行为规划和参数元学习方法,目的是在复杂的装配场景中实现低代码/无代码执行。该方法利用传感器捕捉实时环境数据,采用黑板机制进行信息存储和共享,保证数据的无缝流动。将基于pddl的推理与行为树编排协同集成,实现动态行为规划。此外,基于PEARL (probability Embedding for Actor-Critic Reinforcement learning)和SAC (Soft Actor-Critic)算法,构建了用于参数元学习和行为进化的运动反馈驱动闭环。通过一系列干涉条件下的孔轴装配仿真验证了该方法的有效性。此外,我们还评估了不同公差下的稳健性。该框架在所有容差级别下均保持94%以上的成功率和稳定的自适应延迟,具有更快的自适应速度、更高的精度和更高的效率。
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引用次数: 0
Physical AI in cyber-physical systems: from digital to embodied industrial agents 网络物理系统中的物理人工智能:从数字到实体工业代理
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2026-01-01 Epub Date: 2025-12-15 DOI: 10.1016/j.jii.2025.101038
Didem Gurdur Broo
The rapid advancement of digital artificial intelligence has created unrealistic expectations about its transfer to physical industrial systems. This commentary critically examines the fundamental misalignment between digital AI capabilities and the complex requirements of industrial cyber-physical systems. While digital AI excels in pattern recognition and virtual environments, physical intelligence demands understanding of mechanics, materials, energy, and real-world constraints that current AI paradigms inadequately address. The commentary argues that achieving genuine physical intelligence in industrial settings requires a fundamental reorientation toward information integration as the enabling foundation, rather than pursuing ever-larger foundation models. Industrial information integration frameworks must bridge cyber-physical boundaries, handle temporal characteristics properly, represent uncertainty explicitly, and enable human-AI collaboration. This perspective aims to redirect research efforts toward the critical challenges of industrial information integration that will ultimately enable meaningful progress in physical AI for cyber-physical systems.
数字人工智能的快速发展让人们对其向实体工业系统的转移产生了不切实际的期望。这篇评论批判性地审视了数字人工智能能力与工业网络物理系统的复杂需求之间的根本错位。虽然数字人工智能在模式识别和虚拟环境方面表现出色,但物理智能需要理解当前人工智能范式无法充分解决的力学、材料、能源和现实世界的限制。评论认为,在工业环境中实现真正的物理智能需要从根本上重新定位,将信息集成作为实现基础,而不是追求更大的基础模型。工业信息集成框架必须跨越网络物理边界,适当处理时间特征,明确表示不确定性,并实现人类与人工智能的协作。这一观点旨在将研究工作转向工业信息集成的关键挑战,最终使网络物理系统的物理人工智能取得有意义的进展。
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引用次数: 0
A distributed extended reality escape method for layered underground infrastructure based on AI game engine 基于AI游戏引擎的分层地下基础设施分布式扩展现实逃生方法
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2026-01-01 Epub Date: 2025-11-16 DOI: 10.1016/j.jii.2025.101015
Wei Li , Linbing Wang , Maogui Sun , Dengcai Yin , Yajian Wang , Xiang Zhou , Yongming Wang , Zhoujing Ye
As the structural carrier of mineral resources, underground mine is a typical artificial large layered underground infrastructure. The safety of mining systems remains a critical concern for nations worldwide. Based on the environmental characteristics of underground mines, the accompanying safety issues are evident. Conventional personnel evacuation drills for mine disasters often fail to create effective disaster evolution memories for people. When a real accident occurs, people cannot escape efficiently in a panic state, which reduces survival probability. To solve this problem, an escape space connection algorithm is developed based on the physical information and management rules in this study, and it is used to drive the extended reality escape system by the game engine. Firstly, this study takes the water-inrush accidents of underground layered mines as the engineering research object and background, the characteristics of water-inrush accidents evolution and personnel evacuation are systematically analyzed based on the scenario construction theory. Secondly, this study develops an escape space connection algorithm by integrating the two-dimensional A* algorithm and the connection weights of escape spaces based on the spatial geometric information and escape strategy of layered mines. Thirdly, a distributed extended reality (XR) human-computer interaction system is developed for escape path guidance in real environments based on the spatial structure characteristics of layered mines and the escape space connection algorithm. Finally, application testing is conducted in the experimental mine to analyze the system performance and future application potential. This study provides a comprehensive technical framework for personnel evacuation in layered underground infrastructure during evolutionary accidents, and the theories and systems involved are universal. In addition, this method can be used as a new, low-cost and efficient digital reference system for personnel safety emergency drills in underground infrastructure.
地下矿山作为矿产资源的结构载体,是典型的人工大型层状地下基础设施。采矿系统的安全仍然是世界各国关切的一个重大问题。根据地下矿山的环境特点,伴随而来的安全问题是显而易见的。传统的矿难人员疏散演练往往不能为人们创造有效的灾害演化记忆。当真正发生事故时,人们在恐慌状态下无法有效逃生,降低了生存概率。为解决这一问题,本研究开发了一种基于物理信息和管理规则的逃生空间连接算法,并通过游戏引擎驱动扩展现实逃生系统。首先,本研究以地下分层矿山突水事故为工程研究对象和背景,基于场景构建理论系统分析了突水事故演化和人员疏散的特征。其次,基于层状矿山的空间几何信息和逃生策略,将二维A*算法与逃生空间的连接权值相结合,开发了逃生空间连接算法。第三,基于层状矿井空间结构特点和逃生空间连接算法,开发了面向真实环境的分布式扩展现实(XR)逃生路径引导人机交互系统。最后在实验矿山进行了应用测试,分析了系统的性能和未来的应用潜力。本研究为演化事故中分层地下基础设施人员疏散提供了一个全面的技术框架,所涉及的理论和系统具有普遍性。该方法可作为地下基础设施人员安全应急演练的一种新型、低成本、高效的数字参考系统。
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引用次数: 0
An IoV data imputation-fusion bus mass estimation framework based on triple dependency and multi-source information fusion networks 基于三依赖多源信息融合网络的车联网数据融合总线质量估计框架
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2026-01-01 Epub Date: 2025-11-18 DOI: 10.1016/j.jii.2025.101017
Zhengzhong Zheng , Shijiang Li , Liang Hou , Haojing Lin , Jiancheng Chen
Accurate bus mass estimation is crucial for safety and efficiency. However, existing approaches often exhibit limited accuracy when applied to Internet of Vehicles (IoV) data, primarily due to the low sampling rates in practical scenarios. To address this challenge, a framework is proposed for bus mass estimation using IoV data. It focuses on data imputation and information fusion. A Triple Dependency Network (TDN) is developed to impute missing data. TDN captures both temporal dependencies and variable correlations in low-sampling-rate sequences. Then, a Multi-Source Information Fusion Network (MSIFN) is introduced to integrate both original and imputed data. MSIFN enhances the accuracy and robustness of bus mass estimation. Experimental results on both real-world IoV and simulation datasets demonstrate that the proposed approach significantly improves mass estimation accuracy compared to existing methods, while effectively utilizing low-sampling-rate data and reducing data acquisition burdens. These results highlight the method's effectiveness and practical value for industrial applications.
客车质量的准确估算对安全、高效运行至关重要。然而,现有方法在应用于车联网(IoV)数据时往往表现出有限的准确性,主要是由于实际场景中的低采样率。为了解决这一挑战,提出了一个使用车联网数据进行总线质量估计的框架。它着重于数据输入和信息融合。提出了一种三依赖网络(Triple Dependency Network, TDN)来弥补缺失数据。TDN捕获低采样率序列中的时间依赖性和变量相关性。然后,引入多源信息融合网络(MSIFN)对原始数据和输入数据进行融合。MSIFN提高了母线质量估计的准确性和鲁棒性。在实际车联网和仿真数据集上的实验结果表明,与现有方法相比,该方法显著提高了质量估计精度,同时有效地利用了低采样率数据,减少了数据采集负担。这些结果突出了该方法的有效性和工业应用的实用价值。
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引用次数: 0
An anonymization framework for IEC 61850 substation communications: Field-level and topology-aware privacy IEC 61850变电站通信的匿名化框架:现场级和拓扑感知隐私
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2026-01-01 Epub Date: 2025-11-19 DOI: 10.1016/j.jii.2025.101013
Soheil Shirvani , Emmanuel D. Buedi, Kwasi Boakye-Boateng, Yoonjib Kim, Rongxing Lu , Ali A. Ghorbani
Substation datasets, like those using the IEC61850 standard, hold sensitive information about power flows, equipment statuses, and network configurations. This data could expose vulnerabilities to knowledge-based cyberattacks, making utility providers hesitant to share it publicly for research. While encryption enhances security, it often diminishes the dataset’s utility for research purposes. To address the trade-off between security and utility, we introduce an anonymization technique specifically for the IEC61850 standard, demonstrated on the GOOSE protocol. Our method involves two main approaches: anonymizing sensitive and quasi-identifying fields within packets to preserve data utility, and injecting dummy packets using one of our proposed algorithms to effectively obscure network topology. Using the first method, we publish an anonymized dataset derived from substation communications captured in our testbed to support ongoing research. We evaluated the framework’s effectiveness through a comprehensive communication pattern analysis, including time, flow, statistical, and entropy analyses, and field anonymization testing. Our study highlights the critical importance of maintaining privacy in substation data sharing while ensuring data remains useful for research, setting the foundation for extending this framework across multiple substation protocols in future studies.
与使用IEC61850标准的变电站数据集一样,变电站数据集包含有关潮流、设备状态和网络配置的敏感信息。这些数据可能暴露出基于知识的网络攻击的漏洞,使公用事业供应商不愿公开分享这些数据进行研究。虽然加密增强了安全性,但它通常会降低数据集的研究效用。为了解决安全性和实用性之间的权衡,我们介绍了一种专门针对IEC61850标准的匿名化技术,并在GOOSE协议上进行了演示。我们的方法包括两种主要方法:匿名化数据包中的敏感和准识别字段以保持数据效用,以及使用我们提出的算法之一注入虚拟数据包以有效地模糊网络拓扑。使用第一种方法,我们发布了一个匿名数据集,该数据集来自我们测试台上捕获的变电站通信,以支持正在进行的研究。我们通过全面的通信模式分析来评估框架的有效性,包括时间、流量、统计和熵分析,以及现场匿名化测试。我们的研究强调了维护变电站数据共享隐私的重要性,同时确保数据对研究有用,为在未来的研究中跨多个变电站协议扩展该框架奠定了基础。
{"title":"An anonymization framework for IEC 61850 substation communications: Field-level and topology-aware privacy","authors":"Soheil Shirvani ,&nbsp;Emmanuel D. Buedi,&nbsp;Kwasi Boakye-Boateng,&nbsp;Yoonjib Kim,&nbsp;Rongxing Lu ,&nbsp;Ali A. Ghorbani","doi":"10.1016/j.jii.2025.101013","DOIUrl":"10.1016/j.jii.2025.101013","url":null,"abstract":"<div><div>Substation datasets, like those using the IEC61850 standard, hold sensitive information about power flows, equipment statuses, and network configurations. This data could expose vulnerabilities to knowledge-based cyberattacks, making utility providers hesitant to share it publicly for research. While encryption enhances security, it often diminishes the dataset’s utility for research purposes. To address the trade-off between security and utility, we introduce an anonymization technique specifically for the IEC61850 standard, demonstrated on the GOOSE protocol. Our method involves two main approaches: anonymizing sensitive and quasi-identifying fields within packets to preserve data utility, and injecting dummy packets using one of our proposed algorithms to effectively obscure network topology. Using the first method, we publish an anonymized dataset derived from substation communications captured in our testbed to support ongoing research. We evaluated the framework’s effectiveness through a comprehensive communication pattern analysis, including time, flow, statistical, and entropy analyses, and field anonymization testing. Our study highlights the critical importance of maintaining privacy in substation data sharing while ensuring data remains useful for research, setting the foundation for extending this framework across multiple substation protocols in future studies.</div></div>","PeriodicalId":55975,"journal":{"name":"Journal of Industrial Information Integration","volume":"49 ","pages":"Article 101013"},"PeriodicalIF":10.4,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145554067","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
LLM-MTMP: A large language model-based multi-agent task and motion planning framework for power inspection robots LLM-MTMP:基于大语言模型的电力巡检机器人多智能体任务和运动规划框架
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2026-01-01 Epub Date: 2025-11-18 DOI: 10.1016/j.jii.2025.101014
Zongyuan Wang , Xin Zhou , Jianliang Mao , Chuanlin Zhang , Chenggang Cui , Jun Yang
Manually designing robotic task sequences is labor intensive and inefficient, especially in power inspection tasks that involve academic background knowledge and complex operation rules. To overcome this limitation, this paper presents a large language model-based multi-agent task and motion planning framework, LLM-MTMP, to enable autonomous human–robot interaction and task execution of robot in power inspection scenarios. It combines enhanced resource generation technology with a specific knowledge base in the field of power inspection, converting and decomposing natural language into a set of operation sequences that are readable by robots, thereby enabling autonomous inspection operations that meet specific industrial requirements. Experimental results from physical deployments on robotic platforms demonstrate that LLM-MTMP significantly improves task generation success rates and expands operational adaptability compared to baseline methods, highlighting its practical value for industrial applications.
人工设计机器人任务序列劳动强度大,效率低,特别是在涉及学术背景知识和复杂操作规则的电力巡检任务中。为了克服这一限制,本文提出了一种基于大型语言模型的多智能体任务和运动规划框架LLM-MTMP,以实现电力巡检场景中机器人的自主人机交互和任务执行。它将增强的资源生成技术与电力检测领域的特定知识库相结合,将自然语言转换并分解为一组机器人可读的操作序列,从而实现满足特定工业要求的自主检测操作。机器人平台物理部署的实验结果表明,与基线方法相比,LLM-MTMP显著提高了任务生成成功率,扩展了操作适应性,突出了其在工业应用中的实用价值。
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引用次数: 0
Physics-informed continuous-time reinforcement learning with data-driven approach for robotic arm manipulation 基于物理信息的连续时间强化学习与数据驱动的机械臂操作方法
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2026-01-01 Epub Date: 2025-11-11 DOI: 10.1016/j.jii.2025.101008
Jin-Qiang Wang , Lirong Song , Jun Shen , Binbin Yong , Xiaoteng Han , Yuanbo Jiang , Mona Raoufi , Qingguo Zhou
Deep reinforcement learning (DRL) plays a crucial role in complex sequential decision-making tasks. However, existing data-driven DRL methods primarily rely on an empirical risk minimization (ERM) strategy to fit optimal value function models. This approach often neglects the environment’s dynamical system properties, which in turn leads to an inadequate consideration of the structural risk minimization (SRM) strategy. To address this limitation, this paper proposes a physics-informed continuous-time reinforcement learning (PICRL) to validate model effectiveness from both ERM and SRM perspectives. Specifically, we begin by theoretically analyzing the mechanism of SRM in reinforcement learning models. Then, physics information is integrated into both discrete and continuous reinforcement learning algorithms for comparative experiments. Finally, we systematically examine the effects of various physics-informed and boundary constraints on these two learning frameworks. Experimental results on the PandaGym demonstrate that the proposed method achieves comparable or superior performance in both discrete and continuous-time reinforcement learning frameworks. This provides strong evidence for its significant advantages in learning control policies for dynamical systems with small time intervals.
深度强化学习(DRL)在复杂的序列决策任务中起着至关重要的作用。然而,现有的数据驱动DRL方法主要依靠经验风险最小化(ERM)策略来拟合最优价值函数模型。这种方法往往忽略了环境的动力系统特性,从而导致对结构风险最小化(SRM)策略的考虑不足。为了解决这一限制,本文提出了一种物理信息的连续时间强化学习(PICRL),从ERM和SRM的角度验证模型的有效性。具体来说,我们从理论上分析SRM在强化学习模型中的机制开始。然后,将物理信息集成到离散和连续强化学习算法中进行对比实验。最后,我们系统地研究了各种物理信息和边界约束对这两种学习框架的影响。在PandaGym上的实验结果表明,该方法在离散时间和连续时间强化学习框架中都取得了相当或更好的性能。这为其在小时间间隔动态系统的控制策略学习方面的显著优势提供了强有力的证据。
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引用次数: 0
Category-controllable and high-fidelity 3D defect synthesis for Embodied Intelligence-based industrial inspection 面向具体智能工业检测的类别可控高保真三维缺陷综合
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2026-01-01 Epub Date: 2025-11-15 DOI: 10.1016/j.jii.2025.101016
Ting Li , Di Li , Chunhua Zhang , Peng Chi , Ziren Luo
Embodied Intelligence (EI) integrates perception, cognition, and action within manufacturing systems, enabling on-device learning and human-machine collaboration. For surface defect inspection, this requires real-time reasoning over subtle 3D geometries and continuous self-improvement using high-quality training data. However, current point cloud generation methods fall short in synthesizing 3D defects due to inefficient single-class generation, lack of pixel-level annotations, and poor diversity. We propose Category-Controllable and High-Fidelity Generative Adversarial Network (CFGAN) to address these issues. CFGAN generates paired RGB and depth defect images with controllable categories and pure backgrounds, enabling multi-class synthesis and facilitating pixel-level annotation. A gradient-adaptive Poisson fusion method ensures seamless blending of generated RGB and depth defects into normal backgrounds, while domain transfer and depth mapping modules are further applied to preserve the consistency and reliability of the generated depth. Moreover, by sampling random latent codes, CFGAN produces diverse defect samples. Finally, spatial alignment of defect images maps 2D features into 3D space, resulting in realistic defect point clouds. The effectiveness of the proposed method is validated through experiments on fruit, metal, and plastic objects. In addition, our framework enables zero-shot inspection by transferring defects across datasets with different backgrounds but similar defects, achieving an Overall Accuracy of 0.9736. Our work provides diverse, well-annotated point cloud defects, enhancing the adaptability and autonomy of EI inspection systems.
具身智能(EI)集成了感知、认知和制造系统中的行动,实现了设备上的学习和人机协作。对于表面缺陷检测,这需要对细微的3D几何图形进行实时推理,并使用高质量的训练数据进行持续的自我改进。然而,目前的点云生成方法由于单类生成效率低、缺乏像素级注释、多样性差等原因,在合成三维缺陷方面存在不足。我们提出了类别可控和高保真生成对抗网络(CFGAN)来解决这些问题。CFGAN生成具有可控类别和纯背景的RGB和深度缺陷配对图像,实现多类别合成,便于像素级标注。采用梯度自适应泊松融合方法将生成的RGB缺陷和深度缺陷无缝融合到正常背景中,并进一步应用域转移和深度映射模块来保持生成深度的一致性和可靠性。此外,通过对随机潜在码进行采样,CFGAN产生了多种缺陷样本。最后,对缺陷图像进行空间对齐,将二维特征映射到三维空间,得到逼真的缺陷点云。通过水果、金属和塑料物体的实验验证了该方法的有效性。此外,我们的框架通过在具有不同背景但相似缺陷的数据集之间转移缺陷来实现零射击检查,实现了0.9736的总体精度。我们的工作提供了多样化、良好注释的点云缺陷,增强了EI检测系统的适应性和自主性。
{"title":"Category-controllable and high-fidelity 3D defect synthesis for Embodied Intelligence-based industrial inspection","authors":"Ting Li ,&nbsp;Di Li ,&nbsp;Chunhua Zhang ,&nbsp;Peng Chi ,&nbsp;Ziren Luo","doi":"10.1016/j.jii.2025.101016","DOIUrl":"10.1016/j.jii.2025.101016","url":null,"abstract":"<div><div>Embodied Intelligence (EI) integrates perception, cognition, and action within manufacturing systems, enabling on-device learning and human-machine collaboration. For surface defect inspection, this requires real-time reasoning over subtle 3D geometries and continuous self-improvement using high-quality training data. However, current point cloud generation methods fall short in synthesizing 3D defects due to inefficient single-class generation, lack of pixel-level annotations, and poor diversity. We propose Category-Controllable and High-Fidelity Generative Adversarial Network (CFGAN) to address these issues. CFGAN generates paired RGB and depth defect images with controllable categories and pure backgrounds, enabling multi-class synthesis and facilitating pixel-level annotation. A gradient-adaptive Poisson fusion method ensures seamless blending of generated RGB and depth defects into normal backgrounds, while domain transfer and depth mapping modules are further applied to preserve the consistency and reliability of the generated depth. Moreover, by sampling random latent codes, CFGAN produces diverse defect samples. Finally, spatial alignment of defect images maps 2D features into 3D space, resulting in realistic defect point clouds. The effectiveness of the proposed method is validated through experiments on fruit, metal, and plastic objects. In addition, our framework enables zero-shot inspection by transferring defects across datasets with different backgrounds but similar defects, achieving an Overall Accuracy of 0.9736. Our work provides diverse, well-annotated point cloud defects, enhancing the adaptability and autonomy of EI inspection systems.</div></div>","PeriodicalId":55975,"journal":{"name":"Journal of Industrial Information Integration","volume":"49 ","pages":"Article 101016"},"PeriodicalIF":10.4,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145531167","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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Journal of Industrial Information Integration
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