This paper studies the infinite time horizon optimal control problem for continuous-time nonlinear systems. A completely model-free approximate optimal control design method is proposed, which only makes use of the real-time measured data from trajectories instead of a dynamical model of the system. This approach is based on the actor-critic structure, where the weights of the critic neural network and the actor neural network are updated sequentially by the method of weighted residuals. It should be noted that an external input is introduced to replace the input-to-state dynamics to improve the control policy. Moreover, strict proof of convergence to the optimal solution along with the stability of the closed-loop system is given. Finally, a numerical example is given to show the efficiency of the method.

This paper presents a novel topic modeling (TM) approach for discovering meaningful topics for Web APIs, which is a potential dimensionality reduction way for efficient and effective classification, retrieval, organization, and management of numerous APIs. We exploit the possibility of conducting TM on multi-labeled APIs by combining a supervised TM (known as Labeled LDA) with ontology. Experiments conducting on real-world API data set show that the proposed method outperforms standard Labeled LDA with an average gain of 7.0% in measuring quality of the generated topics. In addition, we also evaluate the similarity matching between topics generated by our method and standard Labeled LDA, which demonstrates the significance of incorporating ontology.

Robot motion planning is an important part of the unmanned supermarket. The challenges of motion planning in supermarkets lie in the diversity of the supermarket environment, the complexity of obstacle movement, the vastness of the search space. This paper proposes an adaptive Search and Path planning method based on the Semantic information and Deep reinforcement learning (SPSD), which effectively improves the autonomous decision-making ability of supermarket robots. Firstly, based on the backbone of deep reinforcement learning (DRL), supermarket robots process real-time information from multi-modality sensors to realize high-speed and collision-free motion planning. Meanwhile, in order to solve the problem caused by the uncertainty of the reward in the deep reinforcement learning, common spatial semantic relationships between landmarks and target objects are exploited to define reward function. Finally, dynamics randomization is introduced to improve the generalization performance of the algorithm in the training. The experimental results show that the SPSD algorithm is excellent in the three indicators of generalization performance, training time and path planning length. Compared with other methods, the training time of SPSD is reduced by 27.42% at most, the path planning length is reduced by 21.08% at most, and the trained network of SPSD can be applied to unfamiliar scenes safely and efficiently. The results are motivating enough to consider the application of the proposed method in practical scenes. We have uploaded the video of the results of the experiment to https://www.youtube.com/watch?v=h1wLpm42NZk.