A New Reward System Based on Human Demonstrations for Hard Exploration Games

The main idea of reinforcement learning is evaluating the chosen action depending on the current reward.According to this concept,many algorithms achieved proper performance on classic Atari 2600 games.The main challenge is when the reward is sparse or missing.Such environments are complex exploration environments likeMontezuma’s Revenge,Pitfall,and Private Eye games.Approaches built to deal with such challenges were very demanding.This work introduced a different reward system that enables the simple classical algorithm to learn fast and achieve high performance in hard exploration environments.Moreover,we added some simple enhancements to several hyperparameters,such as the number of actions and the sampling ratio that helped improve performance.We include the extra reward within the human demonstrations.After that,we used Prioritized Double Deep Q-Networks(Prioritized DDQN)to learning from these demonstrations.Our approach enabled the Prioritized DDQNwith a short learning time to finish the first level of Montezuma’s Revenge game and to perform well in both Pitfall and Private Eye.We used the same games to compare our results with several baselines,such as the Rainbow and Deep Q-learning from demonstrations(DQfD)algorithm.The results showed that the new rewards system enabled Prioritized DDQN to out-perform the baselines in the hard exploration games with short learning time.

Theoretical aspects and sensing demonstrations of cone-shaped inwall capillary-based microsphere resonators

In this paper, a detailed theoretical study on the characteristics of cone-shaped inwall capillary-based microsphere resonators is described and demonstrated for sensing applications. The maximum, minimum, slope, contrast, and width of the Fano resonance are analyzed. As the transmission coefficient of the capillary resonator increases, the absolute value of the slope of Fano resonances increases to reach its maximum, which is useful for sensors with an ultra-high sensitivity. There occurs another phenomenon of electromagnetically induced transparency when the reflectivity at the capillary–environment interface is close to 100%. We also experimentally demonstrated its capability for temperature and refractive index sensing, with a sensitivity of 10.9 pm∕°C and 431 d B∕RIU basedon the Fano resonance and the Lorentzian line shape, respectively.

Autonomous planning and control strategy for space manipulators with dynamics uncertainty based on learning from demonstrations

Autonomous planning is a significant development direction of the space manipulator,and learning from demonstrations(LfD)is a potential strategy for complex tasks in the field.However,separating control from planning may cause large torque fluctuations and energy consumptions,even instability or danger in control of space manipulators,especially for the planning based on the human demonstrations.Therefore,we present an autonomous planning and control strategy for space manipulators based on LfD and focus on the dynamics uncertainty problem,a common problem of actual manipulators.The process can be divided into three stages:firstly,we reproduced the stochastic directed trajectory based on the Gaussian process-based LfD;secondly,we built the model of the stochastic dynamics of the actual manipulator with Gaussian process;thirdly,we designed an optimal controller based on the dynamics model to obtain the improved commanded torques and trajectory,and used the separation theorem to deal with stochastic characteristics during control.We evaluated the strategy with locating pre-screwed bolts experiment by Tiangong-2 manipulator system on the ground.The result showed that,compared with other strategies,the strategy proposed in this paper could significantly reduce torque fluctuations and energy consumptions,and its precision can meet the task requirements.

Are cities greener because of innovation?Independent innovation policy and green economic efficiency

The national independent innovation demonstration zone(NIIDZ)is an independent innovation policy that plays a crucial role in implementing strategies.Given the importance of the NIIDZ,this study uses panel data of 278 prefecture-level cities in China from 2006 to 2020 and empirically examines the effect and internal mechanism of the NIIDZ on green economic efficiency(GEE)using the difference-in-difference model(DID).The results show that the NIIDZ effectively enhances the growth of GEE,and the results remain valid through several robustness tests,such as year-by-year propensity score matching.The transmission mechanism suggests that the NIIDZ indirectly drives GEE by accelerating scientific and technological investment,promoting talent concentration,and optimizing the industrial structure.Moreover,heterogeneity analysis reveals that the promotion effect of the NIIDZ on GEE is more prominent in the eastern region and high green development level areas.The study’s findings can serve as a reference for China to further utilize the policy effectiveness of the NIIDZ and accelerate the high-quality development of the green economy in the future.

A New Proof for Congruent Number’s Problem via Pythagorician Divisors

Considering Pythagorician divisors theory which leads to a new parameterization, for Pythagorician triplets ( a,b,c )∈ ℕ 3∗ , we give a new proof of the well-known problem of these particular squareless numbers n∈ ℕ ∗ , called congruent numbers, characterized by the fact that there exists a right-angled triangle with rational sides: ( A α ) 2 + ( B β ) 2 = ( C γ ) 2 , such that its area Δ= 1 2 A α B β =n;or in an equivalent way, to that of the existence of numbers U 2 , V 2 , W 2 ∈ ℚ 2∗ that are in an arithmetic progression of reason n;Problem equivalent to the existence of: ( a,b,c )∈ ℕ 3∗ prime in pairs, and f∈ ℕ ∗ , such that: ( a−b 2f ) 2 , ( c 2f ) 2 , ( a+b 2f ) 2 are in an arithmetic progression of reason n;And this problem is also equivalent to that of the existence of a non-trivial primitive integer right-angled triangle: a 2 + b 2 = c 2 , such that its area Δ= 1 2 ab=n f 2 , where f∈ ℕ ∗ , and this last equation can be written as follows, when using Pythagorician divisors: (1) Δ= 1 2 ab= 2 S−1 d e ¯ ( d+ 2 S−1 e ¯ )( d+ 2 S e ¯ )=n f 2;Where ( d, e ¯ )∈ ( 2ℕ+1 ) 2 such that gcd( d, e ¯ )=1 and S∈ ℕ ∗ , where 2 S−1 , d, e ¯ , d+ 2 S−1 e ¯ , d+ 2 S e ¯ , are pairwise prime quantities (these parameters are coming from Pythagorician divisors). When n=1 , it is the case of the famous impossible problem of the integer right-angled triangle area to be a square, solved by Fermat at his time, by his famous method of infinite descent. We propose in this article a new direct proof for the numbers n=1 (resp. n=2 ) to be non-congruent numbers, based on an particular induction method of resolution of Equation (1) (note that this method is efficient too for general case of prime numbers n=p≡a ( ( mod8 ) , gcd( a,8 )=1 ). To prove it, we use a classical proof by induction on k , that shows the non-solvability property of any of the following systems ( t=0 , corresponding to case n=1 (resp. t=1 , corresponding to case n=2 )): ( Ξ t,k ){ X 2 + 2 t ( 2 k Y ) 2 = Z 2 X 2 + 2 t+1 ( 2 k Y ) 2 = T 2 , where k∈ℕ;and solutions ( X,Y,Z,T )=( D k , E k , f k , f ′ k )∈ ( 2ℕ+1 ) 4 , are given in pairwise prime numbers.2020-Mathematics Subject Classification 11A05-11A07-11A41-11A51-11D09-11D25-11D41-11D72-11D79-11E25 .

LIDAR:learning from imperfect demonstrations with advantage rectification

In actor-critic reinforcement learning(RL)algorithms,function estimation errors are known to cause ineffective random exploration at the beginning of training,and lead to overestimated value estimates and suboptimal policies.In this paper,we address the problem by executing advantage rectification with imperfect demonstrations,thus reducing the function estimation errors.Pretraining with expert demonstrations has been widely adopted to accelerate the learning process of deep reinforcement learning when simulations are expensive to obtain.However,existing methods,such as behavior cloning,often assume the demonstrations contain other information or labels with regard to performances,such as optimal assumption,which is usually incorrect and useless in the real world.In this paper,we explicitly handle imperfect demonstrations within the actor-critic RL frameworks,and propose a new method called learning from imperfect demonstrations with advantage rectification(LIDAR).LIDAR utilizes a rectified loss function to merely learn from selective demonstrations,which is derived from a minimal assumption that the demonstrating policies have better performances than our current policy.LIDAR learns from contradictions caused by estimation errors,and in turn reduces estimation errors.We apply LIDAR to three popular actor-critic algorithms,DDPG,TD3 and SAC,and experiments show that our method can observably reduce the function estimation errors,effectively leverage demonstrations far from the optimal,and outperform state-of-the-art baselines consistently in all the scenarios.

Fields of Promise

Burundi and China enjoy close collaboration in a number of sectors,particularly agriculture.Among the major initiatives,the introduction of hybrid rice cultivation stands out as a flagship project.In 2018,the first demonstration village for hybrid rice cultivation was established in the commune of Gihanga in northwestern Burundi.In 2020,this initiative reached a crucial stage with the creation of the Burundi Agricultural Pilot Centre(APC),located in Gihanga in the province of Bubanza.A total of 56 villages spread across 11 of Burundi’s 18 provinces have been selected for demonstration as of now.Yang Huade,head of the team of high-level Chinese agricultural experts supporting Burundi and a rice cultivation specialist who is also in charge of the APC,revealed that trials are currently underway in four provinces:the capital Gitega,the central province of Muramvya,and the northern provinces of Ngozi and Kayanza.

Examining the Experiences and Challenges of Haze-Fog Governance in China

With the rapid development of industrialisation and urbanisation, China is facing the challenge of severe HF (Haze-Fog) pollution. This essay compares the advantages and disadvantages of China’s HF management and summarizes the important lessons China can teach the rest of the world about applying this tactic. China’s capabilities in the digital economy, National Innovation Demonstration Zones, and urban innovation systems are examined in this article, along with its shortcomings in information mechanisms and pollution sources. This essay also summarizes China’s achievements, particularly regarding local autonomy. The essay goes on to say, however, that China is probably going to be under more pressure to manage HF in the future, both in terms of long-term solutions and the economy.

Prediction from Expert Demonstrations for Safe Tele-surgery

In this paper, we propose a new prediction from expert demonstration （PED） methodology to improve reliability and safety in tele-surgery. Data was collected from expert （clinician） demonstrations for the procedure of trocar insertion. We encoded a set of force, torque and penetration trajectories by using a Gaussian mixture model （GMM）. A generalization of these profiles and associated parameters were retrieved by Gaussian mixture regression （GMR）. We validated the proposed methodology for tele-robotic placement of the trocar in two stages. First, we tested the efficacy of the proposed PED approach for handling transmission error and latency. Our results showed that for the average case （12% packet error and 1070 loss of packet）, a 58.8~0 improvement in performance was obtained in comparison to using an extended Kalman filter. Next, we validated the methodology for surgical assistance on 15 participants. A haptic assistance mode was devised based on the proposed PED model to assist inexperienced operators to perform the procedure. The PED model was tested for instrument deviation, penetration force and penetration depth. Preliminary study results showed that participants with PED assistance performed the task with more consistency and exerted lesser penetration force than subjects without assistance.

WARA-PS:a research arena for public safety demonstrations and autonomous collaborative rescue robotics experimentation

A research arena(WARA-PS)for sensing,data fusion,user interaction,planning and control of collaborative autonomous aerial and surface vehicles in public safety applications is presented.The objective is to demonstrate scientific discoveries and to generate new directions for future research on autonomous systems for societal challenges.The enabler is a computational infrastructure with a core system architecture for industrial and academic collaboration.This includes a control and command system together with a framework for planning and executing tasks for unmanned surface vehicles and aerial vehicles.The motivating application for the demonstration is marine search and rescue operations.A state-of-art delegation framework for the mission planning together with three specific applications is also presented.The first one concerns model predictive control for cooperative rendezvous of autonomous unmanned aerial and surface vehicles.The second project is about learning to make safe real-time decisions under uncertainty for autonomous vehicles,and the third one is on robust terrain-aided navigation through sensor fusion and virtual reality tele-operation to support a GPS-free positioning system in marine environments.The research results have been experimentally evaluated and demonstrated to industry and public sector audiences at a marine test facility.It would be most difficult to do experiments on this large scale without the WARA-PS research arena.Furthermore,these demonstrator activities have resulted in effective research dissemination with high public visibility,business impact and new research collaborations between academia and industry.

Rural sustainable development:A case study of the Zaozhuang Innovation Demonstration Zone in China

Sustainable development is the central theme of modern global development.With the arrival of the urban era,the vulnerability and instability of rural areas have significantly increased,and rural sustainable development faces serious challenges.To address these issues,the study took the Zaozhuang Innovation Demonstration Zone in China under the National Sustainable Development Agenda as a case,combined with economic,social and land use data during 2016-2020,and applied Granger causality test method to explore the theoretical and practical pathways of“innovation-driven rural sustainable development”.The results showed that rural sustainable development and economic sustainability displayed a trend of synergistic change,with“explosive”growth from 2018 to 2020.The social sustainability steadily increased from 2016 to 2020.Ecological and spatial sustainability continuously declined during the study period.Moreover,the rural innovation capacity of the Zaozhuang Innovation Demonstration Zone displayed rapid growth during 2016-2020.Although the rural innovation capacity of the Zaozhuang Innovation Demonstration Zone has rapidly improved,it has a weak driving effect on rural sustainable development and economic sustainability.There are two primary challenges that must be overcome to ensure the rural sustainable development of the Zaozhuang Innovation Demonstration Zone.The first challenge is the imbalance among the multi-dimensional relationships in the process of rural sustainable development,and the second challenge is the weakening of rural innovation capacity to drive rural sustainable development.To overcome these challenges,this study proposed a systematic pathway for rural sustainable development in the Zaozhuang Innovation Demonstration Zone from multidimensions,such as policy actions,technologies,projects,and institutional guarantees,and formed a universal and representative“Zaozhuang model”.This study expands the theoretical foundation of rural sustainable development and provides theoretical and practical support for innovation-driven rural sustainable development.

Effectiveness of one-to-one feedback methods of teaching with proper metered-dose inhaler technique and correcting errors in chronic obstructive lung disease patients

Objective:To determine the most common mistakes made during the use of a metered-dose inhaler(MDI),and the effect of the repeated trainings performed with demonstration method by providing one-to-one feedback on these mistakes.Methods:This is a quasi-experimental study with a control group.A total of 100 chronic obstructive pulmonary disease(COPD)patients(50 in the control group and 50 in the experimental group)were included in the research.“Patient Information Form(PIF)”(to determine the descriptive characteristics of patients)through the face-to-face interview method,using“MDI Skill Assessment Form”(MDISAF)(it is composed of 10 skill steps about the use of MDI)through observation method was used.Patients in both the groups were asked to use MDI and their abilities regarding use of MDI were assessed.Then in the intervention group,usage of MDI was explained by a nurse via demonstration and placebo MDI.Trainings were repeated on days 1,3,and 5 as from hospitalization of the patient.In the intervention group,three methods were used in this study:“face-to-face training,”“one-to-one,”and“with feedbacks and repeated.”Routine training regarding use of MDI was given by the nurses in the clinic to patients in the control group.The use of an MDI was assessed using MDISAF before training and after the training on the first,third and fifth days of hospitalization.On the seventh day,the last measurement was performed.Percentage,chi square,and mean were used to assess the data.Results:After repetitive training with one-to-one feedback,several differences between the groups in favor of the experimental group were found in 7 of the 10 skill levels of the MDI.There was a significant difference after“training”between the groups in the third,fourth,fifth,sixth,seventh,eighth and ninth MDI steps in posttest measurement(P<0.05).Evaluating the skills of the groups to use MDI from pretest to posttest,it was determined that while the intervention group made less mistakes in steps in which mistakes were made mostly,the control group continued to make mistakes.Conclusions:Inhaler technique intervention with repeated,face to face,and one-to-one feedback trainings can significantly enhance the MDI techniques in COPD patients.The patients in the intervention group made less mistakes during MDI application and their application skills improved.It may be asser ted that the training provided to the intervention group was effective for using the device correctly,while the training provided in the clinic for the control group was inadequate.

Evaluation of Women’s Contribution in Agroforestry Demonstration through Moringa Species Introduction in Western Oromia,Ethiopia

Agroforestry technologies are very keen practices in most small-scale farming systems where gender issues are not well considered in most developing countries.Moringa is a tropical plant that consists of 13 species,while five of them are found in Ethiopia.This study aimed to evaluate the potential and contribution of women in agroforestry demonstrations where Moringa oleifera and Moringa stenopetala are introduced in farmers’fields.Selection of the best performing moringa species and preferred by farmers for further scaling up was also another objective.The activity was conducted in five districts of west and east Wallagga zones.A total of 10 FREG comprising 150 farmers were established.The two moringa species were planted on 100 farmers’fields where 50 women and 50 men were purposively selected and given responsibilities of moringa demonstration.Leaflets and practical training on moringa production,importance and utilization were prepared and given to all concerned bodies.84%of women and only 32%of men effectively demonstrated the moringa species.A total of 200 farmers were interviewed to evaluate and select the best from the two species depending on their growth performance,fresh leaf taste and odor,and survival rate.Based on the above criteria,143(71.5%)farmers preferred Moringa oleifera.In general,the two moringa species were performed well in most places,and its utilization started at household level.Finally,the authors recommend that women are the potential for demonstrating agroforestry technologies,and Moringa oleifera is a more preferred species in western Oromia.

Research on the Strategy of Promoting Daqing to Create a National Public Employment and Entrepreneurship Service Demonstration City

Based on the research on the basic status quo of the construction of public employment and entrepreneurship service system in Daqing, this paper analyzes the problems existing in Daqing’s establishment of a national public employment and entrepreneurship service demonstration city, and gives countermeasures and suggestions from three levels: optimizing the public employment and entrepreneurship service system, innovating the public employment and entrepreneurship service mode, and improving the entrepreneurship driven employment support system.

县域环境污染综合整治中低碳高值农业技术研究——以韶山灌区在建生态循环农业园种养业发展为例(英文)

The comprehensive improvement strategy of intra-county environment pollution in the city and countryside was searched.By the research method which combined the microscopic view,the macroscopic view with the dynamic perspective,the seriousness of rural water quality,soil and atmospheric pollution in Xiangxiang,Xiangtan and the surrounding areas in Shaoshan irrigated area was revealed.The control measure which was 'four-dimensional pollution in the city and countryside'—— low-carbon-high-value agriculture and the technology innovation was proposed.The low-carbon-high-value technology innovation industrialization demonstration in three parts which included the pre-production,mid-production and post-production deep-processing of cultivation and breeding industry in the ecological cyclic agricultural garden in Shaoshan irrigated area was the driving force.We tried to propel the low-carbon ecological cultivation and breeding industry which included the paddy rice,grass,tree,medicinal herbs and pig,cow,chick,duck,fish.We wanted to relieve the structural unbalance of previous cultivation and breeding industry,'cheap grain hurting the farmers' and the short-leg problem of social-economic-ecological benefit.The results showed that the low-carbon-high-value agricultural system was a poly-generation technology system which promoted the multi-level and grading utilization,saved the energy,reduced the consumption and cleaned the production based on the ecology.

The Value of Effective Strategies Employed in Vocabulary Instruction in College English Reading

Vocabulary teaching is one aspect of language teaching that has not been given the attention it deserves until recent years. For a long period of time, vocabulary is simply taught in the way by asking students to study and memorize its meaning and spelling, its part of speech and its general function in a sentence. Thus, a student with a command of five thousand English vocabulary still finds it hard to adapt himself to the requirement of our demanding reading assignments, in particular, to the extensive reading task, which is more demanding due to its wide range of materials and large amount of vocabularies. According to Wilkins (1979: 111) "Without grammar very little can be conveyed, without vocabulary, nothing can be conveyed." Yet without a deeper understanding of how vocabulary is taught in the classroom and which methods of teaching are more effective for learners, the teaching of vocabulary may not achieve the desired effects. By researching the topic on vocabulary learning and instruction, this essay intends to bring the attention of both teachers and learners to the weaknesses of the traditional approach of teaching vocabulary and some different strategies in vocabulary instruction with the aim of improving the students’ reading comprehension.\;

产业融合视角下的现代农业示范区规划——兼论其旅游功能的拓展(英文)

Features of agritourism emerging in the development of modern agriculture were analyzed, it was stressed that industrial convergence was a basic feature of modern agriculture, and modern agriculture was the integration of agriculture, science and technology, integration of agriculture, industry and trade, and integration of rural and urban areas. Agritourism was believed as the optimal carrier of expanding functions of modern agriculture combining agriculture, ecology and tourism industry. From such perspectives, causes for the loss of tourist functions in the development of agricultural demonstration zone were identified as 5 aspects, specifically including various planners from diverse fields; no any technical standard for the planning, or systematic planning theory and technique; many individual planning cases with poor applicability; no innovative idea brought into the tourism project planning; the loss of cultures in new tourist products. After proposing key points in the expansion planning of tourist functions, this research pointed out 4 countermeasures, i.e. (1) design concepts should be changed; (2) planning functions should be reoriented to match service facility planning with laws of tourism development and properly design tourist projects; (3) landscaping planning should be focused on; and (4) eco-environment protection and brand building should be enhanced.

Public Speaking的技巧与策略(9)——如何进行Demonstration Presentation

你也许经常听到有人问你“做给我看看好吗?”我们几乎都是在演示过程中学会做每件事的。有时这种演示是正式的,比如在工厂或某种技术培训时。在其它情况下的演示则为非正式的。在演示过程中,我们通过观察和提问来学习,最后自己动手做某件事。教别人做事的过程就是一个演示过程,演示性演讲用途广泛,因此,对我们每个人来说都很重要。掌握了演示性演讲的技巧。

《诗经》虚词“止”复议

Mr. Yu Xingwu thought that the function word “zhi(止)” in the Book of Songs was the ancient Chinese character “zhi(之)”, which was not altered by the Han Dynasty’s scholars, and that when it functioned as a demonstrative pronoun or a mood auxiliary at the end of a sentence, its function was equal to that of “zhi(之)”. In fact, the demonstrative pronoun “zhi(止)” and the mood auxiliary “zhi(止)” both evolved from the verb “zhi(止)”. As a demonstrative pronoun, “zhi(止)” and “zhi(之)” are different words with the same meaning; as a mood auxiliary word, “zhi(止)” corresponds to “yi(矣).” Besides, the form of “zhi(止)” is quite different from that of “zhi(之)”, so “zhi(止)” is unlikely to have evolved from “zhi(之)”.

农村住宅示范工程项目推广模式问题及对策分析(英文)

Popularization mode of government-dominated rural residential demonstration projects and its features were introduced.It was proposed that such a popularization mode still remained at the primary development stage and was still suffering from many problems such as guiding role of government not fully played,lack of assessment standards,unitary funding channels,ineffective popularization effects and unpractical management regulations.In view of these problems,popularization strategies for rural residential demonstration projects were given from the perspective of establishing authorized coordination and supervision agencies,improving incentive policies of demonstration projects and also regulation system for these projects,expanding funding channels,and building information platforms.The study was to provide practical references for the future development of rural residential demonstration projects.