Few-shot prompting and step-by-step reasoning have enhanced the capabilities of Large Language Models (LLMs) in tackling complex tasks including code generation. In this paper, we introduce a prompt selection and augm...
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ISBN:
(数字)9798331530891
ISBN:
(纸本)9798331530907
Few-shot prompting and step-by-step reasoning have enhanced the capabilities of Large Language Models (LLMs) in tackling complex tasks including code generation. In this paper, we introduce a prompt selection and augmentation algorithm aimed at improving mathematical reasoning and robot arm operations. Our approach incorporates a multi-stage example augmentation scheme combined with an example selection scheme. this algorithm improves LLM performance by selecting a set of examples that increase diversity, minimize redundancy, and increase relevance to the question. When combined withthe Program-of-thought prompting, our algorithm demonstrates an improvement in performance on the GSM8K and SVAMP benchmarks, with increases of 0.3% and 1.1% respectively. Furthermore, in simulated tabletop environments, our algorithm surpasses the Code-as-Policies approach by achieving a 3.4% increase in successful task completions and a decrease of over 70% in the number of examples used. Its ability to discard examples that contribute little to solving the problem reduces the inferencing time of an LLM-powered robotics system. this algorithm also offers important benefits for industrial process automation by streamlining the development and deployment process, reducing manual programming effort, and enhancing code reusability.
Withthe rapid development of edge computing, industrial automation has evolved a two-layer distributed computing architecture, including local controllers communicating through wired networks and edge controllers com...
Withthe rapid development of edge computing, industrial automation has evolved a two-layer distributed computing architecture, including local controllers communicating through wired networks and edge controllers communicating wirelessly. the edge controllers in existing studies use WIFI, which has a limited working distance and requires independent network deployment, so they are unsuitable for future large-scale complex industrial production. At present, 5G technology is undergoing rapid development in the field of industrial automation, with wide coverage and excellent mobility, gradually becoming suitable for future large-scale and complex industrial production scenarios. therefore, this paper proposed an SW5G method based on 5G, which combined the local controller withthe edge controller. the controllers were switched according to the constantly changing 5G network transmission delay, thereby optimizing the overall system control performance. Finally, simulation experiments demonstrated good control performance of SW5G in various network scenarios.
Trajectory planning for redundant space manipulators in complex spatial environments is critical for ensuring successful on-orbit task execution, especially when the manipulator’s link lengths are unknown. Traditiona...
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ISBN:
(数字)9798331544577
ISBN:
(纸本)9798331544584
Trajectory planning for redundant space manipulators in complex spatial environments is critical for ensuring successful on-orbit task execution, especially when the manipulator’s link lengths are unknown. Traditional algorithms struggle to establish the transformation between task space and joint space under such conditions, posing significant challenges to autonomous trajectory planning. this study proposes a novel trajectory planning method for a seven-degree-of-freedom redundant space manipulator with a shoulder-wrist offset. the method utilizes a trained pose control decision system to generate continuous, smooth, and singularity-free trajectories in real time, satisfying positional and orientational accuracy requirements for target capture. A neural network with strong nonlinear fitting capabilities is employed as the position control decision module for joints 1-4, trained using a "cautious exploration, greedy exploitation" strategy for efficient and safe trajectory optimization. For joints 5-7, an analytical orientation control decision module adjusts the end-effector’s attitude. Together, these modules form a pose control decision system that adheres to constraints on joint angular velocity, acceleration, and singularity avoidance. the proposed approach is validated through simulations in both static and dynamic scenarios, with simulation results confirming its effectiveness.
3D surface reconstruction in deformable environments presents significant challenges. Template-based methods have proven robust for achieving accurate reconstructions by utilising images and textured triangulated mesh...
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ISBN:
(数字)9798331518493
ISBN:
(纸本)9798331518509
3D surface reconstruction in deformable environments presents significant challenges. Template-based methods have proven robust for achieving accurate reconstructions by utilising images and textured triangulated meshes as reference data. these methods rely on feature detection in boththe reference and current images to establish corresponding points, leveraging reprojection and deformation constraints for precise reconstruction. However, challenges arise when features are not uniformly distributed across mesh triangles, potentially resulting in sparse or coarse reconstructions. Moreover, the combined computational cost of reprojection and deformable constraints often leads to prolonged optimisation times. this study aims to enhance efficiency in reconstructing deformations within the field of view. Our approach involves back-projecting vertices from a reference mesh onto the reference image plane and subsequently tracking them directly in the subsequent image. this method assumes the resulting observations are sufficiently accurate, encoding the deformation within this information. By eliminating the re-projection constraint and focusing solely on a deformation constraint based on Euclidean distances between vertices, we significantly reduce computational and memory costs. the results of our proposed algorithm demonstrate a notable reduction in computational cost and memory cost, while maintaining reconstruction accuracy comparable to related methods. the code of our algorithm is publicly available at https://***/DominikSlomma/Efficient-and-Accurate-Template-based-Reconstruction-of-Deformable-Surfaces
the development of technology in the field of internet of things (IoT) increase the development of android applications that are used to practically control IoT systems, especially in the field of monitoring. the curr...
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the Web of things (IoT) is critical for the virtual change in medication because it provides innovative business models to facilitate and promote improvements in practice operations, control costs, enhance productivit...
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the presence of inertia perturbation should not be ignored, it may harm the stability of quadrotor. there are many causes, one of them is due to the payload attached to the quadrotor. Here, the inertia perturbation co...
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the paper presents the algorithm for robustness estimation of large deviations in free motion of linear discrete-time systems. A tracking discrete-time systems withthe modal control law are discussed, where the modal...
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Learning at Slovak primary schools in the last school years takes place in a combined form due to the COVID-19 pandemic. Withthe distance form of teaching, it was possible to reduce the teaching hours and omit some p...
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ISBN:
(纸本)9789811998751
Learning at Slovak primary schools in the last school years takes place in a combined form due to the COVID-19 pandemic. Withthe distance form of teaching, it was possible to reduce the teaching hours and omit some parts of the study plan. Parts of the subjects often omitted were tied to practical lessons in special facilities, possibly to the use of specific equipment or tools, such as laboratory exercises and experiments, building and construction of robots, programming and physical education. Teachers opted the path of least resistance and often preferred to skip such topics. According to the state educational program in elementary school, it is necessary to develop algorithmic and programming thinking. For this purpose, thematic units focused on algorithmic problem solving and programming are used. the article brings the experience of the authors from the programming of robots in elementary school, which can be equally successfully implemented face-to-face as well as remotely using real or virtual robots. To revive learning and increase its effectiveness, the authors used modern teaching aid and digital educational technologies, which have also proven themselves in the distance form of education. We used virtual and augmented reality, worked in remote laboratories and used implementation of laboratory experiments using visualized simulation models and environments and emulation techniques. the authors report on their experience of teaching programming in primary schools using programmable toys, robots and microcontrollers. Simple tools (buttons marked with symbols) and an interactive environment that offers block or icon programming are used to program the movement and controlthe activities of such objects—robot toys and own constructed robots. Compiling a functional program does not require high analytical and abstract thinking. the program can be easily and interactively assembled from the offered building elements. this method makes programming more fun for
the most common approach among researchers is to implement cryptographic techniques and methods to provide a secure and reliable way to transmit sensitive information. this paper proposes a steganographic embedding al...
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ISBN:
(数字)9798331532178
ISBN:
(纸本)9798331532185
the most common approach among researchers is to implement cryptographic techniques and methods to provide a secure and reliable way to transmit sensitive information. this paper proposes a steganographic embedding algorithm based on Circle Map and Modified Rotation Equations. Audio files randomly selected from the Internet are used for the purpose of the study. Messages of different sizes were embedded in them using the proposed steganographic embedding algorithm. the accumulated database of more than 200 containers and stegofiles was analyzed using the most common steganalysis methods. From the analyses, it can be clearly seen that the proposed method of steganographic embedding in audio containers provides a very high level of security in the transmission of hidden information.
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