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PPO vs. SAC: A Comparative Study for Cooperative Motion Control of Dual-Arm Space Robots
arXiv:2610.32034v1 Announce Type: new Abstract: The growing population of orbital debris has intensified interest in active debris removal and on-orbit servicing, for which dual-arm space manipulators offer improved grasping stability and load distribution relative to single-arm systems. However, coordinating two manipulators under inter-arm collision avoidance, orientation alignment, and sensing uncertainty remains challenging. This paper develops a coordinated reinforcement learning framework for cooperative motion planning of a dual-arm space manipulator in a target-reaching task with inter-arm collision-avoidance constraints. A centralized state representation combines joint-space, end-effector, and target-relative information, while a multi-objective reward function promotes target-re
Qwen1.5-32B: Fitting the Capstone of the Qwen1.5 Language Model Series
GITHUB HUGGING FACE MODELSCOPE DEMO DISCORD Introduction The open-source community has long sought a model that strikes an ideal balance between performance, efficiency, and memory footprint. Despite the emergence of cutting-edge models like Qwen1.5-72B and DBRX, the models have faced persistent challenges such as large memory consumption, slow inference speed, and substantial finetuning costs. A growing consensus within the field now points to a model with approximately 30 billion parameters as the optimal “sweet spot” for achieving both strong performance and manageable resource requirements.
OFA: Towards Building a One-For-All Model
2022 is a year of generalist models! With the bloom of multimodal pretraining, especially the unified model, we have witnessed the opportunity to building a generalist model that is capable of processing tasks of different modalities or multi-modalities! Thus, we propose OFA1, namely One-For-All, a unified multimodal pretrained model that unifies understanding and generation tasks concerning modalities into a single framework, and we pretrain OFA with the instruction-based multitask-pretraining that endows it with multiple capabilities.