在先前有关多代理区防御游戏的文献中，捍卫者对攻击者的任务是基于与攻击者拦截相关的成本度量完成的。与此相反，本文提出了一项互相碰撞拦截策略（IDCAI），供捍卫者拦截攻击者以捍卫保护区，因此辩护人到攻击者的分配协议不仅要考虑到拦截 - 相关的成本，但也考虑了捍卫者在其最佳拦截轨迹上的任何未来碰撞。特别是，在本文中，捍卫者被分配给使用混合成员二次计划（MIQP）拦截攻击者，该计划：1）最大程度地减少后卫在时间优势控制下捕获攻击者所花费的时间，以及2 ）有助于消除或延迟捍卫者在最佳轨迹上的未来碰撞。为了防止由于攻击者的时间次数最佳行为而引起的最佳轨迹或碰撞的必然碰撞，还提供了使用指数控制屏障功能（ECBF）的最小增强控制。模拟显示了该方法的功效。

Household environments are visually diverse. Embodied agents performing Vision-and-Language Navigation (VLN) in the wild must be able to handle this diversity, while also following arbitrary language instructions. Recently, Vision-Language models like CLIP have shown great performance on the task of zero-shot object recognition. In this work, we ask if these models are also capable of zero-shot language grounding. In particular, we utilize CLIP to tackle the novel problem of zero-shot VLN using natural language referring expressions that describe target objects, in contrast to past work that used simple language templates describing object classes. We examine CLIP's capability in making sequential navigational decisions without any dataset-specific finetuning, and study how it influences the path that an agent takes. Our results on the coarse-grained instruction following task of REVERIE demonstrate the navigational capability of CLIP, surpassing the supervised baseline in terms of both success rate (SR) and success weighted by path length (SPL). More importantly, we quantitatively show that our CLIP-based zero-shot approach generalizes better to show consistent performance across environments when compared to SOTA, fully supervised learning approaches when evaluated via Relative Change in Success (RCS).

量子计算为某些问题提供了指数加速的潜力。但是，许多具有可证明加速的现有算法都需要当前不可用的耐故障量子计算机。我们提出了NISQ-TDA，这是第一个完全实现的量子机学习算法，其在任意经典（非手动）数据上具有可证明的指数加速，并且仅需要线性电路深度。我们报告了我们的NISQ-TDA算法的成功执行，该算法应用于在量子计算设备以及嘈杂的量子模拟器上运行的小数据集。我们从经验上证实，该算法对噪声是可靠的，并提供了目标深度和噪声水平，以实现现实世界中问题的近期，无耐受耐受性的量子优势。我们独特的数据加载投影方法是噪声鲁棒性的主要来源，引入了一种新的自我校正数据加载方法。

在最近的过去，草莓的机器人收获引起了很多兴趣。尽管有很多创新，但它们尚未达到与人类采摘专家相当的水平。末端效应单元在定义这种机器人收割系统的效率方面起着重要作用。即使有关于草莓收集的各种最终效应子的报道，但是在某些情况下，研究人员可以依靠某些参数来开发新的最终效应子。这些参数包括可以在花梗上应用的抓地力极限，以有效地抓握，切割草莓花梗所需的力等。这些估计将对目标的最终效应器的设计周期有所帮助，以握住和切割在收获动作期间，草莓花梗。本文通过实验研究了这些参数的估计和分析。据估计，花梗的握力可以限制为10N。这使最终效应器能够抓住高达50克的草莓，而操纵加速度为50 m/s $^2 $，而不会挤压花梗。关于花梗切割力的研究表明，15 n的力足以在30度方向上使用楔形角度为16.6度的刀片切出草莓花梗。

Designing experiments often requires balancing between learning about the true treatment effects and earning from allocating more samples to the superior treatment. While optimal algorithms for the Multi-Armed Bandit Problem (MABP) provide allocation policies that optimally balance learning and earning, they tend to be computationally expensive. The Gittins Index (GI) is a solution to the MABP that can simultaneously attain optimality and computationally efficiency goals, and it has been recently used in experiments with Bernoulli and Gaussian rewards. For the first time, we present a modification of the GI rule that can be used in experiments with exponentially-distributed rewards. We report its performance in simulated 2- armed and 3-armed experiments. Compared to traditional non-adaptive designs, our novel GI modified design shows operating characteristics comparable in learning (e.g. statistical power) but substantially better in earning (e.g. direct benefits). This illustrates the potential that designs using a GI approach to allocate participants have to improve participant benefits, increase efficiencies, and reduce experimental costs in adaptive multi-armed experiments with exponential rewards.

Quadruped robots are currently used in industrial robotics as mechanical aid to automate several routine tasks. However, presently, the usage of such a robot in a domestic setting is still very much a part of the research. This paper discusses the understanding and virtual simulation of such a robot capable of detecting and understanding human emotions, generating its gait, and responding via sounds and expression on a screen. To this end, we use a combination of reinforcement learning and software engineering concepts to simulate a quadruped robot that can understand emotions, navigate through various terrains and detect sound sources, and respond to emotions using audio-visual feedback. This paper aims to establish the framework of simulating a quadruped robot that is emotionally intelligent and can primarily respond to audio-visual stimuli using motor or audio response. The emotion detection from the speech was not as performant as ERANNs or Zeta Policy learning, still managing an accuracy of 63.5%. The video emotion detection system produced results that are almost at par with the state of the art, with an accuracy of 99.66%. Due to its "on-policy" learning process, the PPO algorithm was extremely rapid to learn, allowing the simulated dog to demonstrate a remarkably seamless gait across the different cadences and variations. This enabled the quadruped robot to respond to generated stimuli, allowing us to conclude that it functions as predicted and satisfies the aim of this work.

Real-world robotic grasping can be done robustly if a complete 3D Point Cloud Data (PCD) of an object is available. However, in practice, PCDs are often incomplete when objects are viewed from few and sparse viewpoints before the grasping action, leading to the generation of wrong or inaccurate grasp poses. We propose a novel grasping strategy, named 3DSGrasp, that predicts the missing geometry from the partial PCD to produce reliable grasp poses. Our proposed PCD completion network is a Transformer-based encoder-decoder network with an Offset-Attention layer. Our network is inherently invariant to the object pose and point's permutation, which generates PCDs that are geometrically consistent and completed properly. Experiments on a wide range of partial PCD show that 3DSGrasp outperforms the best state-of-the-art method on PCD completion tasks and largely improves the grasping success rate in real-world scenarios. The code and dataset will be made available upon acceptance.

When robots learn reward functions using high capacity models that take raw state directly as input, they need to both learn a representation for what matters in the task -- the task ``features" -- as well as how to combine these features into a single objective. If they try to do both at once from input designed to teach the full reward function, it is easy to end up with a representation that contains spurious correlations in the data, which fails to generalize to new settings. Instead, our ultimate goal is to enable robots to identify and isolate the causal features that people actually care about and use when they represent states and behavior. Our idea is that we can tune into this representation by asking users what behaviors they consider similar: behaviors will be similar if the features that matter are similar, even if low-level behavior is different; conversely, behaviors will be different if even one of the features that matter differs. This, in turn, is what enables the robot to disambiguate between what needs to go into the representation versus what is spurious, as well as what aspects of behavior can be compressed together versus not. The notion of learning representations based on similarity has a nice parallel in contrastive learning, a self-supervised representation learning technique that maps visually similar data points to similar embeddings, where similarity is defined by a designer through data augmentation heuristics. By contrast, in order to learn the representations that people use, so we can learn their preferences and objectives, we use their definition of similarity. In simulation as well as in a user study, we show that learning through such similarity queries leads to representations that, while far from perfect, are indeed more generalizable than self-supervised and task-input alternatives.

and widely used information measurement metric, particularly popularized for SSVEP- based Brain-Computer (BCI) interfaces. By combining speed and accuracy into a single-valued parameter, this metric aids in the evaluation and comparison of various target identification algorithms across different BCI communities. To accurately depict performance and inspire an end-to-end design for futuristic BCI designs, a more thorough examination and definition of ITR is therefore required. We model the symbiotic communication medium, hosted by the retinogeniculate visual pathway, as a discrete memoryless channel and use the modified capacity expressions to redefine the ITR. We use graph theory to characterize the relationship between the asymmetry of the transition statistics and the ITR gain with the new definition, leading to potential bounds on data rate performance. On two well-known SSVEP datasets, we compared two cutting-edge target identification methods. Results indicate that the induced DM channel asymmetry has a greater impact on the actual perceived ITR than the change in input distribution. Moreover, it is demonstrated that the ITR gain under the new definition is inversely correlated with the asymmetry in the channel transition statistics. Individual input customizations are further shown to yield perceived ITR performance improvements. An algorithm is proposed to find the capacity of binary classification and further discussions are given to extend such results to ensemble techniques.We anticipate that the results of our study will contribute to the characterization of the highly dynamic BCI channel capacities, performance thresholds, and improved BCI stimulus designs for a tighter symbiosis between the human brain and computer systems while enhancing the efficiency of the underlying communication resources.

A step-search sequential quadratic programming method is proposed for solving nonlinear equality constrained stochastic optimization problems. It is assumed that constraint function values and derivatives are available, but only stochastic approximations of the objective function and its associated derivatives can be computed via inexact probabilistic zeroth- and first-order oracles. Under reasonable assumptions, a high-probability bound on the iteration complexity of the algorithm to approximate first-order stationarity is derived. Numerical results on standard nonlinear optimization test problems illustrate the advantages and limitations of our proposed method.