In recent years, research on humanoid robots has garnered increasing attention. With breakthroughs in various types of artificial intelligence algorithms, embodied intelligence, exemplified by humanoid robots, has been highly anticipated. The advancements in reinforcement learning (RL) algorithms have significantly improved the motion control and generalization capabilities of humanoid robots. Simultaneously, the groundbreaking progress in large language models (LLM) and visual language models (VLM) has brought more possibilities and imagination to humanoid robots. LLM enables humanoid robots to understand complex tasks from language instructions and perform long-term task planning, while VLM greatly enhances the robots' understanding and interaction with their environment. This paper introduces \textcolor{magenta}{Trinity}, a novel AI system for humanoid robots that integrates RL, LLM, and VLM. By combining these technologies, Trinity enables efficient control of humanoid robots in complex environments. This innovative approach not only enhances the capabilities but also opens new avenues for future research and applications of humanoid robotics.

Learning an explainable classifier often results in low accuracy model or ends up with a huge rule set, while learning a deep model is usually more capable of handling noisy data at scale, but with the cost of hard to explain the result and weak at generalization. To mitigate this gap, we propose an end-to-end deep explainable learning approach that combines the advantage of deep model in noise handling and expert rule-based interpretability. Specifically, we propose to learn a deep data assessing model which models the data as a graph to represent the correlations among different observations, whose output will be used to extract key data features. The key features are then fed into a rule network constructed following predefined noisy expert rules with trainable parameters. As these models are correlated, we propose an end-to-end training framework, utilizing the rule classification loss to optimize the rule learning model and data assessing model at the same time. As the rule-based computation is none-differentiable, we propose a gradient linking search module to carry the gradient information from the rule learning model to the data assessing model. The proposed method is tested in an industry production system, showing comparable prediction accuracy, much higher generalization stability and better interpretability when compared with a decent deep ensemble baseline, and shows much better fitting power than pure rule-based approach.

--Incorporating deep neural networks in image com-pressive sensing (CS) receives intensive attentions recently. As deep network approaches learn the inverse mapping directly from the CS measurements, a number of models have to be trained, each of which corresponds to a sampling rate. This may potentially degrade the performance of image CS, especially when multiple sampling rates are assigned to different blocks within an image. In this paper, we develop a multi-channel deep network for block-based image CS with performance significantly exceeding the current state-of-the-art methods. The significant performance improvement of the model is attributed to block-based sampling rates allocation and model-level removal of blocking artifacts. Specifically, the image blocks with a variety of sampling rates can be reconstructed in a single model by exploiting inter-block correlation. At the same time, the initially reconstructed blocks are reassembled into a full image to remove blocking artifacts within the network by unrolling a hand-designed block-based CS algorithm. Experimental results demonstrate that the proposed method outperforms the state-of-the-art CS methods by a large margin in terms of objective metrics, PSNR, SSIM, and subjective visual quality. Compressive sensing (CS), an emerging sampling and reconstructing strategy, can recover original signal from dramatically fewer measurements with a sub-Nyquist sampling rate [1]. As CS has the potentials of significantly improving the sampling speed and sensor energy efficiency, it has been applied in many practical applications, including single pixel imaging [2], fast magnetic resonance imaging [3], high-speed video cameras [4] and image encryption [5]. To deal with high-dimensional natural images efficiently, block-based CS is proposed as a lightweight CS approach [6]-[8]. In such strategy, a scene under view is partitioned into some small blocks, which are then sampled and reconstructed independently. Meaningful information is usually not uniformly distributed in an image, so the block partition benefits more fair allocation of the sensing resources for the whole image [9]. This work was supported by the National Natural Science Foundation of China (no.

We have proposed a model based upon flocking on a complex network, and then developed two clustering algorithms on the basis of it. In the algorithms, firstly a \textit{k}-nearest neighbor (knn) graph as a weighted and directed graph is produced among all data points in a dataset each of which is regarded as an agent who can move in space, and then a time-varying complex network is created by adding long-range links for each data point. Furthermore, each data point is not only acted by its \textit{k} nearest neighbors but also \textit{r} long-range neighbors through fields established in space by them together, so it will take a step along the direction of the vector sum of all fields. It is more important that these long-range links provides some hidden information for each data point when it moves and at the same time accelerate its speed converging to a center. As they move in space according to the proposed model, data points that belong to the same class are located at a same position gradually, whereas those that belong to different classes are away from one another. Consequently, the experimental results have demonstrated that data points in datasets are clustered reasonably and efficiently, and the rates of convergence of clustering algorithms are fast enough. Moreover, the comparison with other algorithms also provides an indication of the effectiveness of the proposed approach.

We introduce a modified model of random walk, and then develop two novel clustering algorithms based on it. In the algorithms, each data point in a dataset is considered as a particle which can move at random in space according to the preset rules in the modified model. Further, this data point may be also viewed as a local control subsystem, in which the controller adjusts its transition probability vector in terms of the feedbacks of all data points, and then its transition direction is identified by an event-generating function. Finally, the positions of all data points are updated. As they move in space, data points collect gradually and some separating parts emerge among them automatically. As a consequence, data points that belong to the same class are located at a same position, whereas those that belong to different classes are away from one another. Moreover, the experimental results have demonstrated that data points in the test datasets are clustered reasonably and efficiently, and the comparison with other algorithms also provides an indication of the effectiveness of the proposed algorithms.