Learning to Terminate in Object Navigation

This paper tackles the critical challenge of object navigation in autonomous navigation systems, particularly focusing on the problem of target approach and episode termination in environments with long optimal episode length in Deep Reinforcement Learning (DRL) based methods. While effective in environment exploration and object localization, conventional DRL methods often struggle with optimal path planning and termination recognition due to a lack of depth information. To overcome these limitations, we propose a novel approach, namely the Depth-Inference Termination Agent (DITA), which incorporates a supervised model called the Judge Model to implicitly infer object-wise depth and decide termination jointly with reinforcement learning. We train our judge model along with reinforcement learning in parallel and supervise the former efficiently by reward signal. Our evaluation shows the method is demonstrating superior performance, we achieve a 9.3% gain on success rate than our baseline method across all room types and gain 51.2% improvements on long episodes environment while maintaining slightly better Success Weighted by Path Length (SPL). Code and resources, visualization are available at: https://github.com/HuskyKingdom/DITA_acml2023

The solid modeling of the fillet on the intersection line of two cylinders

2005-2006 > Academic research: refereed > Publication in refereed journalVersion of RecordPublishe

Typographic design of outdoor signage, restaurant authenticity, and consumers’ willingness to dine: extending semiotic theory

Purpose Restaurants’ outdoor signage plays an irreplaceable role in attracting potential diners, as it conveys important functional and symbolic meanings of the businesses. The purpose of this study is to investigate the effect of typographic design elements of outdoor signage on consumers’ perceptions of authenticity. This study also tests the linkage between authenticity and willingness to dine, as well as the moderating effect of frequency of dining in ethnic restaurants on the relationship. Design/methodology/approach Using a 2 (simplified vs traditional Chinese characters) × 2 (calligraphy vs computer font) × 2 (vertical vs horizontal text flow) between-subject design, the authors did two experiments with 786 Chinese diners. Restaurant authenticity and willingness to dine are dependent variables, and openness to ethnic cuisine is the control variable. Findings Display characters and text flow significantly affect restaurant authenticity. Furthermore, the results of this study demonstrate that display characters interact with typeface to influence restaurant authenticity. Consumers’ perceived authenticity significantly increases their willingness to dine. The frequency of dining in ethnic restaurants moderates the relationship between restaurant authenticity and willingness to dine. Practical implications Ethnic restaurateurs should pay attention to the outdoor signage design, as it affects potential consumers’ authenticity perceptions. Specifically, in Mainland China, traditional Chinese characters and vertical text direction increase potential consumers’ authenticity perceptions. Originality/value This study extends the semiotic theory and applies the cue–judgment–behavior model in the hospitality literature. This study also provides new understanding of authenticity by identifying the influence of typographic design on authenticity, which confirms the semiotic theory that certain semiotic cues affect consumers’ judgments

Emending Gymnopus sect. Gymnopus (Agaricales, Omphalotaceae) by including two new species from southern China

Based on phylogenetic analyses, some newly studied Chinese mushroom specimens were found to represent two distinct species within the genus Gymnopus. Along with G. fusipes (sect. Gymnopus) they form a distinct clade with high support, although their macromorphological characters seem to be closer to members of Gymnopus sect. Levipedes or sect. Vestipedes (Collybiopsis). When examined in detail, their micromorphological characters, especially the type of pileipellis, support them as new members of G. sect. Gymnopus. Therefore, two new species, G. omphalinoides and G. schizophyllus, and the emended circumscription of sect. Gymnopus are proposed in this paper. Detailed morphological descriptions, colour photos, illustrations of the two new species, morphological comparisons with similar taxa and the molecular-phylogenetic analyses of the combined nrITS and nrLSU data are presented. A key to the known species of G. sect. Gymnopus is also presented

Testing in the incremental design and development of complex products

Testing is an important aspect of design and development which consumes significant time and resource in many companies. However, it has received less research attention than many other activities in product development, and especially, very few publications report empirical studies of engineering testing. Such studies are needed to establish the importance of testing and inform the development of pragmatic support methods. This paper combines insights from literature study with findings from three empirical studies of testing. The case studies concern incrementally developed complex products in the automotive domain. A description of testing practice as observed in these studies is provided, confirming that testing activities are used for multiple purposes depending on the context, and are intertwined with design from start to finish of the development process, not done after it as many models depict. Descriptive process models are developed to indicate some of the key insights, and opportunities for further research are suggested

Patterning of an amine-terminated nanolayer by extreme ultraviolet

The adsorption of NH3 molecules on the Si(100)2x1 surface constructs a cleaner and more well-defined amine layer than self-assembled monolayer such as aminosilylated layer, which make it possible to study photoinduced reactions between amines and monochromatic light with shorter wavelength than ultraviolet, i.e., extreme ultraviolet and soft x ray. We report that the molecular layer of amine groups reacts with extreme ultraviolet and soft x ray, which can be used to make fine patterns on the amine-terminated layer. The amine patterning with the leading postoptical lithography using extreme ultraviolet could be applied to fabricating future molecular nanodevices.open1155sciescopu

Multi-Channel Signal Generator ASIC for Acoustic Holograms

A CMOS application-specific integrated circuit (ASIC) has been developed to generate arbitrary, dynamic phase patterns for acoustic hologram applications. An experimental prototype has been fabricated to demonstrate phase shaping. It comprises a cascadable 1 × 9 array of identical, independently-controlled signal generators implemented in a 0.35 μ m minimum feature size process. It can individually control the phase of a square wave on each of the nine output pads. The footprint of the integrated circuit is 1175 × 88 μ m2. A 128 MHz clock frequency is used to produce outputs at 8 MHz with phase resolution of 16 levels (4-bit) per channel. A 6 × 6 air-coupled matrix array ultrasonic transducer was built and driven by four ASICs, with the help of commercial buffer amplifiers, for the application demonstration. Acoustic pressure mapping and particle manipulation were performed. Additionally, a 2 × 2 array piezoelectric micromachined ultrasonic transducer (PMUT) was connected and driven by four output channels of a single ASIC, demonstrating the flexibility of the ASIC to work with different transducers and the potential for direct integration of CMOS and PMUTs