公募基金投顾业务迎“T类份额”新规

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公募基金投顾业务迎“T类份额”新规

双臂机器人在拥挤桌面上以推送完成交接

传统双臂协作往往约定一个固定交接点，双方需要一同到场。在物体密集的桌面上，这会占用原本就少的空间，还可能让机械臂在等待中相互牵制。研究团队沿双臂可达范围的公共边界寻找无碰撞空隙，让一只机械臂先把物体放到附近，再推送进入另一只机械臂的工作区。接收方不必在交接瞬间同时接触物体。 Mohammadreza Firoozalizadeh等人的这项研究收录在11月6日更新的计算机科学预印本列表中。

规划器用联合蒙特卡洛树搜索决定何时暂存、堆叠或转移物体，完成规划后再计算动作代价。实验比较了这一方式和固定交接点方案，桌面更拥挤时，推送交接能缩短两只机械臂的联合执行序列，并降低执行成本。物品较少时则能保持相近表现。作者考察的是桌面重排任务，优势随空间紧张程度而变化。

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