In recent years, the development of robots capable of operating in both aerial and aquatic environments has gained significant attention. This study presents the design and fabrication of a novel aerial-aquatic locomotion robot (AALR). Inspired by the diving beetle, the AALR incorporates a biomimetic propulsion mechanism with power and recovery strokes. The variable stiffness propulsion module (VSPM) uses low melting point alloy (LMPA) and variable stiffness joints (VSJ) to achieve efficient aquatic locomotion while reduce harm to marine life. The AALR's innovative design integrates the VSPM into the arms of a traditional quadrotor, allowing for effective aerial-aquatic locomotion. The VSPM adjusts joint stiffness through temperature control, meeting locomotion requirements in both aerial and aquatic modes. A dynamic model for the VSPM was developed, with optimized dimensional parameters to increase propulsion force. Experiments focused on aquatic mode analysis and demonstrated the AALR's swimming capability, achieving a maximum swimming speed of 77 mm/s underwater. The results confirm the AALR's effective performance in water environment, highlighting its potential for versatile, eco-friendly operations.

Bayesian inference without the access of likelihood, called likelihood-free inference, is highlighted in simulation to yield a more realistic simulation result. Recent research updates an approximate posterior sequentially with the cumulative simulation input-output pairs over inference rounds. This paper observes that previous algorithms with Monte-Carlo Markov Chain present low accuracy for inference on a simulation with a multi-modal posterior due to the mode collapse of MCMC. From the observation, we propose an implicit sampling method, Implicit Surrogate Proposal (ISP), to draw balanced simulation inputs at each round. The resolution of mode collapse comes from two mechanisms: 1) a flexible surrogate proposal density estimator and 2) a parallel explored samples to train the surrogate density model. We demonstrate that ISP outperforms the baseline algorithms in multi-modal simulations.

Training neural networks on image datasets generally require extensive experimentation to find the optimal learning rate regime. Especially, for the cases of adversarial training or for training a newly synthesized model, one would not know the best learning rate regime beforehand. We propose an automated algorithm for determining the learning rate trajectory, that works across datasets and models for both natural and adversarial training, without requiring any dataset/model specific tuning. It is a stand-alone, parameterless, adaptive approach with no computational overhead. We theoretically discuss the algorithm's convergence behavior. We empirically validate our algorithm extensively. Our results show that our proposed approach \emph{consistently} achieves top-level accuracy compared to SOTA baselines in the literature in natural as well as adversarial training.