针对工业装配任务,尤其是不规则轴孔工件装配中,基于学习的前期样本质量低、训练过程不稳定等问题,提出一种融合引斥力模型(Attraction-Repulsion Model,ARM)引导机制和长短期记忆网络(Long Short Term Memory,LSTM)的柔性演员-评论家(S...针对工业装配任务,尤其是不规则轴孔工件装配中,基于学习的前期样本质量低、训练过程不稳定等问题,提出一种融合引斥力模型(Attraction-Repulsion Model,ARM)引导机制和长短期记忆网络(Long Short Term Memory,LSTM)的柔性演员-评论家(Soft Actor-Critic,SAC)算法。首先,为解决训练初期探索效率低的问题,提出一种基于引斥力模型的策略引导机制,通过目标位置信息引导机械臂运动,加速收敛过程;其次,基于长短期记忆网络对算法的策略网络和价值网络进行改进,有效利用历史信息,增强策略学习能力,提高算法的收敛速度和稳定性。仿真结果表明,所提出的算法在行星减速器中心轴装配任务中取得显著的效果,装配成功率高达99.4%,与普通SAC算法相比,平均最大接触力和力矩分别降低了68.8%和79.2%。在物理环境中装配成功率达95%以上,最大接触力和力矩分别小于10 N和1.5 N·m,验证了算法的有效性。展开更多
Background Broiler chickens are most vulnerable immediately after hatching due to their immature immune systems,making them susceptible to infectious diseases.The yolk plays an important role in early immune defence b...Background Broiler chickens are most vulnerable immediately after hatching due to their immature immune systems,making them susceptible to infectious diseases.The yolk plays an important role in early immune defence by showing relevant antioxidant and passive immunity capabilities during broiler embryonic development.The immunomodulatory effects of phytogenic compound carvacrol have been widely reported.After in ovo delivery in the amniotic fluid during embryonic development carvacrol is known to migrate to the yolk sac.However,it is unknown whether carvacrol in the yolk could enhance defence responsiveness in the yolk sac.Therefore,the aim of this study was to improve early immune function in chicken embryos,and it was hypothesized that in ovo delivery of carvacrol would result in immunomodulatory effects in the yolk sac,potentially improving post-hatch resilience.Methods On embryonic day(E)17.5,either a saline(control)or carvacrol solution was injected into the amniotic fluid.Yolk sac tissue samples were collected at E19.5,and transcriptomic analyses using RNA sequencing were performed,following functional enrichment analyses comparing the control(saline)and carvacrol-injected groups.Results The results showed that 268 genes were upregulated and 174 downregulated in the carvacrol group compared to the control(P<0.05;logFC<-0.5 or log FC>0.5).Functional analyses of these differentially expressed genes,using KEGG,REACTOME,and Gene Ontology databases,showed enrichment of several immune-related pathways.This included the pathways‘Antimicrobial peptides’(P=0.001)and‘Chemoattractant activity’(P=0.004),amongst others.Moreover,the‘NOD-like receptor signaling’pathway was enriched(P=0.002).Antimicrobial peptides are part of the innate immune defence and are amongst the molecules produced after the nucleotide oligomeriza-tion domain(NOD)-like receptor pathway activation.While these responses may be associated with an inflammatory reaction to an exogenous threat,they could also indicate that in ovo delivery of carvacrol could prepare the newly hatched chick against bacterial pathogens by potentially promoting antimicrobial peptide production through acti-vation of NOD-like receptor signaling in the yolk sac.Conclusion In conclusion,these findings suggest that in ovo delivery of carvacrol has the potential to enhance anti-pathogenic and pro-inflammatory responses in the yolk sac via upregulation of antimicrobial peptides,and NOD-like receptor pathways.展开更多
近日,中国科学院软件所智能博弈重点实验室研究团队的论文“Mimicking the Familiar:Dynamic Command Generation for Information Theft Attacks in LLM Tool-Learning System”被自然语言处理领域会议ACL 2025授予SAC Highlights奖。...近日,中国科学院软件所智能博弈重点实验室研究团队的论文“Mimicking the Familiar:Dynamic Command Generation for Information Theft Attacks in LLM Tool-Learning System”被自然语言处理领域会议ACL 2025授予SAC Highlights奖。该研究揭示了大语言模型工具学习系统(LLM Tool-Learning System)存在的安全隐患,通过模拟攻击者工具投毒,分析造成的信息窃取风险并提出针对性防御方法,弥补了现有推理端安全检测方法的不足。论文主要完成人为特别研究助理江子攸、副研究员李明阳、研究员王俊杰和研究员王青。展开更多
文摘针对工业装配任务,尤其是不规则轴孔工件装配中,基于学习的前期样本质量低、训练过程不稳定等问题,提出一种融合引斥力模型(Attraction-Repulsion Model,ARM)引导机制和长短期记忆网络(Long Short Term Memory,LSTM)的柔性演员-评论家(Soft Actor-Critic,SAC)算法。首先,为解决训练初期探索效率低的问题,提出一种基于引斥力模型的策略引导机制,通过目标位置信息引导机械臂运动,加速收敛过程;其次,基于长短期记忆网络对算法的策略网络和价值网络进行改进,有效利用历史信息,增强策略学习能力,提高算法的收敛速度和稳定性。仿真结果表明,所提出的算法在行星减速器中心轴装配任务中取得显著的效果,装配成功率高达99.4%,与普通SAC算法相比,平均最大接触力和力矩分别降低了68.8%和79.2%。在物理环境中装配成功率达95%以上,最大接触力和力矩分别小于10 N和1.5 N·m,验证了算法的有效性。
基金support by AgriFutures Australia’s Chicken Meat Program[grant number PRJ-011584]is gratefully acknowledged.
文摘Background Broiler chickens are most vulnerable immediately after hatching due to their immature immune systems,making them susceptible to infectious diseases.The yolk plays an important role in early immune defence by showing relevant antioxidant and passive immunity capabilities during broiler embryonic development.The immunomodulatory effects of phytogenic compound carvacrol have been widely reported.After in ovo delivery in the amniotic fluid during embryonic development carvacrol is known to migrate to the yolk sac.However,it is unknown whether carvacrol in the yolk could enhance defence responsiveness in the yolk sac.Therefore,the aim of this study was to improve early immune function in chicken embryos,and it was hypothesized that in ovo delivery of carvacrol would result in immunomodulatory effects in the yolk sac,potentially improving post-hatch resilience.Methods On embryonic day(E)17.5,either a saline(control)or carvacrol solution was injected into the amniotic fluid.Yolk sac tissue samples were collected at E19.5,and transcriptomic analyses using RNA sequencing were performed,following functional enrichment analyses comparing the control(saline)and carvacrol-injected groups.Results The results showed that 268 genes were upregulated and 174 downregulated in the carvacrol group compared to the control(P<0.05;logFC<-0.5 or log FC>0.5).Functional analyses of these differentially expressed genes,using KEGG,REACTOME,and Gene Ontology databases,showed enrichment of several immune-related pathways.This included the pathways‘Antimicrobial peptides’(P=0.001)and‘Chemoattractant activity’(P=0.004),amongst others.Moreover,the‘NOD-like receptor signaling’pathway was enriched(P=0.002).Antimicrobial peptides are part of the innate immune defence and are amongst the molecules produced after the nucleotide oligomeriza-tion domain(NOD)-like receptor pathway activation.While these responses may be associated with an inflammatory reaction to an exogenous threat,they could also indicate that in ovo delivery of carvacrol could prepare the newly hatched chick against bacterial pathogens by potentially promoting antimicrobial peptide production through acti-vation of NOD-like receptor signaling in the yolk sac.Conclusion In conclusion,these findings suggest that in ovo delivery of carvacrol has the potential to enhance anti-pathogenic and pro-inflammatory responses in the yolk sac via upregulation of antimicrobial peptides,and NOD-like receptor pathways.
文摘近日,中国科学院软件所智能博弈重点实验室研究团队的论文“Mimicking the Familiar:Dynamic Command Generation for Information Theft Attacks in LLM Tool-Learning System”被自然语言处理领域会议ACL 2025授予SAC Highlights奖。该研究揭示了大语言模型工具学习系统(LLM Tool-Learning System)存在的安全隐患,通过模拟攻击者工具投毒,分析造成的信息窃取风险并提出针对性防御方法,弥补了现有推理端安全检测方法的不足。论文主要完成人为特别研究助理江子攸、副研究员李明阳、研究员王俊杰和研究员王青。
