We present SceneVGGT, a spatio-temporal 3D scene understanding framework that combines SLAM with semantic mapping for autonomous and assistive navigation. Built on VGGT, our method scales to long video streams via a sliding-window pipeline. We align local submaps using camera-pose transformations, enabling memory- and speed-efficient mapping while preserving geometric consistency. Semantics are lifted from 2D instance masks to 3D objects using the VGGT tracking head, maintaining temporally coherent identities for change detection. As a proof of concept, object locations are projected onto an estimated floor plane for assistive navigation. The pipeline's GPU memory usage remains under 17 GB, irrespectively of the length of the input sequence and achieves competitive point-cloud performance on the ScanNet++ benchmark. Overall, SceneVGGT ensures robust semantic identification and is fast enough to support interactive assistive navigation with audio feedback.
Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand designs, including prosthetics, as they can greatly improve grasp stability. Most presently published robotic hand designs, however, implement them in vastly different densities and layouts on the hand surface, often reserving the majority of the available space. We used simulations to evaluate 6 different tactile sensor configurations with different densities and layouts, based on their impact on reinforcement learning. Our two-setup system allows for robust results that are not dependent on the use of a given physics simulator, robotic hand model or machine learning algorithm. Our results show setup-specific, as well as generalized effects across the 6 sensorized simulations, and we identify one configuration as consistently yielding the best performance across both setups. These results could help future research aimed at robotic hand designs, including prostheses.
Periodic boundary conditions are not always used in the study of disordered systems, but it can be advantageous to apply them to mimick thermodynamically large systems. In this case, polarization and its cumulants cannot be obtained directly but through the tools of the modern theory of polarization. This theory casts the polarization in crystalline systems as a geometric phase rather than an operator expectation value. We develop disorder averaging techniques within the context of this theory which can calculate the variance of the polarization, its higher-order moments, and the excess kurtosis (or Binder cumulant). We also derive an indicator of delocalization based on the degeneracy as a function of boundary conditions. We apply the computational techniques to two model systems. To test localization, we use a one-dimensional disordered model which is fully Anderson localized. Our calculations verify this. We also apply our techniques to the one-dimensional de Moura-Lyra model, developed to study power-law correlated (controlled by a parameter, alpha) disorder. While this model is a pathological one, our method is validated. We also point out the significance of pairwise degeneracies found in the parameter range, alpha > 2, and near the band center (or near half filling), where the model was conjectured to exhibit a mobility edge.
Cél: A tanulmány célja annak vizsgálata, hogy Eötvös József népoktatási koncepciója miként értelmezhető az állam, az egyház és a család közötti közfeladat-megosztás történeti modelljeként, különös tekintettel a demokratikus szabadság jegyében. Módszertan: A tanulmány történeti-jogdogmatikai és szakirodalmi elemzéssel vizsgálja a felekezeti oktatás magyarországi szerepét a felvilágosult abszolutizmustól a dualizmuson és a két világháború közötti időszakon át a jelenkori köznevelésig. Megállapítások: A jól értelmezett, a hagyomány-kontinuitást elismerő és átlátó vezetői szemlélet nem zárja ki az egyént abból, hogy az oktatási rendszer jogi és finanszírozási kereteit modern eszközökkel tudja meghatározni. Érték: A tanulmány amellett érvel, hogy a felekezeti oktatás a magyar oktatástörténetben nem az állami köznevelés kivételeként, hanem a közfeladat-ellátás történetileg beágyazott és társadalmilag legitim formájaként értelmezhető.
