Integration of imitation learning using GAIL and reinforcement learning using task-achievement rewards via probabilistic graphical model

The integration of reinforcement learning (RL) and imitation learning (IL) is an important problem that has long been studied in the field of intelligent robotics. RL optimizes policies to maximize the cumulative reward, whereas IL attempts to extract general knowledge about the trajectories demonstrated by experts, i.e, demonstrators. Because each has its own drawbacks, many methods combining them and compensating for each set of drawbacks have been explored thus far. However, many of these methods are heuristic and do not have a solid theoretical basis. This paper presents a new theory for integrating RL and IL by extending the probabilistic graphical model (PGM) framework for RL, control as inference. We develop a new PGM for RL with multiple types of rewards, called probabilistic graphical model for Markov decision processes with multiple optimality emissions (pMDP-MO). Furthermore, we demonstrate that the integrated learning method of RL and IL can be formulated as a probabilistic inference of policies on pMDP-MO by considering the discriminator in generative adversarial imitation learning (GAIL) as an additional optimality emission. We adapt the GAIL and task-achievement reward to our proposed framework, achieving significantly better performance than policies trained with baseline methods.     

计算机技术在电子装备测试系统中的应用研究

在现代测试技术快速发展的今天，计算机已成为武器装备自动测试系统中不可缺少的重要组成部分。高性能的计算机软件技术更是构建智能型、集成化自动测试系统的关键所在。分析了先进的软件技术在自动测试系统中的应用状况；并以导弹地面测量雷达系统为例，具体介绍了利用系统仿真方法进行装备自动检测的技术实现。     

采用注视控制器实现复杂运动的仿真

注视控制器是3DS MAX软件的众多控件之一，它能使多个物体彼此间产生运动约束。通过使用注视控制器功能，笔者成功制作出八足爬壁式仿生机械昆虫的运动场景动画，并使该仿生机械昆虫各足的行走动作符合机械零件作平面复杂运动时所应遵守的正确运动规律。由此证明，3DS MAX软件注视控制器对正确模拟特殊机械装置的复杂运动可产生极大作用。     

The Strategic Control of Multiple Routes in Imitation of Actions.

The aim of this study was to bring to the surface the strategic use of imitative processes in the context of a 2-route model: (a) direct imitation, used in reproducing new, meaningless actions, and (b) imitation based on stored semantic knowledge of familiar meaningful actions. Three experiments were carried out with healthy participants who reproduced meaningful and meaningless actions within an established time limit. The study investigated 3 factors that could potentially affect the selection of processes used for imitation: (a) the composition of the experimental list (blocked or mixed presentation), (b) the presence-absence of instructions (Experiments 1 and 2), and (c) the relative proportions of the stimuli (Experiment 3). Overall, the results suggest that each of these factors influences the selection of imitative strategies in healthy individuals with temporarily reduced capacities, as happens in the case of brain-damaged patients. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

La capacité d'imitation à la naissance: Elle existe, mais que signifie-t-elle?

Much of the research on early imitations is restricted to the problem of their existence, without trying to describe them. The aim of this research is to analyze the principal characteristics of neonatal imitations in order to differentiate them from the later imitations. The behaviours of 16 neonates were filmed. A facial and a manual model were used. A detailed analysis of newborn behaviour revealed several features of early imitations: They were selective, quite exact, integrated, and occurred with short-time latencies. These results are interpreted within a cognitive framework. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

NdFeB水磁体表面离子镀Cu-Al-In三元仿金

分析了真空离子镀的基本原理，研究了NbFeB永磁合金表面离子镀Cu－Al-In三元仿金合金的新工艺。合金镀层晶粒较小，均匀美观，光泽柔和；合理的工艺条件为：偏压200V，主弧电流5A±0．25A，间距120mm，加热功率11kW，氩气分压1．33Pa～0．0133Pa，时间30min。     

模拟培训器的应用

简要介绍模拟培训器的应用及其优越性，重点介绍渭河化肥厂模拟培训器的结构，功能，特点及应用情况，并且对培训器中存在问题进行了分析。     

仿石瓷质砖包裹颗粒的制备新工艺

本文分析了当前流行的仿石瓷质砖包裹颗粒制造方法的弊端,并通过改进设备和采用新的工艺方法,研制出仿石效果更佳的产品,这样既提高了颗粒的包裹效率,又降低了生产成本。     

铜及其合金电解仿金着色工艺

详细介绍了一种铜及铜合金阴极还原着仿金色工艺及其配方。探讨了该工艺的着色原理、电流密度的影响及所得着色膜层的性能。结果表明，该工艺所得的膜层呈金黄色，结晶致密，耐蚀性好。     

中国玻璃艺术的仿玉时代及其发展局限

汉代是中国玻璃发展史上的重要时期,在经济繁荣和政治稳定的条件下,中国的玻璃业得以存在和发展。汉代的玻璃制造以模仿为主。玻璃作为玉的替代品出现．其造型、质地无不显示出对玉的模仿。这不仅限制了玻璃的使用,更阻碍了玻璃艺术的发展。汉代玻璃艺术在原料配方、造型等方面均有所创新．扩大了玻璃制造业的规模．增加了产品种类。拓宽了玻璃的用途。