Improving the Environmental Adaptability of Conditional Imitation Learning Driving Model

Author(s):  
Zhihui Guo ◽  
Shuo Zhang ◽  
Sheng Han ◽  
Youfang Lin
2021 ◽  
Vol 6 (2) ◽  
pp. 2477-2484
Author(s):  
Yunkai Wang ◽  
Dongkun Zhang ◽  
Jingke Wang ◽  
Zexi Chen ◽  
Yuehua Li ◽  
...  

2005 ◽  
Author(s):  
Frderick L. Crabbe ◽  
Rebecca Hwa

Author(s):  
Yi Hua ◽  
Zhi Qiu ◽  
Wenjing Luo ◽  
Yue Wang ◽  
Zhu Wang

Building concentrated resettlement community in small towns is mostly used to deal with resettlement construction for rural migrants in economically developed regions in China, which leads to migrants’ living environment changing from rural settlements where production and living are intertwined to an urban community that only supports living functions. However, the urbanized environment is contrary to elderly migrants’ behavior, resulting in contradictions or conflicts between migrants and resettlement communities, reflecting a lack of urbanization synchronization between migrants and resettlement community environments. Further, elderly migrants are also equipped with different degrees and types of urbanization characteristics, thus reflecting different abilities to adapt to the urban community environment. Based on the corresponding relationship between people’s different production and living needs and urbanization, this research starts by investigating the production and living needs of elderly migrants, and further clarifies the environmental adaptability of elderly migrants by sorting the types and characteristics of urbanization of elderly migrants to provide a reference basis for the planning and construction of future resettlement areas. The research uses questionnaires and semi-structured interviews to investigate the population attributes and characteristics of elderly migrants, as well as their different needs for production and living. The research uses hierarchical cluster analysis, the one-way ANOVA test and Chi-square test to constructed a four-quadrant model on human urbanization features: an Urban Group with both living and production urbanized (Group H-H); a Half-urban-half-rural Group with only living needs urbanized (Group H-L); a Half-urban-Half-rural Group with only production needs urbanized (Group L-H); and a Rural group with both living and production needs not urbanized (Group L-L). Finally, based on the results, this research proposed three elderly environment construction orientations of “Promote the Supply Level of Urban Public Services”, “Create a Place That Embodies the Spirit of Immigrants’ Homeland”, and “Moderate Consideration of Agricultural Production Needs” for residential planning.


2021 ◽  
Author(s):  
Markku Suomalainen ◽  
Fares J. Abu-dakka ◽  
Ville Kyrki

AbstractWe present a novel method for learning from demonstration 6-D tasks that can be modeled as a sequence of linear motions and compliances. The focus of this paper is the learning of a single linear primitive, many of which can be sequenced to perform more complex tasks. The presented method learns from demonstrations how to take advantage of mechanical gradients in in-contact tasks, such as assembly, both for translations and rotations, without any prior information. The method assumes there exists a desired linear direction in 6-D which, if followed by the manipulator, leads the robot’s end-effector to the goal area shown in the demonstration, either in free space or by leveraging contact through compliance. First, demonstrations are gathered where the teacher explicitly shows the robot how the mechanical gradients can be used as guidance towards the goal. From the demonstrations, a set of directions is computed which would result in the observed motion at each timestep during a demonstration of a single primitive. By observing which direction is included in all these sets, we find a single desired direction which can reproduce the demonstrated motion. Finding the number of compliant axes and their directions in both rotation and translation is based on the assumption that in the presence of a desired direction of motion, all other observed motion is caused by the contact force of the environment, signalling the need for compliance. We evaluate the method on a KUKA LWR4+ robot with test setups imitating typical tasks where a human would use compliance to cope with positional uncertainty. Results show that the method can successfully learn and reproduce compliant motions by taking advantage of the geometry of the task, therefore reducing the need for localization accuracy.


BMC Genomics ◽  
2021 ◽  
Vol 22 (1) ◽  
Author(s):  
Zhenyang Liao ◽  
Xunxiao Zhang ◽  
Shengcheng Zhang ◽  
Zhicong Lin ◽  
Xingtan Zhang ◽  
...  

Abstract Background Structural variations (SVs) are a type of mutations that have not been widely detected in plant genomes and studies in animals have shown their role in the process of domestication. An in-depth study of SVs will help us to further understand the impact of SVs on the phenotype and environmental adaptability during papaya domestication and provide genomic resources for the development of molecular markers. Results We detected a total of 8083 SVs, including 5260 deletions, 552 tandem duplications and 2271 insertions with deletion being the predominant, indicating the universality of deletion in the evolution of papaya genome. The distribution of these SVs is non-random in each chromosome. A total of 1794 genes overlaps with SV, of which 1350 genes are expressed in at least one tissue. The weighted correlation network analysis (WGCNA) of these expressed genes reveals co-expression relationship between SVs-genes and different tissues, and functional enrichment analysis shows their role in biological growth and environmental responses. We also identified some domesticated SVs genes related to environmental adaptability, sexual reproduction, and important agronomic traits during the domestication of papaya. Analysis of artificially selected copy number variant genes (CNV-genes) also revealed genes associated with plant growth and environmental stress. Conclusions SVs played an indispensable role in the process of papaya domestication, especially in the reproduction traits of hermaphrodite plants. The detection of genome-wide SVs and CNV-genes between cultivated gynodioecious populations and wild dioecious populations provides a reference for further understanding of the evolution process from male to hermaphrodite in papaya.


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