We investigate the problem of risk averse robot path planning using the deep reinforcement learning and distributionally robust optimization perspectives. Our problem formulation involves modelling the robot as a stochastic linear dynamical system, assuming that a collection of process noise samples is available. We cast the risk averse motion planning problem as a Markov decision process and propose a continuous reward function design that explicitly takes into account the risk of collision with obstacles while encouraging the robot's motion towards the goal. We learn the risk-averse robot control actions through Lipschitz approximated Wasserstein distributionally robust deep Q-learning to hedge against the noise uncertainty. The learned control actions result in a safe and risk averse trajectory from the source to the goal, avoiding all the obstacles. Various supporting numerical simulations are presented to demonstrate our proposed approach.

提出了在不确定环境中运行的机器人的分配强大风险分配到基于抽样的运动计划算法中的集成。我们通过将整个计划范围内定义的分配稳健的关节风险约束分解为鉴于总风险预算的个人风险限制，进行了不均匀的风险分配。具体而言，使用单个风险约束定义的确定性收紧，以定义我们提出的确切风险分配程序。我们将风险分配技术嵌入基于抽样的运动计划算法中的想法实现了保守的，但越来越多的风险可行的轨迹，以进行有效的状态探索。

Large language models (LLMs) have been shown to be able to perform new tasks based on a few demonstrations or natural language instructions. While these capabilities have led to widespread adoption, most LLMs are developed by resource-rich organizations and are frequently kept from the public. As a step towards democratizing this powerful technology, we present BLOOM, a 176B-parameter open-access language model designed and built thanks to a collaboration of hundreds of researchers. BLOOM is a decoder-only Transformer language model that was trained on the ROOTS corpus, a dataset comprising hundreds of sources in 46 natural and 13 programming languages (59 in total). We find that BLOOM achieves competitive performance on a wide variety of benchmarks, with stronger results after undergoing multitask prompted finetuning. To facilitate future research and applications using LLMs, we publicly release our models and code under the Responsible AI License.

机器学习开始在一系列环境应用中提供最先进的性能，例如水文流域中的流量预测。但是，由于主要的水文工艺的可变性，在实践中建立准确的大规模模型在实践中仍然具有挑战性，这是通过一组与过程相关的盆地特征捕获的。现有的盆地特征遭受了噪音和不确定性的影响，以及许多其他事情，这会对模型性能产生不利影响。为了应对上述挑战，在本文中，我们提出了一种新颖的知识引导的自学学习（KGSSL）逆框架，以从驱动程序和响应数据中提取系统特征。即使特征被损坏，这个首先的框架即使在特征被损坏的情况下也达到了强大的性能。我们表明，KGSSL为骆驼的流量建模（大型研究的流域属性和气象学）实现了最新的结果，这是一个广泛使用的水文基准数据集。具体而言，KGSSL在重建特性中最多优于其他方法16 \％。此外，我们表明KGSSL比基线方法相对强大，并且在插入KGSSL推断的特征时，基线模型的表现优于35 \％。

风电场设计主要取决于风力涡轮机唤醒流向大气风条件的可变性，以及唤醒之间的相互作用。使用高保真度捕获唤醒流场的物理学模型是计算风电场的布局优化的计算非常昂贵，因此数据驱动的减少的订单模型可以代表模拟风电场的有效替代方案。在这项工作中，我们使用现实世界的光检测和测量（LIDAR）测量的风力涡轮机唤醒，用机器学习构建预测代理模型。具体而言，我们首先展示使用深度自动控制器来找到低维\ emph {潜在}空间，其给出了唤醒激光雷达测量的计算易逼近的近似。然后，我们学习使用深神经网络的参数空间和（潜在空间）唤醒流场之间的映射。此外，我们还展示了使用概率机器学习技术，即高斯过程建模，除了数据中的认知和炼拉内不确定性之外，学习参数空间潜空间映射。最后，为了应对培训大型数据集，我们展示了使用变分高斯过程模型，为大型数据集提供了传统的高斯工艺模型的传统高斯工艺模型。此外，我们介绍了主动学习以自适应地构建和改进传统的高斯过程模型预测能力。总的来说，我们发现我们的方法提供了风力涡轮机唤醒流场的准确近似，其可以以比具有基于高保真物理的模拟产生的级别更便宜的成本来查询。

Estimating the 6D pose of known objects is important for robots to interact with the real world. The problem is challenging due to the variety of objects as well as the complexity of a scene caused by clutter and occlusions between objects. In this work, we introduce PoseCNN, a new Convolutional Neural Network for 6D object pose estimation. PoseCNN estimates the 3D translation of an object by localizing its center in the image and predicting its distance from the camera. The 3D rotation of the object is estimated by regressing to a quaternion representation. We also introduce a novel loss function that enables PoseCNN to handle symmetric objects. In addition, we contribute a large scale video dataset for 6D object pose estimation named the YCB-Video dataset. Our dataset provides accurate 6D poses of 21 objects from the YCB dataset observed in 92 videos with 133,827 frames. We conduct extensive experiments on our YCB-Video dataset and the OccludedLINEMOD dataset to show that PoseCNN is highly robust to occlusions, can handle symmetric objects, and provide accurate pose estimation using only color images as input. When using depth data to further refine the poses, our approach achieves state-of-the-art results on the challenging OccludedLINEMOD dataset. Our code and dataset are available at https://rse-lab.cs.washington.edu/projects/posecnn/.