This paper presents a robust fault tolerant control scheme that is designed to meet the control challenges encountered by such robots, i.e., discrete actuator inputs, complex system modeling and cross-coupling between actuators. In the proposed scheme, a desired vectorial system output, such as a position or a force, is commanded by recruiting actuators based on their influence vectors on the output. No analytical model of the system is needed; influence vectors are identified experimentally by sequentially activating each actuator . For position control tasks, the controller uses a probabilistic approach and a genetic algorithm to determine an optimal combination of actuators to recruit. For motion control tasks, the controller uses a sliding mode approach and independent recruiting decision for each actuator . Experimental results on a four degrees of freedom binary manipulator with twenty actuators confirm the method's effectiveness, and its ability to tolerate massive perturbations and numerous actuator failures.

Developing an effective evaluation metric is crucial for accurately and swiftly measuring LiDAR perception performance. One major issue is the lack of metrics that can simultaneously generate fast and accurate evaluations based on either object detection or point cloud data. In this study, we propose a novel LiDAR perception entropy metric based on the probability of vehicle grid occupancy. This metric reflects the influence of point cloud distribution on vehicle detection performance. Based on this, we also introduce a LiDAR deployment optimization model, which is solved using a differential evolution-based particle swarm optimization algorithm. A comparative experiment demonstrated that the proposed PE-VGOP offers a correlation of more than 0.98 with vehicle detection ground truth in evaluating LiDAR perception performance. Furthermore, compared to the base deployment, field experiments indicate that the proposed optimization model can significantly enhance the perception capabilities of various types of LiDARs, including RS-16, RS-32, and RS-80. Notably, it achieves a 25% increase in detection Recall for the RS-32 LiDAR.

With the escalating demand for meal delivery services, this study delves into the Meal Delivery Routing Problem (MDRP) within the context of last-mile logis-tics. Focusing on the critical aspects of courier allocation and order fulfillment, we introduce a novel approach utilizing a GRASP metaheuristic. The algorithm optimizes the assignment of couriers to orders, considering dynamic factors such as courier availability, order demands, and geographical locations. Real-world in-stances from a Colombian delivery app form the basis of our computational anal-ysis. Calibration of GRASP parameters reveals a delicate trade-off between solu-tion quality and computational time. Comparative results with a simulation-optimization based study underscore GRASP's competitive performance, demon-strating strengths in fulfilling orders and routing efficiency across diverse in-stances. This research enhances operational efficiency in the burgeoning food de-livery industry, shedding light on practical algorithms for last-mile logistics opti-mization.

Abstract--Autonomously tailoring content to a set of predetermined affective patterns has long been considered the holy grail of affect-aware human-computer interaction at large. In this paper, we propose a novel reinforcement learning (RL) framework for generating affecttailored content, and we test it in the domain of racing games. Specifically, the experience-driven RL (EDRL) framework is given a target arousal trace, and it then generates a racetrack that elicits the desired affective responses for a particular type of player. EDRL leverages a reward function that assesses the affective pattern of any generated racetrack from a corpus of arousal traces. Our findings suggest that EDRL can accurately generate affect-driven racing game levels according to a designer's style and outperforms search-based methods for personalised content generation. The method is not only directly applicable to game content generation tasks but also employable broadly to any domain that uses content for affective adaptation. Two examples of maximally and minimally arousing tracks generated by EDRL for the Solid Rally racing game.

It is prevalent in contemporary AI and robotics to separately postulate a brain modeled by neural networks and employ it to learn intelligent and adaptive behavior. While this method has worked very well for many types of tasks, it isn't the only type of intelligence that exists in nature. In this work, we study the ways in which intelligent behavior can be created without a separate and explicit brain for robot control, but rather solely as a result of the computation occurring within the physical body of a robot. Specifically, we show that adaptive and complex behavior can be created in voxel-based virtual soft robots by using simple reactive materials that actively change the shape of the robot, and thus its behavior, under different environmental cues. We demonstrate a proof of concept for the idea of closed-loop morphological computation, and show that in our implementation, it enables behavior mimicking logic gates, enabling us to demonstrate how such behaviors may be combined to build up more complex collective behaviors. Keywords: Soft robotics Adaptive behavior 1 Introduction and Background Recent advances in artificial intelligence and machine learning have benefited greatly from the rise of modern deep learning systems, ultimately aimed at artificial general intelligence [22]. The coming-of-age of these artificial neural network systems includes a long history of bio-inspiration, dating back to Mcculloch and Pitts [26]. Yet the processes behind biological intelligence reach far beyond systems and processes confined to the brain of living organisms. Our bias toward attributing intelligent behavior to the mind is far from new.

Neural architecture search (NAS) enables re-searchers to automatically explore vast search spaces and find efficient neural networks. But NAS suffers from a key bottleneck, i.e., numerous architectures need to be evaluated during the search process, which requires a lot of computing resources and time. In order to improve the efficiency of NAS, a series of methods have been proposed to reduce the evaluation time of neural architectures. However, they are not efficient enough and still only focus on the accuracy of architectures. In addition to the classification accuracy, more efficient and smaller network architectures are required in real-world applications. To address the above problems, we propose the SMEM-NAS, a pairwise com-parison relation-assisted multi-objective evolutionary algorithm based on a multi-population mechanism. In the SMEM-NAS, a surrogate model is constructed based on pairwise compari-son relations to predict the accuracy ranking of architectures, rather than the absolute accuracy. Moreover, two populations cooperate with each other in the search process, i.e., a main population guides the evolution, while a vice population expands the diversity. Our method aims to provide high-performance models that take into account multiple optimization objectives. We conduct a series of experiments on the CIFAR-10, CIFAR-100 and ImageNet datasets to verify its effectiveness. With only a single GPU searching for 0.17 days, competitive architectures can be found by SMEM-NAS which achieves 78.91% accuracy with the MAdds of 570M on the ImageNet. This work makes a significant advance in the important field of NAS.

Feature selection poses a challenge in small-sample high-dimensional datasets, where the number of features exceeds the number of observations, as seen in microarray, gene expression, and medical datasets. There isn't a universally optimal feature selection method applicable to any data distribution, and as a result, the literature consistently endeavors to address this issue. One recent approach in feature selection is termed frequency-based feature selection. However, existing methods in this domain tend to overlook feature values, focusing solely on the distribution in the response variable. In response, this paper introduces the Distance-based Mutual Congestion (DMC) as a filter method that considers both the feature values and the distribution of observations in the response variable. DMC sorts the features of datasets, and the top 5% are retained and clustered by KMeans to mitigate multicollinearity. This is achieved by randomly selecting one feature from each cluster. The selected features form the feature space, and the search space for the Genetic Algorithm with Adaptive Rates (GAwAR) will be approximated using this feature space. GAwAR approximates the combination of the top 10 features that maximizes prediction accuracy within a wrapper scheme. To prevent premature convergence, GAwAR adaptively updates the crossover and mutation rates. The hybrid DMC-GAwAR is applicable to binary classification datasets, and experimental results demonstrate its superiority over some recent works. The implementation and corresponding data are available at https://github.com/hnematzadeh/DMC-GAwAR

Microrobotics is an attractive area of research as small-scale robots have the potential to improve the precision and dexterity offered by minimally invasive surgeries. One example of such a tool is a pair of micro-surgical scissors that was developed for cutting of tumors or cancerous tissues present deep inside the body such as in the brain. This task is often deemed difficult or impossible with conventional robotic tools due to their size and dexterity. The scissors are designed with two magnets placed a specific distance apart to maximize deflection and generate cutting forces. However, remote actuation and size requirements of the micro-surgical scissors limits the force that can be generated to puncture the tissue. To address the limitation of small output forces, we use an evolutionary algorithm to further optimize the performance of the scissors. In this study, the design of the previously developed untethered micro-surgical scissors has been modified and their performance is enhanced by determining the optimal position of the magnets as well as the direction of each magnetic moment. The developed algorithm is successfully applied to a 4-magnet configuration which results in increased net torque. This improvement in net torque is directly translated into higher cutting forces. The new configuration generates a cutting force of 58 mN from 80 generations of the evolutionary algorithm which is a 1.65 times improvement from the original design. Furthermore, the developed algorithm has the advantage that it can be deployed with minor modifications to other microrobotic tools and systems, opening up new possibilities for various medical procedures and applications.

With the rapid development of drone technology, the application of drones equipped with visual sensors for building inspection and surveillance has attracted much attention. View planning aims to find a set of near-optimal viewpoints for vision-related tasks to achieve the vision coverage goal. This paper proposes a new clustering-based two-step computational method using spectral clustering, local potential field method, and hyper-heuristic algorithm to find near-optimal views to cover the target building surface. In the first step, the proposed method generates candidate viewpoints based on spectral clustering and corrects the positions of candidate viewpoints based on our newly proposed local potential field method. In the second step, the optimization problem is converted into a Set Covering Problem (SCP), and the optimal viewpoint subset is solved using our proposed hyper-heuristic algorithm. Experimental results show that the proposed method is able to obtain better solutions with fewer viewpoints and higher coverage.

Despite tremendous progress, machine learning and deep learning still suffer from incomprehensible predictions. Incomprehensibility, however, is not an option for the use of (deep) reinforcement learning in the real world, as unpredictable actions can seriously harm the involved individuals. In this work, we propose a genetic programming framework to generate explanations for the decision-making process of already trained agents by imitating them with programs. Programs are interpretable and can be executed to generate explanations of why the agent chooses a particular action. Furthermore, we conduct an ablation study that investigates how extending the domain-specific language by using library learning alters the performance of the method. We compare our results with the previous state of the art for this problem and show that we are comparable in performance but require much less hardware resources and computation time.