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The Reinforcement Learning (RL) paradigm has been an essential tool for automating robotic tasks. Despite the advances in RL, it is still not widely adopted in the industry due to the need for an expensive large amount of robot interaction with its environment. Curriculum Learning (CL) has been proposed to expedite learning. However, most research works have been only evaluated in simulated environments, from video games to robotic toy tasks. This paper presents a study for accelerating robot learning of contact-rich manipulation tasks based on Curriculum Learning combined with Domain Randomization (DR). We tackle complex industrial assembly tasks with position-controlled robots, such as insertion tasks. We compare different curricula designs and sampling approaches for DR. Based on this study, we propose a method that significantly outperforms previous work, which uses DR only (No CL is used), with less than a fifth of the training time (samples). Results also show that even when training only in simulation with toy tasks, our method can learn policies that can be transferred to the real-world robot. The learned policies achieved success rates of up to 86\% on real-world complex industrial insertion tasks (with tolerances of $\pm 0.01~mm$) not seen during the training., Comment: 12 pages, 11 figures, 4 tables, in journal review. Corresponding author: Cristian C. Beltran-Hernandez

The use of probiotics has gained acceptance in aquaculture, particularly in maintaining water quality and enhancing growth in organisms. This study analyzed the effect of the commercial (EMTM, Japan) natural product composed by (Rhodopseudomonas palustris, Lactobacillus plantarum, Lactobacillus casei and Saccharomyces cerevisiae) added to the water, in order to determine its effect in water quality, sediment and growth of L. vannamei under intensive culture. The evaluation included three treatments with a weekly addition of EM: i) tanks without probiotics (C), ii) tanks with a dose of 4L/ha (EM1) and iii) tanks with a dose of 10L/ha (EM2). The treatment C was carried out three times, while treatments EM1 and EM2 were carried out four times. A total of 4 350 shrimps were measured for total length and weight, to calculate total and porcentual weight gain, daily weight gain, specific growth rate (TCE), and food conversion factor (FCA); besides, the survival rate was estimated. The use of probiotics allowed a shorter harvest time in treatments EM1 (90d) and EM2 (105d) with relation to the treatment C (120d). Treatments EM1 and EM2 were within the recommended intervals for culture, with respect to treatment C. The use of probiotic bacteria significantly regulated pH (EM1, 8.03±0.33; EM2, 7.77±0.22; C, 9.08±0.35) and reduced nitrate concentration (EM1, 0.64±0.25mg/L; EM2, 0.39±0.26mg/L; C, 0.71mg/L). Water pH mostly explained the variance with respect to the treatments. Treatment EM2 presented the greatest removal of organic matter (1.77±0.45%), whereas the contents of extractable phosphorus increased significantly in treatment EM1 with 21.6±7.99mg/kg and in treatment EM2 with 21.6±8.45mg/kg with control relation (14.3±5.47). The shrimp growth was influenced by dissolved oxygen, salinity and pH in the sediment, establishing that salinity was the most important variable in the weight with a negative association. Treatment EM1 recorded an improved TCE (2.69±0.35%/d) and FCA (1.46±0.20) with relation to the control treatment (TCE, 1.88±0.25%/d; FCA, 2.13±0.48). Survival was significantly greater in treatments containing probiotics with 61±8.76% and 60±10.5% for EM1 and EM2, respectively. This study indicated the positive effect obtained with the use of this commercial probiotic, to improve culture conditions and growth parameters in an intensive culture of L. vannamei. Los probióticos han ganado aceptación en la acuicultura para mantener la calidad del agua y aumentar el crecimiento de los organismos. En este estudio se analizó el efecto de una mezcla comercial de microorganismos eficientes (EM) (Rhodopseudomonas palustris, Lactobacillus plantarum, Lactobacillus casei y Saccharomyces cerevisiae) sobre la calidad del agua, sedimento y el crecimiento en un cultivo intensivo de camarón L. vannamei. La evaluación consistió en tres tratamientos: i) estanques sin EM (C), ii) estanques con dosis de 4L/ha (EM1) y iii) estanques con dosis de 10L/ha (EM2). Los resultados demostraron menor tiempo de cosecha en los tratamientos EM1 (90d) y EM2 (105d). Los tratamientos EM1 y EM2 mantuvieron significativamente regulados los valores del pH (EM1, 8.03±0.33; EM2, 7.77±0.22) y redujeron las concentraciones de nitrato (EM1, 0.64±0.25mg/L; EM2, 0.39±0.26mg/L). El tratamiento EM2 presentó la mayor remoción de materia orgánica (1.77±0.45%). El tratamiento EM1 mejoró la TCE (2.69±0.35%/d) y FCA (1.46±0.20). Los tratamientos EM1 y EM2 presentaron mayor supervivencia con 61±8.76% y 60±10.5%, respectivamente. Este estudio demostró el efecto benéfico del uso de la mezcla comercial en los parámetros ambientales y de crecimiento en un cultivo intensivo de L. vannamei.