本文介绍了一种系统集成方法，用于一种6-DOF（自由度）协作机器人，以操作移液液的移液液。它的技术发展是三倍。首先，我们设计了用于握住和触发手动移液器的最终效果。其次，我们利用协作机器人的优势来识别基于公认姿势的实验室姿势和计划的机器人运动。第三，我们开发了基于视觉的分类器来预测和纠正定位误差，从而精确地附着在一次性技巧上。通过实验和分析，我们确认开发的系统，尤其是计划和视觉识别方法，可以帮助确保高精度和柔性液体分配。开发的系统适用于低频，高更改的生化液体分配任务。我们预计它将促进协作机器人的部署进行实验室自动化，从而提高实验效率，而不会显着自定义实验室环境。

When simulating soft robots, both their morphology and their controllers play important roles in task performance. This paper introduces a new method to co-evolve these two components in the same process. We do that by using the hyperNEAT algorithm to generate two separate neural networks in one pass, one responsible for the design of the robot body structure and the other for the control of the robot. The key difference between our method and most existing approaches is that it does not treat the development of the morphology and the controller as separate processes. Similar to nature, our method derives both the "brain" and the "body" of an agent from a single genome and develops them together. While our approach is more realistic and doesn't require an arbitrary separation of processes during evolution, it also makes the problem more complex because the search space for this single genome becomes larger and any mutation to the genome affects "brain" and the "body" at the same time. Additionally, we present a new speciation function that takes into consideration both the genotypic distance, as is the standard for NEAT, and the similarity between robot bodies. By using this function, agents with very different bodies are more likely to be in different species, this allows robots with different morphologies to have more specialized controllers since they won't crossover with other robots that are too different from them. We evaluate the presented methods on four tasks and observe that even if the search space was larger, having a single genome makes the evolution process converge faster when compared to having separated genomes for body and control. The agents in our population also show morphologies with a high degree of regularity and controllers capable of coordinating the voxels to produce the necessary movements.

Taking into account background knowledge as the context has always been an important part of solving tasks that involve natural language. One representative example of such tasks is text-based games, where players need to make decisions based on both description text previously shown in the game, and their own background knowledge about the language and common sense. In this work, we investigate not simply giving common sense, as can be seen in prior research, but also its effective usage. We assume that a part of the environment states different from common sense should constitute one of the grounds for action selection. We propose a novel agent, DiffG-RL, which constructs a Difference Graph that organizes the environment states and common sense by means of interactive objects with a dedicated graph encoder. DiffG-RL also contains a framework for extracting the appropriate amount and representation of common sense from the source to support the construction of the graph. We validate DiffG-RL in experiments with text-based games that require common sense and show that it outperforms baselines by 17% of scores. The code is available at https://github.com/ibm/diffg-rl

Our team, Hibikino-Musashi@Home (the shortened name is HMA), was founded in 2010. It is based in the Kitakyushu Science and Research Park, Japan. We have participated in the RoboCup@Home Japan open competition open platform league every year since 2010. Moreover, we participated in the RoboCup 2017 Nagoya as open platform league and domestic standard platform league teams. Currently, the Hibikino-Musashi@Home team has 20 members from seven different laboratories based in the Kyushu Institute of Technology. In this paper, we introduce the activities of our team and the technologies.

本文档描述了Spotify出于学术研究目的发布的葡萄牙语播客数据集。我们概述了如何采样数据，有关集合的一些基本统计数据，以及有关巴西和葡萄牙方言的分发信息的简要信息。

深度神经网络（DNN）众所周知，很容易受到对抗例子的影响（AES）。此外，AE具有对抗性可传递性，这意味着为源模型生成的AE可以以非平凡的概率欺骗另一个黑框模型（目标模型）。在本文中，我们首次研究了包括Convmixer在内的模型之间的对抗性转移性的属性。为了客观地验证可转让性的属性，使用称为AutoAttack的基准攻击方法评估模型的鲁棒性。在图像分类实验中，Convmixer被确认对对抗性转移性较弱。

场景中光的极化信息对于各种图像处理和计算机视觉任务很有价值。平面偏光仪是一种有前途的方法，可以一次性地捕获不同方向的极化图像，而它需要颜色极化的表现。在本文中，我们提出了一个两步的颜色偏振化学网络〜（TCPDNET），该网络由两个颜色的表演和极化演示组成。我们还引入了YCBCR颜色空间中的重建损失，以提高TCPDNET的性能。实验比较表明，TCPDNET在极化图像的图像质量和Stokes参数的准确性方面优于现有方法。

实现接近真实机器人的高度准确的运动学或模拟器模型可以促进基于模型的控制（例如，模型预测性控制或线性质量调节器），基于模型的轨迹计划（例如，轨迹优化），并减少增强学习方法所需的学习时间。因此，这项工作的目的是学习运动学和/或模拟器模型与真实机器人之间的残余误差。这是使用自动调节和神经网络实现的，其中使用自动调整方法更新神经网络的参数，该方法应用了从无味的Kalman滤波器（UKF）公式进行方程式。使用此方法，我们仅使用少量数据对这些残差错误进行建模 - 当我们直接从硬件操作中学习改善模拟器/运动学模型时，这是必要的。我们演示了关于机器人硬件（例如操纵器组）的方法，并表明，通过学习的残差错误，我们可以进一步缩小运动学模型，模拟和真实机器人之间的现实差距。

深度神经网络（DNN）众所周知，很容易受到对抗例子的影响（AES）。此外，AE具有对抗性转移性，即为源模型傻瓜（目标）模型生成的AE。在本文中，我们首次研究了为对抗性强大防御的模型的可传递性。为了客观地验证可转让性的属性，使用称为AutoAttack的基准攻击方法评估模型的鲁棒性。在图像分类实验中，使用加密模型的使用不仅是对AE的鲁棒性，而且还可以减少AES在模型的可传递性方面的影响。

黑盒优化在许多应用中具有潜力，例如在实验设计中的机器学习和优化中的超参数优化。 ISING机器对二进制优化问题很有用，因为变量可以由Ising机器的单个二进制变量表示。但是，使用ISING机器的常规方法无法处理具有非二进制值的黑框优化问题。为了克服这一限制，我们通过与三种不同的整数编码方法合作，通过使用ISING/退火计算机和分解计算机来提出一种用于整数变量的黑盒优化问题的方法。使用不同的编码方法，使用一个简单的问题来计算最稳定状态下的氢分子能量，以不同的编码方法进行数值评估。提出的方法可以使用任何整数编码方法来计算能量。但是，单次编码对于小尺寸的问题很有用。