Learning to Navigate from Scratch using World Models and Curiosity: the Good, the Bad, and the Ugly

Learning to navigate unknown environments from scratch is a challenging problem. This work presents a system that integrates world models with curiosity-driven exploration for autonomous navigation in new environments. We evaluate performance through simulations and real-world experiments of varying scales and complexities. In simulated environments, the approach rapidly and comprehensively explores the surroundings. Real-world scenarios introduce additional challenges. Despite demonstrating promise in a small controlled environment, we acknowledge that larger and dynamic environments can pose challenges for the current system. Our analysis emphasizes the significance of developing adaptable and robust world models that can handle environmental changes to prevent repetitive exploration of the same areas.Comment: IROS 2023 workshop World Models and Predictive Coding in Cognitive Robotics and IROS 2023 workshop Learning Robot Super Autonom

From bumblebee to bioeconomy : recent developments and perspectives for sophorolipid biosynthesis

Sophorolipids are biobased compounds produced by the genera Starmerella and Pseudohyphozyma that gain exponential interest from academic and industrial stakeholders due to their mild and environmental friendly characteristics. Currently, industrially relevant sophorolipid volumetric productivities are reached up to 3.7 g center dot L-1 center dot h(-1) and sophorolipids are used in the personal care and cleaning industry at small scale. Moreover, applications in crop protection, food, biohydrometallurgy and medical fields are being extensively researched. The research and development of sophorolipids is at a crucial stage. Therefore, this work presents an overview of the state-of-the-art on sophorolipid research and their applications, while providing a critical assessment of scientific techniques and standardisation in reporting. In this review, the genuine sophorolipid producing organisms and the natural role of sophorolipids are discussed. Subsequently, an evaluation is made of innovations in production processes and the relevance of in-situ product recovery for process performance is discussed. Furthermore, a critical assessment of application research and its future perspectives are portrayed with a focus on the self-assembly of sophorolipid molecules. Following, genetic engineering strategies that affect the sophorolipid physiochemical properties are summarised. Finally, the impact of sophorolipids on the bioeconomy are uncovered, along with relevant future perspectives