Towards the role of humanoid robots as squad mates in urban operations and other domains, we identified doors as a major area lacking capability development. In this paper, we focus on the ability of humanoid robots to navigate and deal with doors. Human-sized doors are ubiquitous in many environment domains and the humanoid form factor is uniquely suited to operate and traverse them. We present an architecture which incorporates GPU accelerated perception and a tree based interactive behavior coordination system with a whole body motion and walking controller. Our system is capable of performing door traversals on a variety of door types. It supports rapid authoring of behaviors for unseen door types and techniques to achieve re-usability of those authored behaviors. The behaviors are modelled using trees and feature logical reactivity and action sequences that can be executed with layered concurrency to increase speed. Primitive actions are built on top of our existing whole body controller which supports manipulation while walking. We include a perception system using both neural networks and classical computer vision for door mechanism detection outside of the lab environment. We present operator-robot interdependence analysis charts to explore how human cognition is combined with artificial intelligence to produce complex robot behavior. Finally, we present and discuss real robot performances of fast door traversals on our Nadia humanoid robot. Videos online at https://www.youtube.com/playlist?list=PLXuyT8w3JVgMPaB5nWNRNHtqzRK8i68dy.

The reason behind the remarkable properties of High-Entropy Alloys (HEAs) is rooted in the diverse phases and the crystal structures they contain. In the realm of material informatics, employing machine learning (ML) techniques to classify phases and crystal structures of HEAs has gained considerable significance. In this study, we assembled a new collection of 1345 HEAs with varying compositions to predict phases. Within this collection, there were 705 sets of data that were utilized to predict the crystal structures with the help of thermodynamics and electronic configuration. Our study introduces a methodical framework i.e., the Pearson correlation coefficient that helps in selecting the strongly co-related features to increase the prediction accuracy. This study employed five distinct boosting algorithms to predict phases and crystal structures, offering an enhanced guideline for improving the accuracy of these predictions. Among all these algorithms, XGBoost gives the highest accuracy of prediction (94.05%) for phases and LightGBM gives the highest accuracy of prediction of crystal structure of the phases (90.07%). The quantification of the influence exerted by parameters on the model's accuracy was conducted and a new approach was made to elucidate the contribution of individual parameters in the process of phase prediction and crystal structure prediction.