arXiv subjects

Jingdao Chen

Publications and source records attributed to Jingdao Chen.

At least 19 recordsLinked to original sources

arXiv2026

Rethinking 3D Segmentation from Individual LiDAR Scans: Incidence-Aware Sampling on the SIP Benchmark

3D scene understanding is increasingly important in construction, yet most methods are developed on curated datasets that do not fully reflect real site sensing conditions. In many workflows, individual LiDAR scans provide rapid local updates rather than complete scene representations, producing limited surface coverage, acquisition-driven density variation, and severe imbalance between dominant planar surfaces and sparse construction elements. Because large point clouds must be downsampled, sampling resolution and point allocation directly affect the balance between geometric detail and spatial context. This study evaluates these effects under a fixed per-fragment point budget and introduces an incidence-aware sampling strategy for individual LiDAR scans. The method maps points to a geometry-normalized manifold space for voxel-based selection while preserving original Euclidean coordinates for downstream learning. It requires only point coordinates and normals and no backbone modification. Using the Site in Pieces (SIP) benchmark, experiments with Point Transformer and PointNeXt show improved resolution-averaged segmentation performance, especially for non-planar elements and ladders, while reducing sensitivity to sampling resolution. The results show that acquisition-aware sampling can provide a more stable geometric representation and should be treated as an active component of individual-scan 3D segmentation rather than generic preprocessing.

cs.CV↗

arXiv2026

FLYNN: Robust Neural Network for Robot Navigation using Fly Brain Topology

While deep learning models achieve state-of-the-art performance in complex tasks, they remain brittle when faced with new environments or sensory deprivation. In contrast, biological systems exhibit remarkable tolerance to these challenges. We address this vulnerability by developing a recurrent neural network (RNN) whose architecture is directly derived from the synaptic-resolution brain connectome of the fruit fly Drosophila melanogaster. We demonstrate the feasibility of training the fly connectome neural network (FLYNN) to perform vision-based navigation in MuJoCo, achieving performance comparable to modern hand-crafted networks of similar parameter counts. Crucially, FLYNN exhibits superior resistance to out-of-distribution (OOD) data and tolerance to sensory loss without further training. It remained functional even under total vision loss while hand-crafted networks largely failed, even when specifically trained with camera dropout. Principal Component Analysis (PCA) of the internal state of FLYNN suggests that it exhibits a particularly high degree of representational modularity, which might be related to its robustness. Our work provides a new direction for designing resilient artificial agents following the topology of biological brains.

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arXiv2026

AI Identification: An Integrated Framework for Sustainable Governance in Digital Enterprises

As artificial intelligence (AI) systems grow more powerful, autonomous, and embedded in critical infrastructure, their identification and traceability become foundational to regulatory oversight and sustainable digital governance. In digitally transformed enterprises, long-term sustainability depends on transparent, accountable, and lifecycle-governed AI systems, all of which require verifiable identity. This study proposes a conceptual and architectural framework for AI identification, combining technical and governance mechanisms to support lifecycle accountability. The framework integrates five components: model fingerprinting, cryptographic hashing, blockchain-based registration, zero-knowledge proof (ZKP)-based proof of possession, and post-deployment structural change screening. We introduce a dual-layer identifier, consisting of a machine-verifiable primary hash and a human-readable secondary identifier, anchored in a tamper-resistant registry. Identity validation is supported by selective ZKP-based verification at governance-defined checkpoints, while post-deployment changes are monitored using Lempel--Ziv Jaccard Distance (LZJD) as a governance-oriented screening signal rather than a semantic performance metric. The framework establishes an enforceable and transparent identity infrastructure that enables continuity, auditability, and policy-aligned oversight across AI system lifecycles. By embedding AI identification within enterprise architecture and governance processes, the proposed approach supports sustainable innovation, strengthens institutional accountability, and provides a foundation for selective, policy-defined verification during digital transformation.

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arXiv2025

Learning-Based Collaborative Control for Bi-Manual Tactile-Reactive Grasping

Grasping is a core task in robotics with various applications. However, most current implementations are primarily designed for rigid items, and their performance drops considerably when handling fragile or deformable materials that require real-time feedback. Meanwhile, tactile-reactive grasping focuses on a single agent, which limits their ability to grasp and manipulate large, heavy objects. To overcome this, we propose a learning-based, tactile-reactive multi-agent Model Predictive Controller (MPC) for grasping a wide range of objects with different softness and shapes, beyond the capabilities of preexisting single-agent implementations. Our system uses two Gelsight Mini tactile sensors [1] to extract real-time information on object texture and stiffness. This rich tactile feedback is used to estimate contact dynamics and object compliance in real time, enabling the system to adapt its control policy to diverse object geometries and stiffness profiles. The learned controller operates in a closed loop, leveraging tactile encoding to predict grasp stability and adjust force and position accordingly. Our key technical contributions include a multi-agent MPC formulation trained on real contact interactions, a tactile-data driven method for inferring grasping states, and a coordination strategy that enables collaborative control. By combining tactile sensing and a learning-based multi-agent MPC, our method offers a robust, intelligent solution for collaborative grasping in complex environments, significantly advancing the capabilities of multi-agent systems. Our approach is validated through extensive experiments against independent PD and MPC baselines. Our pipeline outperforms the baselines regarding success rates in achieving and maintaining stable grasps across objects of varying sizes and stiffness.

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arXiv2025

CottonSim: A vision-guided autonomous robotic system for cotton harvesting in Gazebo simulation

Cotton is a major cash crop in the United States, with the country being a leading global producer and exporter. Nearly all U.S. cotton is grown in the Cotton Belt, spanning 17 states in the southern region. Harvesting remains a critical yet challenging stage, impacted by the use of costly, environmentally harmful defoliants and heavy, expensive cotton pickers. These factors contribute to yield loss, reduced fiber quality, and soil compaction, which collectively threaten long-term sustainability. To address these issues, this study proposes a lightweight, small-scale, vision-guided autonomous robotic cotton picker as an alternative. An autonomous system, built on Clearpath's Husky platform and integrated with the CottonEye perception system, was developed and tested in the Gazebo simulation environment. A virtual cotton field was designed to facilitate autonomous navigation testing. The navigation system used Global Positioning System (GPS) and map-based guidance, assisted by an RGBdepth camera and a YOLOv8nseg instance segmentation model. The model achieved a mean Average Precision (mAP) of 85.2%, a recall of 88.9%, and a precision of 93.0%. The GPS-based approach reached a 100% completion rate (CR) within a $(5e-6)^{\circ}$ threshold, while the map-based method achieved a 96.7% CR within a 0.25 m threshold. The developed Robot Operating System (ROS) packages enable robust simulation of autonomous cotton picking, offering a scalable baseline for future agricultural robotics. CottonSim code and datasets are publicly available on GitHub: https://github.com/imtheva/CottonSim

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arXiv2025

X-DECODE: EXtreme Deblurring with Curriculum Optimization and Domain Equalization

Restoring severely blurred images remains a significant challenge in computer vision, impacting applications in autonomous driving, medical imaging, and photography. This paper introduces a novel training strategy based on curriculum learning to improve the robustness of deep learning models for extreme image deblurring. Unlike conventional approaches that train on only low to moderate blur levels, our method progressively increases the difficulty by introducing images with higher blur severity over time, allowing the model to adapt incrementally. Additionally, we integrate perceptual and hinge loss during training to enhance fine detail restoration and improve training stability. We experimented with various curriculum learning strategies and explored the impact of the train-test domain gap on the deblurring performance. Experimental results on the Extreme-GoPro dataset showed that our method outperforms the next best method by 14% in SSIM, whereas experiments on the Extreme-KITTI dataset showed that our method outperforms the next best by 18% in SSIM. Ablation studies showed that a linear curriculum progression outperforms step-wise, sigmoid, and exponential progressions, while hyperparameter settings such as the training blur percentage and loss function formulation all play important roles in addressing extreme blur artifacts. Datasets and code are available at https://github.com/RAPTOR-MSSTATE/XDECODE

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arXiv2025

The AI Pentad, the CHARME$^{2}$D Model, and an Assessment of Current-State AI Regulation

Artificial Intelligence (AI) has made remarkable progress in the past few years with AI-enabled applications beginning to permeate every aspect of our society. Despite the widespread consensus on the need to regulate AI, there remains a lack of a unified approach to framing, developing, and assessing AI regulations. Many of the existing methods take a value-based approach, for example, accountability, fairness, free from bias, transparency, and trust. However, these methods often face challenges at the outset due to disagreements in academia over the subjective nature of these definitions. This paper aims to establish a unifying model for AI regulation from the perspective of core AI components. We first introduce the AI Pentad, which comprises the five essential components of AI: humans and organizations, algorithms, data, computing, and energy. We then review AI regulatory enablers, including AI registration and disclosure, AI monitoring, and AI enforcement mechanisms. Subsequently, we present the CHARME$^{2}$D Model to explore further the relationship between the AI Pentad and AI regulatory enablers. Finally, we apply the CHARME$^{2}$D model to assess AI regulatory efforts in the European Union (EU), China, the United Arab Emirates (UAE), the United Kingdom (UK), and the United States (US), highlighting their strengths, weaknesses, and gaps. This comparative evaluation offers insights for future legislative work in the AI domain.

cs.CY↗

arXiv2024

A Survey on Privacy Attacks Against Digital Twin Systems in AI-Robotics

Industry 4.0 has witnessed the rise of complex robots fueled by the integration of Artificial Intelligence/Machine Learning (AI/ML) and Digital Twin (DT) technologies. While these technologies offer numerous benefits, they also introduce potential privacy and security risks. This paper surveys privacy attacks targeting robots enabled by AI and DT models. Exfiltration and data leakage of ML models are discussed in addition to the potential extraction of models derived from first-principles (e.g., physics-based). We also discuss design considerations with DT-integrated robotics touching on the impact of ML model training, responsible AI and DT safeguards, data governance and ethical considerations on the effectiveness of these attacks. We advocate for a trusted autonomy approach, emphasizing the need to combine robotics, AI, and DT technologies with robust ethical frameworks and trustworthiness principles for secure and reliable AI robotic systems.

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arXiv2024

AI Ethics: A Bibliometric Analysis, Critical Issues, and Key Gaps

Artificial intelligence (AI) ethics has emerged as a burgeoning yet pivotal area of scholarly research. This study conducts a comprehensive bibliometric analysis of the AI ethics literature over the past two decades. The analysis reveals a discernible tripartite progression, characterized by an incubation phase, followed by a subsequent phase focused on imbuing AI with human-like attributes, culminating in a third phase emphasizing the development of human-centric AI systems. After that, they present seven key AI ethics issues, encompassing the Collingridge dilemma, the AI status debate, challenges associated with AI transparency and explainability, privacy protection complications, considerations of justice and fairness, concerns about algocracy and human enfeeblement, and the issue of superintelligence. Finally, they identify two notable research gaps in AI ethics regarding the large ethics model (LEM) and AI identification and extend an invitation for further scholarly research.

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arXiv2024

A Bibliometric View of AI Ethics Development

Artificial Intelligence (AI) Ethics is a nascent yet critical research field. Recent developments in generative AI and foundational models necessitate a renewed look at the problem of AI Ethics. In this study, we perform a bibliometric analysis of AI Ethics literature for the last 20 years based on keyword search. Our study reveals a three-phase development in AI Ethics, namely an incubation phase, making AI human-like machines phase, and making AI human-centric machines phase. We conjecture that the next phase of AI ethics is likely to focus on making AI more machine-like as AI matches or surpasses humans intellectually, a term we coin as "machine-like human".

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arXiv2024

Security Considerations in AI-Robotics: A Survey of Current Methods, Challenges, and Opportunities

Robotics and Artificial Intelligence (AI) have been inextricably intertwined since their inception. Today, AI-Robotics systems have become an integral part of our daily lives, from robotic vacuum cleaners to semi-autonomous cars. These systems are built upon three fundamental architectural elements: perception, navigation and planning, and control. However, while the integration of AI-Robotics systems has enhanced the quality our lives, it has also presented a serious problem - these systems are vulnerable to security attacks. The physical components, algorithms, and data that make up AI-Robotics systems can be exploited by malicious actors, potentially leading to dire consequences. Motivated by the need to address the security concerns in AI-Robotics systems, this paper presents a comprehensive survey and taxonomy across three dimensions: attack surfaces, ethical and legal concerns, and Human-Robot Interaction (HRI) security. Our goal is to provide users, developers and other stakeholders with a holistic understanding of these areas to enhance the overall AI-Robotics system security. We begin by surveying potential attack surfaces and provide mitigating defensive strategies. We then delve into ethical issues, such as dependency and psychological impact, as well as the legal concerns regarding accountability for these systems. Besides, emerging trends such as HRI are discussed, considering privacy, integrity, safety, trustworthiness, and explainability concerns. Finally, we present our vision for future research directions in this dynamic and promising field.

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arXiv2023

URA*: Uncertainty-aware Path Planning using Image-based Aerial-to-Ground Traversability Estimation for Off-road Environments

A major challenge with off-road autonomous navigation is the lack of maps or road markings that can be used to plan a path for autonomous robots. Classical path planning methods mostly assume a perfectly known environment without accounting for the inherent perception and sensing uncertainty from detecting terrain and obstacles in off-road environments. Recent work in computer vision and deep neural networks has advanced the capability of terrain traversability segmentation from raw images; however, the feasibility of using these noisy segmentation maps for navigation and path planning has not been adequately explored. To address this problem, this research proposes an uncertainty-aware path planning method, URA* using aerial images for autonomous navigation in off-road environments. An ensemble convolutional neural network (CNN) model is first used to perform pixel-level traversability estimation from aerial images of the region of interest. The traversability predictions are represented as a grid of traversal probability values. An uncertainty-aware planner is then applied to compute the best path from a start point to a goal point given these noisy traversal probability estimates. The proposed planner also incorporates replanning techniques to allow rapid replanning during online robot operation. The proposed method is evaluated on the Massachusetts Road Dataset, the DeepGlobe dataset, as well as a dataset of aerial images from off-road proving grounds at Mississippi State University. Results show that the proposed image segmentation and planning methods outperform conventional planning algorithms in terms of the quality and feasibility of the initial path, as well as the quality of replanned paths.

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arXiv2023

Analysis of LiDAR Configurations on Off-road Semantic Segmentation Performance

This paper investigates the impact of LiDAR configuration shifts on the performance of 3D LiDAR point cloud semantic segmentation models, a topic not extensively studied before. We explore the effect of using different LiDAR channels when training and testing a 3D LiDAR point cloud semantic segmentation model, utilizing Cylinder3D for the experiments. A Cylinder3D model is trained and tested on simulated 3D LiDAR point cloud datasets created using the Mississippi State University Autonomous Vehicle Simulator (MAVS) and 32, 64 channel 3D LiDAR point clouds of the RELLIS-3D dataset collected in a real-world off-road environment. Our experimental results demonstrate that sensor and spatial domain shifts significantly impact the performance of LiDAR-based semantic segmentation models. In the absence of spatial domain changes between training and testing, models trained and tested on the same sensor type generally exhibited better performance. Moreover, higher-resolution sensors showed improved performance compared to those with lower-resolution ones. However, results varied when spatial domain changes were present. In some cases, the advantage of a sensor's higher resolution led to better performance both with and without sensor domain shifts. In other instances, the higher resolution resulted in overfitting within a specific domain, causing a lack of generalization capability and decreased performance when tested on data with different sensor configurations.

cs.CV↗

arXiv2023

A Hybrid Semantic-Geometric Approach for Clutter-Resistant Floorplan Generation from Building Point Clouds

Building Information Modeling (BIM) technology is a key component of modern construction engineering and project management workflows. As-is BIM models that represent the spatial reality of a project site can offer crucial information to stakeholders for construction progress monitoring, error checking, and building maintenance purposes. Geometric methods for automatically converting raw scan data into BIM models (Scan-to-BIM) often fail to make use of higher-level semantic information in the data. Whereas, semantic segmentation methods only output labels at the point level without creating object level models that is necessary for BIM. To address these issues, this research proposes a hybrid semantic-geometric approach for clutter-resistant floorplan generation from laser-scanned building point clouds. The input point clouds are first pre-processed by normalizing the coordinate system and removing outliers. Then, a semantic segmentation network based on PointNet++ is used to label each point as ceiling, floor, wall, door, stair, and clutter. The clutter points are removed whereas the wall, door, and stair points are used for 2D floorplan generation. A region-growing segmentation algorithm paired with geometric reasoning rules is applied to group the points together into individual building elements. Finally, a 2-fold Random Sample Consensus (RANSAC) algorithm is applied to parameterize the building elements into 2D lines which are used to create the output floorplan. The proposed method is evaluated using the metrics of precision, recall, Intersection-over-Union (IOU), Betti error, and warping error.

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arXiv2023

AI Security Threats against Pervasive Robotic Systems: A Course for Next Generation Cybersecurity Workforce

Robotics, automation, and related Artificial Intelligence (AI) systems have become pervasive bringing in concerns related to security, safety, accuracy, and trust. With growing dependency on physical robots that work in close proximity to humans, the security of these systems is becoming increasingly important to prevent cyber-attacks that could lead to privacy invasion, critical operations sabotage, and bodily harm. The current shortfall of professionals who can defend such systems demands development and integration of such a curriculum. This course description includes details about seven self-contained and adaptive modules on "AI security threats against pervasive robotic systems". Topics include: 1) Introduction, examples of attacks, and motivation; 2) - Robotic AI attack surfaces and penetration testing; 3) - Attack patterns and security strategies for input sensors; 4) - Training attacks and associated security strategies; 5) - Inference attacks and associated security strategies; 6) - Actuator attacks and associated security strategies; and 7) - Ethics of AI, robotics, and cybersecurity.

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arXiv2022

Improving Contrastive Learning on Visually Homogeneous Mars Rover Images

Contrastive learning has recently demonstrated superior performance to supervised learning, despite requiring no training labels. We explore how contrastive learning can be applied to hundreds of thousands of unlabeled Mars terrain images, collected from the Mars rovers Curiosity and Perseverance, and from the Mars Reconnaissance Orbiter. Such methods are appealing since the vast majority of Mars images are unlabeled as manual annotation is labor intensive and requires extensive domain knowledge. Contrastive learning, however, assumes that any given pair of distinct images contain distinct semantic content. This is an issue for Mars image datasets, as any two pairs of Mars images are far more likely to be semantically similar due to the lack of visual diversity on the planet's surface. Making the assumption that pairs of images will be in visual contrast - when they are in fact not - results in pairs that are falsely considered as negatives, impacting training performance. In this study, we propose two approaches to resolve this: 1) an unsupervised deep clustering step on the Mars datasets, which identifies clusters of images containing similar semantic content and corrects false negative errors during training, and 2) a simple approach which mixes data from different domains to increase visual diversity of the total training dataset. Both cases reduce the rate of false negative pairs, thus minimizing the rate in which the model is incorrectly penalized during contrastive training. These modified approaches remain fully unsupervised end-to-end. To evaluate their performance, we add a single linear layer trained to generate class predictions based on these contrastively-learned features and demonstrate increased performance compared to supervised models; observing an improvement in classification accuracy of 3.06% using only 10% of the labeled data.

cs.CV↗

arXiv2022

Mixed-domain Training Improves Multi-Mission Terrain Segmentation

Planetary rover missions must utilize machine learning-based perception to continue extra-terrestrial exploration with little to no human presence. Martian terrain segmentation has been critical for rover navigation and hazard avoidance to perform further exploratory tasks, e.g. soil sample collection and searching for organic compounds. Current Martian terrain segmentation models require a large amount of labeled data to achieve acceptable performance, and also require retraining for deployment across different domains, i.e. different rover missions, or different tasks, i.e. geological identification and navigation. This research proposes a semi-supervised learning approach that leverages unsupervised contrastive pretraining of a backbone for a multi-mission semantic segmentation for Martian surfaces. This model will expand upon the current Martian segmentation capabilities by being able to deploy across different Martian rover missions for terrain navigation, by utilizing a mixed-domain training set that ensures feature diversity. Evaluation results of using average pixel accuracy show that a semi-supervised mixed-domain approach improves accuracy compared to single domain training and supervised training by reaching an accuracy of 97% for the Mars Science Laboratory's Curiosity Rover and 79.6% for the Mars 2020 Perseverance Rover. Further, providing different weighting methods to loss functions improved the models correct predictions for minority or rare classes by over 30% using the recall metric compared to standard cross-entropy loss. These results can inform future multi-mission and multi-task semantic segmentation for rover missions in a data-efficient manner.

cs.CV↗

arXiv2022

Mars Terrain Segmentation with Less Labels

Planetary rover systems need to perform terrain segmentation to identify drivable areas as well as identify specific types of soil for sample collection. The latest Martian terrain segmentation methods rely on supervised learning which is very data hungry and difficult to train where only a small number of labeled samples are available. Moreover, the semantic classes are defined differently for different applications (e.g., rover traversal vs. geological) and as a result the network has to be trained from scratch each time, which is an inefficient use of resources. This research proposes a semi-supervised learning framework for Mars terrain segmentation where a deep segmentation network trained in an unsupervised manner on unlabeled images is transferred to the task of terrain segmentation trained on few labeled images. The network incorporates a backbone module which is trained using a contrastive loss function and an output atrous convolution module which is trained using a pixel-wise cross-entropy loss function. Evaluation results using the metric of segmentation accuracy show that the proposed method with contrastive pretraining outperforms plain supervised learning by 2%-10%. Moreover, the proposed model is able to achieve a segmentation accuracy of 91.1% using only 161 training images (1% of the original dataset) compared to 81.9% with plain supervised learning.

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