搜索结果：Frontiers in neurorobotics

Land use expansion is linked to major sustainability concerns including climate change, food security and biodiversity loss. This expansion is largely concentrated in so-called frontiers, defined here as places experiencing marked transformations due to rapid resource exploitation. Understanding the mechanisms shaping these frontiers is crucial for sustainability. Previous work focused mainly on explaining how active frontiers advance, in particular into tropical forests. Comparatively, our understanding of how frontiers emerge in territories considered marginal in terms of agricultural productivity and global market integration remains weak. We synthesize conceptual tools explaining resource and land-use frontiers, including theories of land rent and agglomeration economies, of frontiers as successive waves, spaces of territorialization, friction, and opportunities, anticipation and expectation. We then propose a new theory of frontier emergence, which identifies exogenous pushes, legacies of past waves, and actors anticipations as key mechanisms by which frontiers emerge. Processes of abnormal rent creation and capture and the built-up of agglomeration economies then constitute k

Zero-shot open-vocabulary object navigation has progressed rapidly with the emergence of large Vision-Language Models (VLMs) and Large Language Models (LLMs), now widely used as high-level decision-makers instead of end-to-end policies. Although effective, such systems often rely on iterative large-model queries at inference time, introducing latency and computational overhead that limit real-time deployment. To address this problem, we repurpose ray frontiers (R2F), a recently proposed frontier-based exploration paradigm, to develop an LLM-free framework for indoor open-vocabulary object navigation. While ray frontiers were originally used to bias exploration using semantic cues carried along rays, we reinterpret frontier regions as explicit, direction-conditioned semantic hypotheses that serve as navigation goals. Language-aligned features accumulated along out-of-range rays are stored sparsely at frontiers, where each region maintains multiple directional embeddings encoding plausible unseen content. In this way, navigation then reduces to embedding-based frontier scoring and goal tracking within a classical mapping and planning pipeline, eliminating iterative large-model reason

Stochastic Multi-Objective Optimization (SMOO) is critical for decision-making trading off multiple potentially conflicting objectives in uncertain environments. SMOO aims at identifying the Pareto frontier, which contains all mutually non-dominating decisions. The problem is highly intractable due to the embedded probabilistic inference, such as computing the marginal, posterior probabilities, or expectations. Existing methods, such as scalarization, sample average approximation, and evolutionary algorithms, either offer arbitrarily loose approximations or may incur prohibitive computational costs. We propose XOR-SMOO, a novel algorithm that with probability $1-δ$, obtains $γ$-approximate Pareto frontiers ($γ>1$) for SMOO by querying an SAT oracle poly-log times in $γ$ and $δ$. A $γ$-approximate Pareto frontier is only below the true frontier by a fixed, multiplicative factor $γ$. Thus, XOR-SMOO solves highly intractable SMOO problems (\#P-hard) with only queries to SAT oracles while obtaining tight, constant factor approximation guarantees. Experiments on real-world road network strengthening and supply chain design problems demonstrate that XOR-SMOO outperforms several baseli

Object Goal Navigation (OGN) is a fundamental task for robots and AI, with key applications such as mobile robot image databases (MRID). In particular, mapless OGN is essential in scenarios involving unknown or dynamic environments. This study aims to enhance recent modular mapless OGN systems by leveraging the commonsense reasoning capabilities of large language models (LLMs). Specifically, we address the challenge of determining the visiting order in frontier-based exploration by framing it as a frontier ranking problem. Our approach is grounded in recent findings that, while LLMs cannot determine the absolute value of a frontier, they excel at evaluating the relative value between multiple frontiers viewed within a single image using the view image as context. We dynamically manage the frontier list by adding and removing elements, using an LLM as a ranking model. The ranking results are represented as reciprocal rank vectors, which are ideal for multi-view, multi-query information fusion. We validate the effectiveness of our method through evaluations in Habitat-Sim.

Creating autonomous robots that can actively explore the environment, acquire knowledge and learn skills continuously is the ultimate achievement envisioned in cognitive and developmental robotics. Their learning processes should be based on interactions with their physical and social world in the manner of human learning and cognitive development. Based on this context, in this paper, we focus on the two concepts of world models and predictive coding. Recently, world models have attracted renewed attention as a topic of considerable interest in artificial intelligence. Cognitive systems learn world models to better predict future sensory observations and optimize their policies, i.e., controllers. Alternatively, in neuroscience, predictive coding proposes that the brain continuously predicts its inputs and adapts to model its own dynamics and control behavior in its environment. Both ideas may be considered as underpinning the cognitive development of robots and humans capable of continual or lifelong learning. Although many studies have been conducted on predictive coding in cognitive robotics and neurorobotics, the relationship between world model-based approaches in AI and pred

In the past decade, there has been significant advancement in designing wearable neural interfaces for controlling neurorobotic systems, particularly bionic limbs. These interfaces function by decoding signals captured non-invasively from the skin's surface. Portable high-density surface electromyography (HD-sEMG) modules combined with deep learning decoding have attracted interest by achieving excellent gesture prediction and myoelectric control of prosthetic systems and neurorobots. However, factors like pixel-shape electrode size and unstable skin contact make HD-sEMG susceptible to pixel electrode drops. The sparse electrode-skin disconnections rooted in issues such as low adhesion, sweating, hair blockage, and skin stretch challenge the reliability and scalability of these modules as the perception unit for neurorobotic systems. This paper proposes a novel deep-learning model providing resiliency for HD-sEMG modules, which can be used in the wearable interfaces of neurorobots. The proposed 3D Dilated Efficient CapsNet model trains on an augmented input space to computationally `force' the network to learn channel dropout variations and thus learn robustness to channel dropout.

We study the problem of estimating locations in time at which the level of technology in an economy changes when given a sequence of time ordered inputs and outputs. We approach the problem through the lens of nonparametric frontier analysis with frontiers that expand sharply and globally over time, and develop an offline change point detection procedure which achieves the minimax localization rates for the problem at hand up to logarithmic factors. We additionally give a simple method for constructing confidence intervals for the unobserved change point locations. Finally, we explain how the procedure can be modified to accommodate local changes in technology, meaning that efficiency gains are only realized for certain combinations of inputs. Simulation studies and real data examples are also presented to illustrate the practical value of our methods.

Robotic exploration in large-scale environments is computationally demanding due to the high overhead of processing extensive frontiers. This article presents an OctoMap-based frontier exploration algorithm with predictable, asymptotically bounded performance. Unlike conventional methods whose complexity scales with environment size, our approach maintains a complexity of $\mathcal{O}(|\mathcal{F}|)$, where $|\mathcal{F}|$ is the number of frontiers. This is achieved through strategic forward and inverse sensor modeling, which enables approximate yet efficient frontier detection and maintenance. To further enhance performance, we integrate a Bayesian regressor to estimate information gain, circumventing the need to explicitly count unknown voxels when prioritizing viewpoints. Simulations show the proposed method is more computationally efficient than the existing OctoMap-based methods and achieves computational efficiency comparable to baselines that are independent of OctoMap. Specifically, the Bayesian-enhanced framework achieves up to a $54\%$ improvement in total exploration time compared to standard deterministic frontier-based baselines across varying spatial scales, while gu

Benchmarking the performance of complex systems such as rail networks, renewable generation assets and national economies is central to transport planning, regulation and macroeconomic analysis. Classical frontier methods, notably Data Envelopment Analysis (DEA) and Stochastic Frontier Analysis (SFA), estimate an efficient frontier in the observed input-output space and define efficiency as distance to this frontier, but rely on restrictive assumptions on the production set and only indirectly address heterogeneity and scale effects. We propose Geometric Manifold Analysis (GeMA), a latent manifold frontier framework implemented via a productivity-manifold variational autoencoder (ProMan-VAE). Instead of specifying a frontier function in the observed space, GeMA represents the production set as the boundary of a low-dimensional manifold embedded in the joint input-output space. A split-head encoder learns latent variables that capture technological structure and operational inefficiency. Efficiency is evaluated with respect to the learned manifold, endogenous peer groups arise as clusters in latent technology space, a quotient construction supports scale-invariant benchmarking, and

A principal screens an agent with an arbitrary set of allocations $X$. The agent's preferences over allocations are comonotonic. A subset of allocations $X^*\subseteq X$ is a surplus-elasticity frontier if (i) any other allocation has a demand curve that is pointwise lower and less elastic than some allocation in $X^*$ and (ii) the allocations in $X^*$ can be ordered in terms of their demand curves such that a higher demand curve is more inelastic. We show that any surplus-elasticity frontier is an optimal menu. Moreover, if the incremental demand curves along the frontier are also ordered by their elasticities, then the frontier is optimal even among stochastic mechanisms. The result is agnostic to type distributions and redistributive welfare weights -- the same frontier remains optimal for a broad class of objectives. As applications, we show how these results immediately yield new insights into optimal bundling, optimal taxation, sequential screening, selling information, and regulating a data-rich monopolist.

Defining interdisciplinary physics today requires first a reformulation of what is physics today, which in turn calls for clarifying what makes a physicist. This assessment results from my forty year journey arguing and fighting to build sociophysics. My view on interdisciplinary physics has thus evolved jumping repeatedly to opposite directions before settling down to the following claim: today physics is what is done by physicists who handle a problem the "physicist's way". However the training of physicists should stay restricted to inert matter. Yet adding a focus on the universality of the physicist approach as a generic path to investigate a topic. Consequently, interdisciplinary physics should become a cabinet of curiosities including an incubator. The cabinet of curiosities would welcome all one shots papers related to any kind of object provided it is co-authored at least by one physicist. Otherwise the paper should uses explicitly technics from physics. In case a topic gets many papers, it would be moved to the incubator to foster the potential emergence of a new appropriate subfield of physics. A process illustrated by the subsection social physics in Frontiers in physic

Although we can measure muscle activity and analyze their activation patterns, we understand little about how individual muscles affect the joint torque generated. It is known that they are controlled by circuits in the spinal cord, a system much less well understood than the cortex. Knowing the contribution of the muscles towards a joint torque would improve our understanding of human limb control. We present a novel framework to examine the control of biomechanics using physics simulations informed by electromyography (EMG) data. These signals drive a virtual musculoskeletal model in the Neurorobotics Platform (NRP), which we then use to evaluate resulting joint torques. We use our framework to analyze raw EMG data collected during an isometric knee extension study to identify synergies that drive a musculoskeletal lower limb model. The resulting knee torques are used as a reference for genetic algorithms (GA) to generate new simulated activation patterns. On the platform the GA finds solutions that generate torques matching those observed. Possible solutions include synergies that are similar to those extracted from the human study. In addition, the GA finds activation patterns

In recent years, reinforcement learning (RL) has shown great potential for solving tasks in well-defined environments like games or robotics. This paper aims to solve the robotic reaching task in a simulation run on the Neurorobotics Platform (NRP). The target position is initialized randomly and the robot has 6 degrees of freedom. We compare the performance of various state-of-the-art model-free algorithms. At first, the agent is trained on ground truth data from the simulation to reach the target position in only one continuous movement. Later the complexity of the task is increased by using image data as input from the simulation environment. Experimental results show that training efficiency and results can be improved with appropriate dynamic training schedule function for curriculum learning.

This paper introduces the necessary and sufficient conditions that surrogate functions must satisfy to properly define frontiers of non-dominated solutions in multi-objective optimization problems. These new conditions work directly on the objective space, thus being agnostic about how the solutions are evaluated. Therefore, real objectives or user-designed objectives' surrogates are allowed, opening the possibility of linking independent objective surrogates. To illustrate the practical consequences of adopting the proposed conditions, we use Gaussian processes as surrogates endowed with monotonicity soft constraints and with an adjustable degree of flexibility, and compare them to regular Gaussian processes and to a frontier surrogate method in the literature that is the closest to the method proposed in this paper. Results show that the necessary and sufficient conditions proposed here are finely managed by the constrained Gaussian process, guiding to high-quality surrogates capable of suitably synthesizing an approximation to the Pareto frontier in challenging instances of multi-objective optimization, while an existing approach that does not take the theory proposed in conside

This paper analyzes a model in which an outcome equals a frontier function of inputs minus a nonnegative unobserved deviation. The inputs may be endogenous (statistically dependent on the deviation). If zero lies in the support of the deviation given the inputs -- an assumption we term assignment at the frontier -- then the frontier is identified by the supremum of the outcome given those inputs, obviating the need for instruments. We then consider estimation with random error that is mean-independent of the inputs. Motivated by the assignment at the frontier assumption, we regularize estimation by requiring the fitted distribution of the deviation to maintain a minimum probability mass in a neighborhood of zero. Finally, we derive a lower bound on mean deviation, using only variance and skewness, that is robust to scarcity of data near the frontier. We apply our methods to estimate a frontier production function and mean inefficiency.

Behaviour selection has been an active research topic for robotics, in particular in the field of human-robot interaction. For a robot to interact effectively and autonomously with humans, the coupling between techniques for human activity recognition, based on sensing information, and robot behaviour selection, based on decision-making mechanisms, is of paramount importance. However, most approaches to date consist of deterministic associations between the recognised activities and the robot behaviours, neglecting the uncertainty inherent to sequential predictions in real-time applications. In this paper, we address this gap by presenting a neurorobotics approach based on computational models that resemble neurophysiological aspects of living beings. This neurorobotics approach was compared to a non-bioinspired, heuristics-based approach. To evaluate both approaches, a robot simulation is developed, in which a mobile robot has to accomplish tasks according to the activity being performed by the inhabitant of an intelligent home. The outcomes of each approach were evaluated according to the number of correct outcomes provided by the robot. Results revealed that the neurorobotics ap

The endeavor to understand the brain involves multiple collaborating research fields. Classically, synaptic plasticity rules derived by theoretical neuroscientists are evaluated in isolation on pattern classification tasks. This contrasts with the biological brain which purpose is to control a body in closed-loop. This paper contributes to bringing the fields of computational neuroscience and robotics closer together by integrating open-source software components from these two fields. The resulting framework allows to evaluate the validity of biologically-plausibe plasticity models in closed-loop robotics environments. We demonstrate this framework to evaluate Synaptic Plasticity with Online REinforcement learning (SPORE), a reward-learning rule based on synaptic sampling, on two visuomotor tasks: reaching and lane following. We show that SPORE is capable of learning to perform policies within the course of simulated hours for both tasks. Provisional parameter explorations indicate that the learning rate and the temperature driving the stochastic processes that govern synaptic learning dynamics need to be regulated for performance improvements to be retained. We conclude by discus

We identify emerging frontiers in clinical and basic research of melanocyte biology and its associated biomedical disciplines. We describe challenges and opportunities in clinical and basic research of normal and diseased melanocytes that impact current approaches to research in melanoma and the dermatological sciences. We focus on four themes: (1) clinical melanoma research, (2) basic melanoma research, (3) clinical dermatology, and (4) basic pigment cell research, with the goal of outlining current highlights, challenges, and frontiers associated with pigmentation and melanocyte biology. Significantly, this document encapsulates important advances in melanocyte and melanoma research including emerging frontiers in melanoma immunotherapy, medical and surgical oncology, dermatology, vitiligo, albinism, genomics and systems biology, epidemiology, pigment biophysics and chemistry, and evolution.

Despite numerous achievements and recent progress, nuclear physics is often (wrongly) considered an old field of research nowadays. However, developments in theoretical frameworks and reliable experimental techniques have made the field mature enough to explore many new frontiers. In this regard, extending existing knowledge to an emerging field of physics -- where particles interact with a relatively low-energy but high intensity field (intense enough so that multi-particle processes become comparable or more important than one-to-one processes) -- can lead to exciting discoveries. Investigations can be realized under a highly time-compressed beam source (e.g., particle sources generated by laser-matter interaction using high-power laser systems). Here we focus on a new scheme, where high-power laser systems are exploited as a driver to generate energetic ($γ$-ray) photons. Together with additional low-energy photons provided by a second, less intense laser, a multi-photon absorption scheme enables a very attainable manipulation of nuclear transitions including isomer pumping and depletion.