Computer Sciences & Mathematics Forum

Three-dimensional semantic segmentation is crucial for comprehending transmission line structure and environment. This understanding forms the basis for a variety of applications, such as automatic risk assessment of line tripping caused by wildfires, wind, and thunder. However, the performance of current 3D point cloud segmentation methods tends to degrade on imbalanced data, which negatively impacts the overall segmentation results. In this paper, we proposed an imBalanced-Aware Long-Range 3D Semantic Segmentation framework (iBALR3D) which is specifically designed for large-scale transmission line segmentation. To address the unsatisfactory performance on categories with few points, an Enhanced Imbalanced Contrastive Learning module is first proposed to improve feature discrimination between points across sampling regions by contrasting the representations with the assistance of data augmentation. A structural Adaptive Spatial Encoder is designed to capture the distinguish measures across different components. Additionally, we employ a sampling strategy to enable the model to concentrate more on regions of categories with few points. This strategy further enhances the model’s robustness in handling challenges associated with long-range and significant data imbalances. Finally, we introduce a large-scale 3D point cloud dataset (500KV3D) captured from high-voltage long-range transmission lines and evaluate iBALR3D on it. Extensive experiments demonstrate the effectiveness and superiority of our approach.

This paper explains that setting up artificial intelligence courses can clearly enhance students’ interest in high technology, boost learning confidence and promote students’ overall development in the following three aspects: the significance of artificial intelligence education to students, the confusion regarding artificial intelligence teaching in this stage, especially in rural middle schools, and some related suggestions.

Offline reinforcement learning leverages pre-collected datasets of transitions to train policies. It can serve as an effective initialization for online algorithms, enhancing sample efficiency and speeding up convergence. However, when such datasets are limited in size and quality, offline pre-training can produce sub-optimal policies and lead to a degraded online reinforcement learning performance. In this paper, we propose a model-based data augmentation strategy to maximize the benefits of offline reinforcement learning pre-training and reduce the scale of data needed to be effective. Our approach leverages a world model of the environment trained on the offline dataset to augment states during offline pre-training. We evaluate our approach on a variety of MuJoCo robotic tasks, and our results show that it can jumpstart online fine-tuning and substantially reduce—in some cases by an order of magnitude—the required number of environment interactions.