Rapid post-disaster road damage assessment is critical for effective emergency response, yet traditional optimization methods suffer from excessive computational time and require domain knowledge for algorithm design, making them unsuitable for time-sensitive disaster scenarios. This study proposes an attention-based encoder-decoder model (AEDM) for rapid drone routing decision in post-disaster road damage assessment. The method employs deep reinforcement learning to determine high-quality drone assessment routes without requiring algorithmic design knowledge. A network transformation method is developed to convert link-based routing problems into equivalent node-based formulations, while a synthetic road network generation technique addresses the scarcity of large-scale training datasets. The model is trained using policy optimization with multiple optima (POMO) with multi-task learning capabilities to handle diverse parameter combinations. Experimental results demonstrate two key strengths of AEDM: it outperforms commercial solvers by 20--71\% and traditional heuristics by 23--35\% in solution quality, while achieving rapid inference (1--2 seconds) versus 100--2,000 seconds for traditional methods. The model exhibits strong generalization across varying problem scales, drone numbers, and time constraints, consistently outperforming baseline methods on unseen parameter distributions and real-world road networks. The proposed method effectively balances computational efficiency with solution quality, making it particularly suitable for time-critical disaster response applications where rapid decision-making is essential for saving lives. The source code for AEDM is publicly available at https://github.com/PJ-HTU/AEDM-for-Post-disaster-road-assessment.

Swarm robotics has potential for a wide variety of applications, but real-world deployments remain rare due to the difficulty of predicting emergent behaviors arising from simple local interactions. Traditional engineering approaches design controllers to achieve desired macroscopic outcomes under idealized conditions, while agent-based and artificial life studies explore emergent phenomena in a bottom-up, exploratory manner. In this work, we introduce Analytical Swarm Chemistry, a framework that integrates concepts from engineering, agent-based and artificial life research, and chemistry. This framework combines macrostate definitions with phase diagram analysis to systematically explore how swarm parameters influence emergent behavior. Inspired by concepts from chemistry, the framework treats parameters like thermodynamic variables, enabling visualization of regions in parameter space that give rise to specific behaviors. Applying this framework to agents with minimally viable capabilities, we identify sufficient conditions for behaviors such as milling and diffusion and uncover regions of the parameter space that reliably produce these behaviors. Preliminary validation on real robots demonstrates that these regions correspond to observable behaviors in practice. By providing a principled, interpretable approach, this framework lays the groundwork for predictable and reliable emergent behavior in real-world swarm systems.

Protocol optimization is critical in Computed Tomography (CT) to achieve high diagnostic image quality while minimizing radiation dose. However, due to the complex interdependencies among CT acquisition and reconstruction parameters, traditional optimization methods rely on exhaustive testing of combinations of these parameters, which is often impractical. This study introduces a novel methodology that combines virtual imaging tools with reinforcement learning to optimize CT protocols more efficiently. Human models with liver lesions were imaged using a validated CT simulator and reconstructed with a novel CT reconstruction toolkit. The optimization parameter space included tube voltage, tube current, reconstruction kernel, slice thickness, and pixel size. The optimization process was performed using a Proximal Policy Optimization (PPO) agent, which was trained to maximize an image quality objective, specifically the detectability index (d') of liver lesions in the reconstructed images. Optimization performance was compared against an exhaustive search performed on a supercomputer. The proposed reinforcement learning approach achieved the global maximum d' across test cases while requiring 79.7% fewer steps than the exhaustive search, demonstrating both accuracy and computational efficiency. The proposed framework is flexible and can accommodate various image quality objectives. The findings highlight the potential of integrating virtual imaging tools with reinforcement learning for CT protocol management.

Agent-based models (ABMs) are gaining increasing traction in several domains, due to their ability to represent complex systems that are not easily expressible with classical mathematical models. This expressivity and richness come at a cost: ABMs can typically be analyzed only through simulation, making their analysis challenging. Specifically, when studying the output of ABMs, the analyst is often confronted with practical questions such as: (i) how many independent replications should be run? (ii) how many initial time steps should be discarded as a warm-up? (iii) after the warm-up, how long should the model run? (iv) what are the right parameter values? Analysts usually resort to rules of thumb and experimentation, which lack statistical rigor. This is mainly because addressing these points takes time, and analysts prefer to spend their limited time improving the model. In this paper, we propose a methodology, drawing on the field of Statistical Model Checking, to automate the process and provide guarantees of statistical rigor for ABMs written in NetLogo, one of the most popular ABM platforms. We discuss MultiVeStA, a tool that dramatically reduces the time and human intervention needed to run statistically rigorous checks on ABM outputs, and introduce its integration with NetLogo. Using two ABMs from the NetLogo library, we showcase MultiVeStA's analysis capabilities for NetLogo ABMs, as well as a novel application to statistically rigorous calibration. Our tool-chain makes it immediate to perform statistical checks with NetLogo models, promoting more rigorous and reliable analyses of ABM outputs.

Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires choosing design parameters which affect geometry and stiffness, and therefore manipulation performance and robustness. Today, these parameters are chosen through either hardware iteration, which takes significant development time, or simplified models (e.g. planar), which can't address complex manipulation task objectives. Improvements in dynamic simulation, especially with contact and friction modeling, present a potential design tool for mechanical compliance. We propose a simulation-based design tool for compliant mechanisms which allows design with respect to task-level objectives, such as success rate. This is applied to optimize design parameters of a structured compliant finger to reduce failure cases inside a tolerance window in insertion tasks. The improvement in robustness is then validated on a real robot using tasks from the benchmark NIST task board. The finger stiffness affects the tolerance window: optimized parameters can increase tolerable ranges by a factor of 2.29, with workpiece variation up to 8.6 mm being compensated. However, the trends remain task-specific. In some tasks, the highest stiffness yields the widest tolerable range, whereas in others the opposite is observed, motivating need for design tools which can consider application-specific geometry and dynamics.

V (t ) θ , (21) which is the parameter update rule. This equation describes only the dynamics of the membrane potential below the threshold.

This paper presents a machine learning-accelerated optimization framework for RF power amplifier design that reduces simulation requirements by 65% while maintaining $\pm0.4$ dBm accuracy for the majority of the modes. The proposed method combines MaxMin Latin Hypercube Sampling with CatBoost gradient boosting to intelligently explore multidimensional parameter spaces. Instead of exhaustively simulating all parameter combinations to achieve target P2dB compression specifications, our approach strategically selects approximately 35% of critical simulation points. The framework processes ADS netlists, executes harmonic balance simulations on the reduced dataset, and trains a CatBoost model to predict P2dB performance across the entire design space. Validation across 15 PA operating modes yields an average $R^2$ of 0.901, with the system ranking parameter combinations by their likelihood of meeting target specifications. The integrated solution delivers 58.24% to 77.78% reduction in simulation time through automated GUI-based workflows, enabling rapid design iterations without compromising accuracy standards required for production RF circuits.

DBSCAN, a well-known density-based clustering algorithm, has gained widespread popularity and usage due to its effectiveness in identifying clusters of arbitrary shapes and handling noisy data. However, it encounters challenges in producing satisfactory cluster results when confronted with datasets of varying density scales, a common scenario in real-world applications. In this paper, we propose a novel Adaptive and Robust DBSCAN with Multi-agent Reinforcement Learning cluster framework, namely AR-DBSCAN. First, we model the initial dataset as a two-level encoding tree and categorize the data vertices into distinct density partitions according to the information uncertainty determined in the encoding tree. Each partition is then assigned to an agent to find the best clustering parameters without manual assistance. The allocation is density-adaptive, enabling AR-DBSCAN to effectively handle diverse density distributions within the dataset by utilizing distinct agents for different partitions. Second, a multi-agent deep reinforcement learning guided automatic parameter searching process is designed. The process of adjusting the parameter search direction by perceiving the clustering environment is modeled as a Markov decision process. Using a weakly-supervised reward training policy network, each agent adaptively learns the optimal clustering parameters by interacting with the clusters. Third, a recursive search mechanism adaptable to the data's scale is presented, enabling efficient and controlled exploration of large parameter spaces. Extensive experiments are conducted on nine artificial datasets and a real-world dataset. The results of offline and online tasks show that AR-DBSCAN not only improves clustering accuracy by up to 144.1% and 175.3% in the NMI and ARI metrics, respectively, but also is capable of robustly finding dominant parameters.

Machine learning has been widely applied in many aspects, but training a machine learning model is increasingly difficult. There are more optimization problems named "black-box" where the relationship between model parameters and outcomes is uncertain or complex to trace. Currently, optimizing black-box models that need a large number of query observations and parameters becomes difficult. To overcome the drawbacks of the existing algorithms, in this study, we propose a zeroth-order method that originally came from quantum computing called the parameter-shift rule, which has used a lesser number of parameters than previous methods.