上海花千坊419

Is it true that "birds fly away with husband and wife, and people are virtuous and have high character"? People will have different moods in different environments, do different things, and their thoughts will change. It is said that many astronauts, and foreign astronauts, look back in space and see that the earth is so small. In an instant, I also feel that human beings are small, even forgetting the nationality, and I hope that the "global village" will unite. Challenging the mysterious space together, although few astronauts talked about it, according to the network, most astronauts and foreign astronauts should have the same mood at that time.

Many people say that looking at the earth from space is a word "beauty". In fact, I think it should be more thorough. Some people think that if leaders of various countries go to space to see the earth, there may not be so many disputes. The idealist’s idea is really beautiful. "A leopard cannot change his spots." It’s not who is slipped into space that can change the world pattern. The greed, desire and the law of the jungle of human nature can only become more and more obvious. How can it become more and more noble? People are not gods. If human beings could have a bigger pattern, the world would have been in harmony. Maybe all mankind will be promoted to the first level of civilization through cutting-edge technology.

The greedy desire that human beings can’t change is just like dogs can’t change eating shit and cats love eating fish. It’s hard to hear, but it’s true. Humans always think that the world belongs to me, and they are always willing to position themselves as masters and creators, so their possessiveness is very strong. As long as they rule a country or rule the earth, everything on the earth is not ours. Perhaps all this is not human’s original intention. Humans can only control their own behaviors and desires, but can’t decide higher-level things at all. In fact, it is God’s will that created human beings and human nature, which cannot be easily changed by human beings. In fact, we are more like the "turkey" in the TV series "Three-body".

Maybe you think I’m talking nonsense, but isn’t Einstein talking nonsense? Does Yang Zhenning, a Chinese scientist, also talk nonsense? They all tend to be God-like creators, so I said that there is no problem with the existence of God. When I say providence, I mean God! Although Einstein and China’s Yang Zhenning are both great scientists and physicists. Celebrities, maybe they are just idols of human beings, with a little more ideas. As carbon-based human beings, we have not yet broken through the first-class civilization of the universe. How can you see through so many things? Perhaps, as I said before, this phenomenon is called a myth before the problems that human beings can’t solve.

We pay attention to science in everything, but how did Einstein and Yang Zhenning get the first driving force before the Big Bang in the universe? That’s why everyone is more inclined to have a creator. Maybe the first driving force of the universe is naturally formed, and what about the driving force of natural release? Personally, I think that life on our earth basically belongs to carbon-based life. The study of all the stars and various phenomena in space is only in one point to observe the whole universe. If we humans move towards the first level civilization, we may know more mysteries in the universe and space.

For the vast mysteries of the universe, human beings are nothing more than children picking up shells at the seaside. It may be a joke to look back at human science when we enter the next level of civilization, because all phenomena of celestial bodies are just guesses, so we can only rely on guesses. If a policeman solves a case by guessing, then we all know that this is nonsense. Isn’t it nonsense for a scientist to guess? Therefore, I think that after the arrival of silicon-based life, the theories of these scientists are all fart or even worthless. At least silicon-based life can go to danger in person and engage in scientific research in space.

Silicon-based life is more suitable for all kinds of harsh environments, and perhaps no oxygen mask is needed at all. I think these great scientists live by guessing there, so it is better to study life and make human life stronger and wiser. Only we are strong. We can conquer a more powerful universe. Humans may not understand it, but human wisdom has developed artificial intelligence robots, which will not be tired or sleepy. Maybe artificial intelligence will tell us in the future.

Nowadays, artificial intelligence gradually integrates with human senses such as sound and vision, making communication between people more convenient. However, it is still challenging to integrate artificial intelligence with human touch.

To solve this problem, Meta AI and Carnegie Mellon University successfully developed a multifunctional, replaceable and durable tactile skin, and named it ReSkin. It can quickly improve the tactile sensing accuracy and sensitivity of the machine in the application process.

(Source:Proceedings of Machine Learning Research )

Related papers are titled "Multifunctional, Replaceable and Lasting Touch Skin" (ReSkin：versatile，replaceable，lasting tactile skins) published in [1].

Matai visiting researcher Raunaq Buhanlan (Raunaq Bhirangi), Tess Hellebrex, postdoctoral fellow and scientist of Pittsburgh Yuan Artificial Intelligence Research Center (Tess Hellebrekers), Mel Majdi, Professor of Robotics Institute of Carnegie Mellon University (Carmel Majidi), Abbina Gupta, Associate Professor of Robotics Institute of Carnegie Mellon University (Abhinav Gupta) is the author of the paper.

It is mentioned in the paper that ReSkin relies on machine learning technology and magnetic sensing technology, and has the advantages of being cheap, multifunctional, durable and replaceable. Specifically, ReSkin has low production cost, only 2-3mm thick, and can interact with the machine model more than 50,000 times. In addition, it has a high spatial-temporal resolution with an accuracy of 90%.Figure | ReSkin is the size of a coin and easy to manufacture (Source:PMLR)

Thin and high-precision specifications make it suitable for all kinds of machines, such as robot hands, tactile gloves, arm sleeves, etc. For specific processes, ReSkin can also provide tactile signals (high frequency) for the sliding, throwing, catching and clapping operations of the machine.

When Reskin is applied to different products, a large amount of relevant data will be generated, which can help researchers improve their tactile perception ability in AI systems.

Figure | Frequency changes of sensors applying ReSkin under different magnetic fields (Source:Proceedings of Machine Learning Research)

For example, ReSkin is an elastic sheet that can change its shape and contains magnetic particles. When its shape changes, it will release different magnetic signals. Researchers can use magnetometer to measure these changes, and use data-driven technology to convert the measured data into information such as contact position and applied force.

At present, many tactile sensing experiments are limited to one sensor level. This is because every time ReSkin is replaced, the machine needs to build a new model, which reduces the transmission efficiency.

Moreover, in different scenarios, each sensor needs to be thoroughly calibrated with the initial calibration procedure to match its individual response. This means that the calibration procedure must also adapt to these changes. In addition, as time goes by, soft skin like ReSkin will deform and need to be replaced, so it is difficult to popularize and apply it to different interactive scenarios.

In order to simplify the replacement process of Reskin, the researchers made innovations in three aspects.

Firstly, the researcher separates the internal circuit of the sensor from the passive interface, and does not need to be electrically connected with the traditional measuring electronic equipment. This operation effectively improves the sensitivity of the sensor, and it is as simple as sticking a sticker when replacing worn ReSkin.

Secondly, the researchers use the output data of several sensors to improve the model mapping. Through this operation, researchers can use a higher data diversity training model. This helps the sensor to output more effective and generalized data.

Thirdly, thanks to the self-supervised learning mode of the machine, researchers don’t have to collect calibration data for each new sensor, but use a small amount of unlabeled data to automatically fine-tune the sensor.

It is known that the existing camera-based tactile sensor requires a very small contact distance between the surface and the camera, which leads to a heavier machine. In contrast, ReSkin can cover the hands and arms of humans and robots, which facilitates researchers to develop multifunctional, expandable and inexpensive tactile modules. This is impossible for the existing artificial intelligence tactile system.

In order to highlight the practical value of ReSkin and show its unique charm of promoting the development of artificial intelligence, researchers apply it to different machine scenes. From grasping tiny objects to measuring the force exerted by the dog’s feet, from building a continuous ReSkin with wide coverage to measuring the field contact force, ReSkin has shown its extremely high flexibility and practicality.

Although researchers have demonstrated the technical advantages of ReSkin in contact location and force prediction, ReSkin still has great development potential in the future.

The experiment of this paper is based on the single-point contact of the machine, and the goal of scientists is to further study the application of ReSkin under multi-point contact. Another interesting future development direction is to specifically analyze the influence of external magnetic field and metal objects on ReSkin’s perception ability.

In addition, based on ReSkin’s high time resolution of 400Hz, researchers can make use of this advantage and use dynamic time series data to create better machine models. In a word, scientists believe that ReSkin will promote the machine’s touch perception ability and be able to apply it to practice.

References:

1.https://arxiv.org/abs/2111.00071

2.https://ai.facebook.com/blog/reskin-a-versatile-replaceable-low-cost-skin-for-ai-research-on-tactile-perception/

During our daily tabulation, it is often used.Find the work of reference related data.

In fact, this is also one of most small partners in touch.

For example, according to the corresponding results of the employee name, according to the number of item numbers in one item, the corresponding sales, etc.

Today, I will introduce you to a very powerful function combination to achieve this feature.

They are INDEX + MATCH combination.

The specific application scenario is as follows:

01 正 正 查

The correct point here is:Find reference target values ??from left to right.

That is, the lookup value is on the left and the return value is on the right.

As shown below, it is the performance watch of the company employee in the first quarter. We now want to find the corresponding performance according to the name.

Write the following formula in [F2] cell:

=INDEX (C2: C7, Match (E2, B2: B7, 0)))

Formula analysis:

First look up Liu Yan in the [B2: B7] in the [B2: B7], return to the number 2;

This number 2 is then used as the second parameter of the index function, meaning returning to the value of the first parameter in the cell area in the cell area in the cell region.

There are three parameters: Match functions:

Match (lookup value, find area, lookup type)

The MATCH function is specifically used to find a value, where you are in a region or group, and return a number.

This number that is usually returned as a parameter of other functions.

Here, the returned numbers are used as the parameter of INDEX.

If the lookup type of the third parameter is 0, it means an exact lookup.

INDEX usually has three parameters:

Index (Returned area, line number, list number)

Since the first parameter is a single line or a single column, the third parameter can be omitted.

If you don’t illegally, the formula can be written as this:

=INDEX (C2: C7, Match (E2, B2: B7, 0), 1)

02 reverse lookup

The reverse refer to it here is:Find reference target values ??from right to left.

That is, the lookup value is on the right, the return value is on the left.

Also as examples above, for example, we want to find Liu Yan’s employee number.

The formula is as follows:

=INDEX (A2: A7, MATCH (E2, B2: B7, 0)))

Formula analysis:

The formula of this formula is similar to the formula of the forward look, but the first parameter of the index function will change the returned area into the [A2: A7] area.

It can be seen that whether it is looking for a look, it is the same.

Just change the area of ??the first parameter of the index function into the area that needs to return.

03 two-way lookup

The two-way refers herein is:Find the reference target value from the horizontal and vertical two directions.

As shown below: It is a quarter employee payment message, and now I need to find how much Liu Yan’s salary in March is.

The formula is as follows:

=INDEX (B3: D8, Match (G3, A3: A8, 0), Match (H2, B2: D2, 0))

Formula analysis:

First look up Liu Yan in [A3: A8] in the vertical position in [A3: A8], return to the number 2;

Then use the second Match function to find the horizontal position in [B2: D2] in this area, return to the number 3;

Finally, the two numbers are respectively used as the second and third parameters of the INDEX function, meaning returning to the INDEX first parameter [B3: D8] zone "Chapter 3 of the third row in the area of ??this intersection cell, namely: 8606.

Because the two-way lookups here need to involve the position in both directions, we are hereUse two MATCH functions to locate the lines and columns.

04 more conditions

Multi-conditional lookup refers to: Find back to the corresponding target value based on 2 or more conditions, which is often used in our daily work.

As shown below: It is a sales list of all item numbers in all regions. We want to find how much the number of item numbers BH003 in Nanjing is.

Condition 1: Nanjing;

Conditions 2: The item number is BH003.

Write the following formula in the [G2] cell:

=INDEX (C2: C7, Match (E2 & F2, A2: A7 & B2: B7, 0))

Formula analysis:

The basic frame of the formula is the same as above, just first connect two conditions into a new condition form with a "&" text connection;

Then follow the ideas looking forward to the looks to the lookup and return to the sales volume in the [C2: C7] area.

Match function Find the location of "Nanjing BH003" in the newly generated array:

Match ("Nanjing BH003", 0)

Returns the number 3, then this number 3, as the second parameter of the index function, means returning the INDEX first parameter [C2: C7] The value in the cell in the cell area, that is, 72.

?

Because this is an array formula, the formula needs to be ended in the [Ctrl + Shift + Enter] three key. The braces outside the formula will be automatically generated. For small friends who use Office 365, you can end up with a three-key.

Of course, the multi-conditional lookups here can also be applied at both horizontal and vertical two directions.

In addition, no matter how many conditions, just connect multiple conditions to a new condition with a "&" text connector first, then apply the above routine.

05 interval lookup

The interval lookup refers to:If the lookup value is in a certain range, the corresponding target value is returned.

As shown below, the number of bonuses from the employee is required according to the performance interval.

Write the following formula in the [G2] cell:

=INDEX (J2: J5, Match (F2, {0; 41; 81; 121}, 1)))

Formula analysis:

This formula is especially the application of the second and third parameters of the MATCH function.

If the third parameter is 1 or omitted, the MATCH function will look for the maximum of less than or equal to the first parameter, andThe value in the second parameter must be sorted in ascending order.

The maximum value of less than 65 is 41, 41 in this constant array ({0; 41; 81; 121}) is 2, that is, the number 2 is returned to the number 2, and then the index second parameter is finally returned 2000.

Of course, here we can also write this constant number in an auxiliary column, which may be better understood.

As shown below:

06 blurry look

The fuzzy look is to realize the target value by combining with the wildcard ("?" Question mark and "*" asterisk).

As shown below: We want to find a surname Xu to open his head, and how much is the employee number of three characters.

The formula is as follows:

=Index (A2: A7, Match (E2 & "", B2: B7, 0))

Formula analysis:

Here is the key to the Match function supports the usage of wildcard.

Everyone must pay attention to:

"?" Question mark wildcard, represent any single character.

"*" Asterisk wildcard, represents any number of characters.

Here we used two "??" question marks, represent any two characters.

07 summary

Today, we have learned two powerful function combinations (INDEX + MATCH)Six kinds of findings commonly used in work:

? Positive lookup;

? Anti-(reverse) lookup;

? Two-way lookup;

Multi-conditional lookup;

Area lookup;

? Fuzzy lookup.

What is the most look for you usually use? What do you have any questions about VLOOKUP?

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