Segment Every Out-of-Distribution Object

Semantic segmentation models, while effective for in-distribution categories, face challenges in real-world deployment due to encountering out-of-distribution (OoD) objects. Detecting these OoD objects is crucial for safety-critical applications. Existing methods rely on anomaly scores, but choosing a suitable threshold for generating masks presents difficulties and can lead to fragmentation and inaccuracy. This paper introduces a method to convert anomaly Score To segmentation Mask, called S2M, a simple and effective framework for OoD detection in semantic segmentation. Unlike assigning anomaly scores to pixels, S2M directly segments the entire OoD object. By transforming anomaly scores into prompts for a promptable segmentation model, S2M eliminates the need for threshold selection. Extensive experiments demonstrate that S2M outperforms the state-of-the-art by approximately 10\% in IoU and 30\% in mean F1 score, on average, across various benchmarks including Fishyscapes, Segment-Me-If-You-Can, and RoadAnomaly datasets.

Object Servoing of Differential-Drive Robots

Due to possibly changing pose of a movable object and nonholonomic constraint of a differential-drive robot, it is challenging to design an object servoing scheme for the differential-drive robot to asymptotically park at a predefined relative pose to the movable object. In this paper, a novel object servoing scheme is designed for the differential-drive robots. Each on-line relative pose is first estimated by using feature points of the moveable object and it serves as the input of an object servoing friendly parking controller. The linear velocity and angular velocity are then determined by the parking controller. Experimental results validate the performance of the proposed object servoing scheme. Due to its low on-line computational cost, the proposed scheme can be applied for last mile delivery of differential-drive robots to movable objects.

Deep reinforcement learning for RAN optimization and control

Due to the high variability of the traffic in the radio access network (RAN), fixed network configurations are not flexible to achieve the optimal performance. Our vendors provide several settings of the eNodeB to optimize the RAN performance, such as media access control scheduler, loading balance, etc. But the detailed mechanisms of the eNodeB configurations are usually very complicated and not disclosed, not to mention the large KPIs space needed to be considered. These make constructing simulator, offline tuning, or rule-based solutions difficult. We aim to build an intelligent controller without strong assumption or domain knowledge about the RAN and can run for 24/7 without supervision. To achieve this goal, we first build a closed-loop control testbed RAN in a lab environment with one eNodeB provided by one of the largest wireless vendors and four smartphones. Next, we build a double Q network agent that is trained with the live feedbacks of the key performance indicators from the RAN. Our work proved the effectiveness of applying deep reinforcement learning to improve network performance in a real RAN network environment.