Control Barrier Functions (CBFs) have emerged as an effective and non-invasive safety filter for ensuring the safety of autonomous systems in dynamic environments with formal guarantees. However, most existing works on CBF synthesis focus on fully known settings. Synthesizing CBFs online based on perception data in unknown environments poses particular challenges. Specifically, this requires the construction of CBFs from high-dimensional data efficiently in real time. This paper proposes a new approach for online synthesis of CBFs directly from local Occupancy Grid Maps (OGMs). Inspired by steady-state thermal fields, we show that the smoothness requirement of CBFs corresponds to the solution of the steady-state heat conduction equation with suitably chosen boundary conditions. By leveraging the sparsity of the coefficient matrix in Laplace's equation, our approach allows for efficient computation of safety values for each grid cell in the map. Simulation and real-world experiments demonstrate the effectiveness of our approach. Specifically, the results show that our CBFs can be synthesized in an average of milliseconds on a 200 * 200 grid map, highlighting its real-time applicability.

The rapid growth of large language models(LLMs) has emerged as a prominent trend in the field of artificial intelligence. However, current state-of-the-art LLMs are predominantly based on English. They encounter limitations when directly applied to tasks in specific cultural domains, due to deficiencies in domain-specific knowledge and misunderstandings caused by differences in cultural values. To address this challenge, our paper proposes a rapid adaptation method for large models in specific cultural contexts, which leverages instruction-tuning based on specific cultural knowledge and safety values data. Taking Chinese as the specific cultural context and utilizing the LLaMA3-8B as the experimental English LLM, the evaluation results demonstrate that the adapted LLM significantly enhances its capabilities in domain-specific knowledge and adaptability to safety values, while maintaining its original expertise advantages.

In many applications of Reinforcement Learning (RL), it is critically important that the algorithm performs safely, such that instantaneous hard constraints are satisfied at each step, and unsafe states and actions are avoided. However, existing algorithms for ''safe'' RL are often designed under constraints that either require expected cumulative costs to be bounded or assume all states are safe. Thus, such algorithms could violate instantaneous hard constraints and traverse unsafe states (and actions) in practice. Therefore, in this paper, we develop the first near-optimal safe RL algorithm for episodic Markov Decision Processes with unsafe states and actions under instantaneous hard constraints and the linear mixture model. It not only achieves a regret $\tilde{O}(\frac{d H^3 \sqrt{dK}}{\Delta_c})$ that tightly matches the state-of-the-art regret in the setting with only unsafe actions and nearly matches that in the unconstrained setting, but is also safe at each step, where $d$ is the feature-mapping dimension, $K$ is the number of episodes, $H$ is the number of steps in each episode, and $\Delta_c$ is a safety-related parameter. We also provide a lower bound $\tilde{\Omega}(\max\{dH \sqrt{K}, \frac{H}{\Delta_c^2}\})$, which indicates that the dependency on $\Delta_c$ is necessary. Further, both our algorithm design and regret analysis involve several novel ideas, which may be of independent interest.

We study repeated games in which players have imperfect execution skill and one player's true skill is not common knowledge. In these settings the possibility arises of a player "hustling", or pretending to have lower execution skill than they actually have. Focusing on repeated zero-sum games, we provide a hustle-proof strategy; this strategy maximizes a player's payoff, regardless of the true skill level of the other player.