Robot navigation in complex crowd service scenarios,such as medical logistics and commercial guidance,requires a dynamic balance between safety and efficiency,while the traditional fixed reward mechanism lacks environ...Robot navigation in complex crowd service scenarios,such as medical logistics and commercial guidance,requires a dynamic balance between safety and efficiency,while the traditional fixed reward mechanism lacks environmental adaptability and struggles to adapt to the variability of crowd density and pedestrian motion patterns.This paper proposes a navigation method that integrates spatiotemporal risk field modeling and adaptive reward optimization,aiming to improve the robot’s decision-making ability in diverse crowd scenarios through dynamic risk assessment and nonlinear weight adjustment.We construct a spatiotemporal risk field model based on a Gaussian kernel function by combining crowd density,relative distance,andmotion speed to quantify environmental complexity and realize crowd-density-sensitive risk assessment dynamically.We apply an exponential decay function to reward design to address the linear conflict problem of fixed weights in multi-objective optimization.We adaptively adjust weight allocation between safety constraints and navigation efficiency based on real-time risk values,prioritizing safety in highly dense areas and navigation efficiency in sparse areas.Experimental results show that our method improves the navigation success rate by 9.0%over state-of-the-art models in high-density scenarios,with a 10.7%reduction in intrusion time ratio.Simulation comparisons validate the risk field model’s ability to capture risk superposition effects in dense scenarios and the suppression of near-field dangerous behaviors by the exponential decay mechanism.Our parametric optimization paradigm establishes an explicit mapping between navigation objectives and risk parameters through rigorous mathematical formalization,providing an interpretable approach for safe deployment of service robots in dynamic environments.展开更多
Extranodal natural killer （NK）IT-cell lymphoma, nasal type （ENKTCL） is a rarely kind of non-Hodgkin lymphoma （NHL）. It is much more frequent in Asian and Latin American countries than other part of the world. It...Extranodal natural killer （NK）IT-cell lymphoma, nasal type （ENKTCL） is a rarely kind of non-Hodgkin lymphoma （NHL）. It is much more frequent in Asian and Latin American countries than other part of the world. It typically affects nasal cavity. In China, one of its endemically places, ENKTCL accounts for 74%-96% of nasal NHL. Patients with ENKTCL usually show a highly aggressive clinical course, and its etiology is unclear. However, it is already proved that ENKTCL is associated with Epstein-Barr virus （EBV） infection, regardless patients＇, ethnicity and areas. Some studies show that the risk will increase among several occupations, such as farmer, who are frequently exposure to pesticides and chemical solvent and risk can be cut down if taking some protective measures.展开更多
Penpulimab is an anti-programmed cell death-1(PD-1)IgG1 antibody with no Fc gamma receptor(FcγR)binding activity,and thus theoretically reduced immune-related adverse events(irAEs)while maintaining efficacy.This sing...Penpulimab is an anti-programmed cell death-1(PD-1)IgG1 antibody with no Fc gamma receptor(FcγR)binding activity,and thus theoretically reduced immune-related adverse events(irAEs)while maintaining efficacy.This single-arm,phase II trial conducted across 20 tertiary care centers in China enrolled adult patients with metastatic nasopharyngeal carcinoma(NPC)who had failed two or more lines of previous systemic chemotherapy.Patients received 200-mg penpulimab intravenously every 2 weeks(4 weeks per cycle)until disease progression or intolerable toxicities.The primary endpoint was objective response rate(ORR)per RECIST(version 1.1),as assessed by an independent radiological review committee.The secondary endpoints included progression-free survival(PFS)and overall survival(OS).One hundred thirty patients were enrolled and 125 were efficacy evaluable.At the data cutoff date(September 28,2022),1 patient achieved complete response and 34 patients attained partial response.The ORR was 28.0%(95%CI 20.3–36.7%).The response was durable,with 66.8%still in response at 9 months.Thirty-three patients(26.4%)were still on treatment.The median PFS and OS were 3.6 months(95%CI=1.9–7.3 months)and 22.8 months(95%CI=17.1 months to not reached),respectively.Ten(7.6%)patients experienced grade 3 or higher irAEs.Penpulimab has promising anti-tumor activities and acceptable toxicities in heavily pretreated metastatic NPC patients,supporting further clinical development as third-line treatment of metastatic NPC.展开更多
基金supported by the Sichuan Science and Technology Program(2025ZNSFSC0005).
文摘Robot navigation in complex crowd service scenarios,such as medical logistics and commercial guidance,requires a dynamic balance between safety and efficiency,while the traditional fixed reward mechanism lacks environmental adaptability and struggles to adapt to the variability of crowd density and pedestrian motion patterns.This paper proposes a navigation method that integrates spatiotemporal risk field modeling and adaptive reward optimization,aiming to improve the robot’s decision-making ability in diverse crowd scenarios through dynamic risk assessment and nonlinear weight adjustment.We construct a spatiotemporal risk field model based on a Gaussian kernel function by combining crowd density,relative distance,andmotion speed to quantify environmental complexity and realize crowd-density-sensitive risk assessment dynamically.We apply an exponential decay function to reward design to address the linear conflict problem of fixed weights in multi-objective optimization.We adaptively adjust weight allocation between safety constraints and navigation efficiency based on real-time risk values,prioritizing safety in highly dense areas and navigation efficiency in sparse areas.Experimental results show that our method improves the navigation success rate by 9.0%over state-of-the-art models in high-density scenarios,with a 10.7%reduction in intrusion time ratio.Simulation comparisons validate the risk field model’s ability to capture risk superposition effects in dense scenarios and the suppression of near-field dangerous behaviors by the exponential decay mechanism.Our parametric optimization paradigm establishes an explicit mapping between navigation objectives and risk parameters through rigorous mathematical formalization,providing an interpretable approach for safe deployment of service robots in dynamic environments.
文摘Extranodal natural killer （NK）IT-cell lymphoma, nasal type （ENKTCL） is a rarely kind of non-Hodgkin lymphoma （NHL）. It is much more frequent in Asian and Latin American countries than other part of the world. It typically affects nasal cavity. In China, one of its endemically places, ENKTCL accounts for 74%-96% of nasal NHL. Patients with ENKTCL usually show a highly aggressive clinical course, and its etiology is unclear. However, it is already proved that ENKTCL is associated with Epstein-Barr virus （EBV） infection, regardless patients＇, ethnicity and areas. Some studies show that the risk will increase among several occupations, such as farmer, who are frequently exposure to pesticides and chemical solvent and risk can be cut down if taking some protective measures.
文摘Penpulimab is an anti-programmed cell death-1(PD-1)IgG1 antibody with no Fc gamma receptor(FcγR)binding activity,and thus theoretically reduced immune-related adverse events(irAEs)while maintaining efficacy.This single-arm,phase II trial conducted across 20 tertiary care centers in China enrolled adult patients with metastatic nasopharyngeal carcinoma(NPC)who had failed two or more lines of previous systemic chemotherapy.Patients received 200-mg penpulimab intravenously every 2 weeks(4 weeks per cycle)until disease progression or intolerable toxicities.The primary endpoint was objective response rate(ORR)per RECIST(version 1.1),as assessed by an independent radiological review committee.The secondary endpoints included progression-free survival(PFS)and overall survival(OS).One hundred thirty patients were enrolled and 125 were efficacy evaluable.At the data cutoff date(September 28,2022),1 patient achieved complete response and 34 patients attained partial response.The ORR was 28.0%(95%CI 20.3–36.7%).The response was durable,with 66.8%still in response at 9 months.Thirty-three patients(26.4%)were still on treatment.The median PFS and OS were 3.6 months(95%CI=1.9–7.3 months)and 22.8 months(95%CI=17.1 months to not reached),respectively.Ten(7.6%)patients experienced grade 3 or higher irAEs.Penpulimab has promising anti-tumor activities and acceptable toxicities in heavily pretreated metastatic NPC patients,supporting further clinical development as third-line treatment of metastatic NPC.
