Fetal MRI Artifacts: Semi-Supervised Generative Adversarial Neural Network for Motion Artifacts Reducing in Fetal Magnetic Resonance Images

This study addresses challenges in fetal magnetic resonance imaging (MRI) related to motion artifacts, maternal respiration, and hardware limitations. To enhance MRI quality, we employ deep learning techniques, specifically utilizing Cycle GAN. Synthetic pairs of images, simulating artifacts in fetal MRI, are generated to train the model. Our primary contribution is the use of Cycle GAN for fetal MRI restoration, augmented by artificially corrupted data. We compare three approaches (supervised Cycle GAN, Pix2Pix, and Mobile Unet) for artifact removal. Experimental results demonstrate that the proposed supervised Cycle GAN effectively removes artifacts while preserving image details, as validated through Structural Similarity Index Measure (SSIM) and normalized Mean Absolute Error (MAE). The method proves comparable to alternatives but avoids the generation of spurious regions, which is crucial for medical accuracy.

Transfer Learning-Based Semi-Supervised Generative Adversarial Network for Malaria Classification

Malaria is a lethal disease responsible for thousands of deaths worldwide every year.Manual methods of malaria diagnosis are timeconsuming that require a great deal of human expertise and efforts.Computerbased automated diagnosis of diseases is progressively becoming popular.Although deep learning models show high performance in the medical field,it demands a large volume of data for training which is hard to acquire for medical problems.Similarly,labeling of medical images can be done with the help of medical experts only.Several recent studies have utilized deep learning models to develop efficient malaria diagnostic system,which showed promising results.However,the most common problem with these models is that they need a large amount of data for training.This paper presents a computer-aided malaria diagnosis system that combines a semi-supervised generative adversarial network and transfer learning.The proposed model is trained in a semi-supervised manner and requires less training data than conventional deep learning models.Performance of the proposed model is evaluated on a publicly available dataset of blood smear images(with malariainfected and normal class)and achieved a classification accuracy of 96.6%.

Correcting Climate Model Sea Surface Temperature Simulations with Generative Adversarial Networks:Climatology,Interannual Variability,and Extremes

Climate models are vital for understanding and projecting global climate change and its associated impacts.However,these models suffer from biases that limit their accuracy in historical simulations and the trustworthiness of future projections.Addressing these challenges requires addressing internal variability,hindering the direct alignment between model simulations and observations,and thwarting conventional supervised learning methods.Here,we employ an unsupervised Cycle-consistent Generative Adversarial Network(CycleGAN),to correct daily Sea Surface Temperature(SST)simulations from the Community Earth System Model 2(CESM2).Our results reveal that the CycleGAN not only corrects climatological biases but also improves the simulation of major dynamic modes including the El Niño-Southern Oscillation(ENSO)and the Indian Ocean Dipole mode,as well as SST extremes.Notably,it substantially corrects climatological SST biases,decreasing the globally averaged Root-Mean-Square Error(RMSE)by 58%.Intriguingly,the CycleGAN effectively addresses the well-known excessive westward bias in ENSO SST anomalies,a common issue in climate models that traditional methods,like quantile mapping,struggle to rectify.Additionally,it substantially improves the simulation of SST extremes,raising the pattern correlation coefficient(PCC)from 0.56 to 0.88 and lowering the RMSE from 0.5 to 0.32.This enhancement is attributed to better representations of interannual,intraseasonal,and synoptic scales variabilities.Our study offers a novel approach to correct global SST simulations and underscores its effectiveness across different time scales and primary dynamical modes.

Sparse Adversarial Learning for FDIA Attack Sample Generation in Distributed Smart

False data injection attack(FDIA)is an attack that affects the stability of grid cyber-physical system(GCPS)by evading the detecting mechanism of bad data.Existing FDIA detection methods usually employ complex neural networkmodels to detect FDIA attacks.However,they overlook the fact that FDIA attack samples at public-private network edges are extremely sparse,making it difficult for neural network models to obtain sufficient samples to construct a robust detection model.To address this problem,this paper designs an efficient sample generative adversarial model of FDIA attack in public-private network edge,which can effectively bypass the detectionmodel to threaten the power grid system.A generative adversarial network(GAN)framework is first constructed by combining residual networks(ResNet)with fully connected networks(FCN).Then,a sparse adversarial learning model is built by integrating the time-aligned data and normal data,which is used to learn the distribution characteristics between normal data and attack data through iterative confrontation.Furthermore,we introduce a Gaussian hybrid distributionmatrix by aggregating the network structure of attack data characteristics and normal data characteristics,which can connect and calculate FDIA data with normal characteristics.Finally,efficient FDIA attack samples can be sequentially generated through interactive adversarial learning.Extensive simulation experiments are conducted with IEEE 14-bus and IEEE 118-bus system data,and the results demonstrate that the generated attack samples of the proposed model can present superior performance compared to state-of-the-art models in terms of attack strength,robustness,and covert capability.

Data-augmented landslide displacement prediction using generative adversarial network

Landslides are destructive natural disasters that cause catastrophic damage and loss of life worldwide.Accurately predicting landslide displacement enables effective early warning and risk management.However,the limited availability of on-site measurement data has been a substantial obstacle in developing data-driven models,such as state-of-the-art machine learning(ML)models.To address these challenges,this study proposes a data augmentation framework that uses generative adversarial networks(GANs),a recent advance in generative artificial intelligence(AI),to improve the accuracy of landslide displacement prediction.The framework provides effective data augmentation to enhance limited datasets.A recurrent GAN model,RGAN-LS,is proposed,specifically designed to generate realistic synthetic multivariate time series that mimics the characteristics of real landslide on-site measurement data.A customized moment-matching loss is incorporated in addition to the adversarial loss in GAN during the training of RGAN-LS to capture the temporal dynamics and correlations in real time series data.Then,the synthetic data generated by RGAN-LS is used to enhance the training of long short-term memory(LSTM)networks and particle swarm optimization-support vector machine(PSO-SVM)models for landslide displacement prediction tasks.Results on two landslides in the Three Gorges Reservoir(TGR)region show a significant improvement in LSTM model prediction performance when trained on augmented data.For instance,in the case of the Baishuihe landslide,the average root mean square error(RMSE)increases by 16.11%,and the mean absolute error(MAE)by 17.59%.More importantly,the model’s responsiveness during mutational stages is enhanced for early warning purposes.However,the results have shown that the static PSO-SVM model only sees marginal gains compared to recurrent models such as LSTM.Further analysis indicates that an optimal synthetic-to-real data ratio(50%on the illustration cases)maximizes the improvements.This also demonstrates the robustness and effectiveness of supplementing training data for dynamic models to obtain better results.By using the powerful generative AI approach,RGAN-LS can generate high-fidelity synthetic landslide data.This is critical for improving the performance of advanced ML models in predicting landslide displacement,particularly when there are limited training data.Additionally,this approach has the potential to expand the use of generative AI in geohazard risk management and other research areas.

Semi-supervised surface defect detection of wind turbine blades with YOLOv4

Timely inspection of defects on the surfaces of wind turbine blades can effectively prevent unpredictable accidents.To this end,this study proposes a semi-supervised object-detection network based on You Only Looking Once version 4(YOLOv4).A semi-supervised structure comprising a generative adversarial network(GAN)was designed to overcome the difficulty in obtaining sufficient samples and sample labeling.In a GAN,the generator is realized by an encoder-decoder network,where the backbone of the encoder is YOLOv4 and the decoder comprises inverse convolutional layers.Partial features from the generator are passed to the defect detection network.Deploying several unlabeled images can significantly improve the generalization and recognition capabilities of defect-detection models.The small-scale object detection capacity of the network can be improved by enhancing essential features in the feature map by adding the concurrent spatial and channel squeeze and excitation(scSE)attention module to the three parts of the YOLOv4 network.A balancing improvement was made to the loss function of YOLOv4 to overcome the imbalance problem of the defective species.The results for both the single-and multi-category defect datasets show that the improved model can make good use of the features of the unlabeled images.The accuracy of wind turbine blade defect detection also has a significant advantage over classical object detection algorithms,including faster R-CNN and DETR.

Adversarial attacks and defenses for digital communication signals identification

As modern communication technology advances apace,the digital communication signals identification plays an important role in cognitive radio networks,the communication monitoring and management systems.AI has become a promising solution to this problem due to its powerful modeling capability,which has become a consensus in academia and industry.However,because of the data-dependence and inexplicability of AI models and the openness of electromagnetic space,the physical layer digital communication signals identification model is threatened by adversarial attacks.Adversarial examples pose a common threat to AI models,where well-designed and slight perturbations added to input data can cause wrong results.Therefore,the security of AI models for the digital communication signals identification is the premise of its efficient and credible applications.In this paper,we first launch adversarial attacks on the end-to-end AI model for automatic modulation classifi-cation,and then we explain and present three defense mechanisms based on the adversarial principle.Next we present more detailed adversarial indicators to evaluate attack and defense behavior.Finally,a demonstration verification system is developed to show that the adversarial attack is a real threat to the digital communication signals identification model,which should be paid more attention in future research.

Attention-Guided Sparse Adversarial Attacks with Gradient Dropout

Deep neural networks are extremely vulnerable to externalities from intentionally generated adversarial examples which are achieved by overlaying tiny noise on the clean images.However,most existing transfer-based attack methods are chosen to add perturbations on each pixel of the original image with the same weight,resulting in redundant noise in the adversarial examples,which makes them easier to be detected.Given this deliberation,a novel attentionguided sparse adversarial attack strategy with gradient dropout that can be readily incorporated with existing gradient-based methods is introduced to minimize the intensity and the scale of perturbations and ensure the effectiveness of adversarial examples at the same time.Specifically,in the gradient dropout phase,some relatively unimportant gradient information is randomly discarded to limit the intensity of the perturbation.In the attentionguided phase,the influence of each pixel on the model output is evaluated by using a soft mask-refined attention mechanism,and the perturbation of those pixels with smaller influence is limited to restrict the scale of the perturbation.After conducting thorough experiments on the NeurIPS 2017 adversarial dataset and the ILSVRC 2012 validation dataset,the proposed strategy holds the potential to significantly diminish the superfluous noise present in adversarial examples,all while keeping their attack efficacy intact.For instance,in attacks on adversarially trained models,upon the integration of the strategy,the average level of noise injected into images experiences a decline of 8.32%.However,the average attack success rate decreases by only 0.34%.Furthermore,the competence is possessed to substantially elevate the attack success rate by merely introducing a slight degree of perturbation.

LDAS&ET-AD:Learnable Distillation Attack Strategies and Evolvable Teachers Adversarial Distillation

Adversarial distillation(AD)has emerged as a potential solution to tackle the challenging optimization problem of loss with hard labels in adversarial training.However,fixed sample-agnostic and student-egocentric attack strategies are unsuitable for distillation.Additionally,the reliability of guidance from static teachers diminishes as target models become more robust.This paper proposes an AD method called Learnable Distillation Attack Strategies and Evolvable Teachers Adversarial Distillation(LDAS&ET-AD).Firstly,a learnable distillation attack strategies generating mechanism is developed to automatically generate sample-dependent attack strategies tailored for distillation.A strategy model is introduced to produce attack strategies that enable adversarial examples(AEs)to be created in areas where the target model significantly diverges from the teachers by competing with the target model in minimizing or maximizing the AD loss.Secondly,a teacher evolution strategy is introduced to enhance the reliability and effectiveness of knowledge in improving the generalization performance of the target model.By calculating the experimentally updated target model’s validation performance on both clean samples and AEs,the impact of distillation from each training sample and AE on the target model’s generalization and robustness abilities is assessed to serve as feedback to fine-tune standard and robust teachers accordingly.Experiments evaluate the performance of LDAS&ET-AD against different adversarial attacks on the CIFAR-10 and CIFAR-100 datasets.The experimental results demonstrate that the proposed method achieves a robust precision of 45.39%and 42.63%against AutoAttack(AA)on the CIFAR-10 dataset for ResNet-18 and MobileNet-V2,respectively,marking an improvement of 2.31%and 3.49%over the baseline method.In comparison to state-of-the-art adversarial defense techniques,our method surpasses Introspective Adversarial Distillation,the top-performing method in terms of robustness under AA attack for the CIFAR-10 dataset,with enhancements of 1.40%and 1.43%for ResNet-18 and MobileNet-V2,respectively.These findings demonstrate the effectiveness of our proposed method in enhancing the robustness of deep learning networks(DNNs)against prevalent adversarial attacks when compared to other competing methods.In conclusion,LDAS&ET-AD provides reliable and informative soft labels to one of the most promising defense methods,AT,alleviating the limitations of untrusted teachers and unsuitable AEs in existing AD techniques.We hope this paper promotes the development of DNNs in real-world trust-sensitive fields and helps ensure a more secure and dependable future for artificial intelligence systems.

A Graph-Based Semi-Supervised Approach for Few-Shot Class-Incremental Modulation Classification

With the successive application of deep learning(DL)in classification tasks,the DL-based modulation classification method has become the preference for its state-of-the-art performance.Nevertheless,once the DL recognition model is pre-trained with fixed classes,the pre-trained model tends to predict incorrect results when identifying incremental classes.Moreover,the incremental classes are usually emergent without label information or only a few labeled samples of incremental classes can be obtained.In this context,we propose a graphbased semi-supervised approach to address the fewshot classes-incremental(FSCI)modulation classification problem.Our proposed method is a twostage learning method,specifically,a warm-up model is trained for classifying old classes and incremental classes,where the unlabeled samples of incremental classes are uniformly labeled with the same label to alleviate the damage of the class imbalance problem.Then the warm-up model is regarded as a feature extractor for constructing a similar graph to connect labeled samples and unlabeled samples,and the label propagation algorithm is adopted to propagate the label information from labeled nodes to unlabeled nodes in the graph to achieve the purpose of incremental classes recognition.Simulation results prove that the proposed method is superior to other finetuning methods and retrain methods.

Semi-supervised learning based hybrid beamforming under time-varying propagation environments

Hybrid precoding is considered as a promising low-cost technique for millimeter wave(mm-wave)massive Multi-Input Multi-Output(MIMO)systems.In this work,referring to the time-varying propagation circumstances,with semi-supervised Incremental Learning(IL),we propose an online hybrid beamforming scheme.Firstly,given the constraint of constant modulus on analog beamformer and combiner,we propose a new broadnetwork-based structure for the design model of hybrid beamforming.Compared with the existing network structure,the proposed network structure can achieve better transmission performance and lower complexity.Moreover,to enhance the efficiency of IL further,by combining the semi-supervised graph with IL,we propose a hybrid beamforming scheme based on chunk-by-chunk semi-supervised learning,where only few transmissions are required to calculate the label and all other unlabelled transmissions would also be put into a training data chunk.Unlike the existing single-by-single approach where transmissions during the model update are not taken into the consideration of model update,all transmissions,even the ones during the model update,would make contributions to model update in the proposed method.During the model update,the amount of unlabelled transmissions is very large and they also carry some information,the prediction performance can be enhanced to some extent by these unlabelled channel data.Simulation results demonstrate the spectral efficiency of the proposed method outperforms that of the existing single-by-single approach.Besides,we prove the general complexity of the proposed method is lower than that of the existing approach and give the condition under which its absolute complexity outperforms that of the existing approach.

Image segmentation of exfoliated two-dimensional materials by generative adversarial network-based data augmentation

Mechanically cleaved two-dimensional materials are random in size and thickness.Recognizing atomically thin flakes by human experts is inefficient and unsuitable for scalable production.Deep learning algorithms have been adopted as an alternative,nevertheless a major challenge is a lack of sufficient actual training images.Here we report the generation of synthetic two-dimensional materials images using StyleGAN3 to complement the dataset.DeepLabv3Plus network is trained with the synthetic images which reduces overfitting and improves recognition accuracy to over 90%.A semi-supervisory technique for labeling images is introduced to reduce manual efforts.The sharper edges recognized by this method facilitate material stacking with precise edge alignment,which benefits exploring novel properties of layered-material devices that crucially depend on the interlayer twist-angle.This feasible and efficient method allows for the rapid and high-quality manufacturing of atomically thin materials and devices.

A Novel Graph Structure Learning Based Semi-Supervised Framework for Anomaly Identification in Fluctuating IoT Environment

With the rapid development of Internet of Things(IoT)technology,IoT systems have been widely applied in health-care,transportation,home,and other fields.However,with the continuous expansion of the scale and increasing complexity of IoT systems,the stability and security issues of IoT systems have become increasingly prominent.Thus,it is crucial to detect anomalies in the collected IoT time series from various sensors.Recently,deep learning models have been leveraged for IoT anomaly detection.However,owing to the challenges associated with data labeling,most IoT anomaly detection methods resort to unsupervised learning techniques.Nevertheless,the absence of accurate abnormal information in unsupervised learning methods limits their performance.To address these problems,we propose AS-GCN-MTM,an adaptive structural Graph Convolutional Networks(GCN)-based framework using a mean-teacher mechanism(AS-GCN-MTM)for anomaly identification.It performs better than unsupervised methods using only a small amount of labeled data.Mean Teachers is an effective semi-supervised learning method that utilizes unlabeled data for training to improve the generalization ability and performance of the model.However,the dependencies between data are often unknown in time series data.To solve this problem,we designed a graph structure adaptive learning layer based on neural networks,which can automatically learn the graph structure from time series data.It not only better captures the relationships between nodes but also enhances the model’s performance by augmenting key data.Experiments have demonstrated that our method improves the baseline model with the highest F1 value by 10.4%,36.1%,and 5.6%,respectively,on three real datasets with a 10%data labeling rate.

An Empirical Study on the Effectiveness of Adversarial Examples in Malware Detection

Antivirus vendors and the research community employ Machine Learning(ML)or Deep Learning(DL)-based static analysis techniques for efficient identification of new threats,given the continual emergence of novel malware variants.On the other hand,numerous researchers have reported that Adversarial Examples(AEs),generated by manipulating previously detected malware,can successfully evade ML/DL-based classifiers.Commercial antivirus systems,in particular,have been identified as vulnerable to such AEs.This paper firstly focuses on conducting black-box attacks to circumvent ML/DL-based malware classifiers.Our attack method utilizes seven different perturbations,including Overlay Append,Section Append,and Break Checksum,capitalizing on the ambiguities present in the PE format,as previously employed in evasion attack research.By directly applying the perturbation techniques to PE binaries,our attack method eliminates the need to grapple with the problem-feature space dilemma,a persistent challenge in many evasion attack studies.Being a black-box attack,our method can generate AEs that successfully evade both DL-based and ML-based classifiers.Also,AEs generated by the attack method retain their executability and malicious behavior,eliminating the need for functionality verification.Through thorogh evaluations,we confirmed that the attack method achieves an evasion rate of 65.6%against well-known ML-based malware detectors and can reach a remarkable 99%evasion rate against well-known DL-based malware detectors.Furthermore,our AEs demonstrated the capability to bypass detection by 17%of vendors out of the 64 on VirusTotal(VT).In addition,we propose a defensive approach that utilizes Trend Locality Sensitive Hashing(TLSH)to construct a similarity-based defense model.Through several experiments on the approach,we verified that our defense model can effectively counter AEs generated by the perturbation techniques.In conclusion,our defense model alleviates the limitation of the most promising defense method,adversarial training,which is only effective against the AEs that are included in the training classifiers.

Boosting Adversarial Training with Learnable Distribution

In recent years,various adversarial defense methods have been proposed to improve the robustness of deep neural networks.Adversarial training is one of the most potent methods to defend against adversarial attacks.However,the difference in the feature space between natural and adversarial examples hinders the accuracy and robustness of the model in adversarial training.This paper proposes a learnable distribution adversarial training method,aiming to construct the same distribution for training data utilizing the Gaussian mixture model.The distribution centroid is built to classify samples and constrain the distribution of the sample features.The natural and adversarial examples are pushed to the same distribution centroid to improve the accuracy and robustness of the model.The proposed method generates adversarial examples to close the distribution gap between the natural and adversarial examples through an attack algorithm explicitly designed for adversarial training.This algorithm gradually increases the accuracy and robustness of the model by scaling perturbation.Finally,the proposed method outputs the predicted labels and the distance between the sample and the distribution centroid.The distribution characteristics of the samples can be utilized to detect adversarial cases that can potentially evade the model defense.The effectiveness of the proposed method is demonstrated through comprehensive experiments.

Multi-distortion suppression for neutron radiographic images based on generative adversarial network

Neutron radiography is a crucial nondestructive testing technology widely used in the aerospace,military,and nuclear industries.However,because of the physical limitations of neutron sources and collimators,the resulting neutron radiographic images inevitably exhibit multiple distortions,including noise,geometric unsharpness,and white spots.Furthermore,these distortions are particularly significant in compact neutron radiography systems with low neutron fluxes.Therefore,in this study,we devised a multi-distortion suppression network that employs a modified generative adversarial network to improve the quality of degraded neutron radiographic images.Real neutron radiographic image datasets with various types and levels of distortion were built for the first time as multi-distortion suppression datasets.Thereafter,the coordinate attention mechanism was incorporated into the backbone network to augment the capability of the proposed network to learn the abstract relationship between ideally clear and degraded images.Extensive experiments were performed;the results show that the proposed method can effectively suppress multiple distortions in real neutron radiographic images and achieve state-of-theart perceptual visual quality,thus demonstrating its application potential in neutron radiography.

Covert LEO Satellite Communication Aided by Generative Adversarial Network Based Cooperative UAV Jamming

In this paper,we study the covert performance of the downlink low earth orbit(LEO)satellite communication,where the unmanned aerial vehicle(UAV)is employed as a cooperative jammer.To maximize the covert rate of the LEO satellite transmission,a multi-objective problem is formulated to jointly optimize the UAV’s jamming power and trajectory.For practical consideration,we assume that the UAV can only have partial environmental information,and can’t know the detection threshold and exact location of the eavesdropper on the ground.To solve the multiobjective problem,we propose the data-driven generative adversarial network(DD-GAN)based method to optimize the power and trajectory of the UAV,in which the sample data is collected by using genetic algorithm(GA).Simulation results show that the jamming solution of UAV generated by DD-GAN can achieve an effective trade-off between covert rate and probability of detection errors when only limited prior information is obtained.

Model Change Active Learning in Graph-Based Semi-supervised Learning

Active learning in semi-supervised classification involves introducing additional labels for unlabelled data to improve the accuracy of the underlying classifier.A challenge is to identify which points to label to best improve performance while limiting the number of new labels."Model Change"active learning quantifies the resulting change incurred in the classifier by introducing the additional label(s).We pair this idea with graph-based semi-supervised learning(SSL)methods,that use the spectrum of the graph Laplacian matrix,which can be truncated to avoid prohibitively large computational and storage costs.We consider a family of convex loss functions for which the acquisition function can be efficiently approximated using the Laplace approximation of the posterior distribution.We show a variety of multiclass examples that illustrate improved performance over prior state-of-art.

Quantifying Uncertainty in Dielectric Solids’ Mechanical Properties Using Isogeometric Analysis and Conditional Generative Adversarial Networks

Accurate quantification of the uncertainty in the mechanical characteristics of dielectric solids is crucial for advancing their application in high-precision technological domains,necessitating the development of robust com-putational methods.This paper introduces a Conditional Generation Adversarial Network Isogeometric Analysis(CGAN-IGA)to assess the uncertainty of dielectric solids’mechanical characteristics.IGA is utilized for the precise computation of electric potentials in dielectric,piezoelectric,and flexoelectric materials,leveraging its advantage of integrating seamlessly with Computer-Aided Design(CAD)models to maintain exact geometrical fidelity.The CGAN method is highly efficient in generating models for piezoelectric and flexoelectric materials,specifically adapting to targeted design requirements and constraints.Then,the CGAN-IGA is adopted to calculate the electric potential of optimum models with different parameters to accelerate uncertainty quantification processes.The accuracy and feasibility of this method are verified through numerical experiments presented herein.

Generative adversarial networks based motion learning towards robotic calligraphy synthesis

Robot calligraphy visually reflects the motion capability of robotic manipulators.While traditional researches mainly focus on image generation and the writing of simple calligraphic strokes or characters,this article presents a generative adversarial network(GAN)-based motion learning method for robotic calligraphy synthesis(Gan2CS)that can enhance the efficiency in writing complex calligraphy words and reproducing classic calligraphy works.The key technologies in the proposed approach include:(1)adopting the GAN to learn the motion parameters from the robot writing operation;(2)converting the learnt motion data into the style font and realising the transition from static calligraphy images to dynamic writing demonstration;(3)reproducing high-precision calligraphy works by synthesising the writing motion data hierarchically.In this study,the motion trajectories of sample calligraphy images are firstly extracted and converted into the robot module.The robot performs the writing with motion planning,and the writing motion parameters of calligraphy strokes are learnt with GANs.Then the motion data of basic strokes is synthesised based on the hierarchical process of‘stroke-radicalpart-character’.And the robot re-writes the synthesised characters whose similarity with the original calligraphy characters is evaluated.Regular calligraphy characters have been tested in the experiments for method validation and the results validated that the robot can actualise the robotic calligraphy synthesis of writing motion data with GAN.