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Studying the wear of soil-cutting working tools in the field conditions has certain difficulties associated with the impermanence of soil properties. The paper presents the results of a laboratory study of the power characteristics in the process of wearing of a soil-cutting wedge in an artificial abrasive soil medium. (Research purpose) To determine the nature of changes in cutting forces in vertical and horizontal planes depending on the conditions and a degree of wear of a soil-cutting wedge. (Materials and methods) For the experiment, use was made of quartz as an abrasive material, paraffin with additives of ceresin and petrolatum as binding components; cement was additionally introduced to change the granulometric composition of a soil model, and a cross-planer was used as a drive mechanism. (Results and discussion) It has been shown that the horizontal component, or traction resistance, increases linearly with increasing the depth of cutting. An increase in the soil-cutting velocity also leads to an increase in the traction resistance of the wedge, and its magnitude increases in a power-law dependence on the velocity. It has been established that the cutting angle affects not only the variation of the wedge traction resistance, but also the shearing pattern, which changes as it increases and changes from shear shavings into shift shavings, which contributes to the traction force growth. It has been found that an increase in traction resistance is affected by an increase in the hardness of abrasive material and a decrease in the distribution density of solid particles in its volume. As the width of the back chamfer and the angle of its inclination to the furrow bottom increased, the traction characteristics both in the vertical and horizontal planes increased as well, the back chamfer width having the greatest influence on the vertical component. As the blade worn out depending on the friction path, the vertical component of frictional forces increased sharply, while the horizontal component increased insignificantly. (Conclusions) The results of the conducted studies have shown that the wedge depth mainly depends on the back chamfer width. The traction resistance of the wedge is greatly influenced by physical and mechanical properties of an abrasive medium, cutting conditions and a degree of the blade blunting.

This paper analyzes the main directions of modernization of the public administration industry universities in rail transport, as well as difficulties in the process. Particular attention is paid to the introduction of public-public form of management of railway universities. Modern management mechanism modernize industry universities, is not possible without a comprehensive approach not only to the study of this problem, but also mandatory synergy of all the components of this complex process. Quantification of the problems existing in the management mechanism to improve the quality of training industry universities requires immediate practical solutions. Currently, the railway industry in a critical situation due to lack of personnel at all levels. Various reformist measures were not given a synergistic result, and in the industry in a critical situation on the lack of training on the background of ever-increasing burden on the rail as the transportation of persons and various cargoes. The Russian Government attaches great importance to this issue and take appropriate action, but they are not enough. The article provides an analysis of the situation and proposes a number of measures to resolve the problem.

The article examines early Soviet criticism of Johannes R. Becher’s works in the context of Soviet reception of German Expressionism in the 1920s. A.V. Lunacharsky and P.S. Kogan were mainly positive in their assessments of this literary movement of the 1910s, emphasizing its revolutionary intentions, typical for Expressionists’ works and social position (anti-bourgeois activism, closeness to the working class and the Communist Party). On the contrary, critics that stuck to the program of the magazine “Na literaturnom postu” and associated with the Communist Academy tended to reject Expressionism as a decadent phenomenon of bourgeois culture. They decisively separated Becher from this literary movement. The article also dwells on the Expressionist studies conducted by the research team of the State Academy of Artistic Sciences (GAKhN); in 1926 its president P. Kogan presented his research paper “Johannes Becher. (A page from the history of German Expressionism)” which is published for the first time in the addendum.

In this work, we propose and investigate an original approach to using a pre-trained multimodal transformer of a specialized architecture for controlling a robotic agent in an object manipulation task based on language instruction, which we refer to as RozumFormer. Our model is based on a bimodal (text-image) transformer architecture originally trained for solving tasks that use one or both modalities, such as language modeling, visual question answering, image captioning, text recognition, text-to-image generation, etc. The discussed model has been adapted for robotic manipulation tasks by organizing the input sequence of tokens in a particular way, consisting of tokens for text, images, and actions. We have demonstrated that such a model adapts well to new tasks and shows better results with fine-tuning than complete training in simulation and real environments. To transfer the model from the simulator to a real robot, new datasets were collected and annotated. In addition, experiments controlling the agent in a visual environment using reinforcement learning have shown that fine-tuning the model with a mixed dataset that includes examples from the initial visual-linguistic tasks only slightly decreases performance on these tasks, simplifying the addition of tasks from another domain.

Practical training of students in the system of secondary vocational education (SVE) is the most important condition for the development of their ability to be the subjects of the future profession and, accordingly, masters of their craft. The personal agency development is considered within the framework of an eco-psychological approach. The objective of the study is to compare the impact of academic and practical training on the students’ personal agency development in vocational training programmes. The research hypothesizes that practical training of students contributes to the development of cognitive and regulatory abilities to a greater extent than academic training. This, in turn, increases the effectiveness of the students’ personal agency development stages in their mastering of the professional activity. The study was conducted on a sample of two experimental and two control students’ groups (N = 77, 3 rd-year students of technical orientation, M = 18.4, Sd = 0.8) by means of the diagnostic techniques: the questionnaire on the personal agency development stages ОСС-С4 (A.V. Kaptsov, E. I. Kolesnikova, V. I. Panov), the questionnaire on methods of performing educational actions ОСС-СФ3 (A. V. Kaptsov, E. I. Kolesnikova), the questionnaire on the style of behavior self-regulation ССП-М (V. I. Morosanova) and the methodology of life-meaning orientations СЖО (D. A. Leontiev). It has been revealed that during the academic training, ratios of manifestation of students’ personal agency development stages in secondary vocational education have no statistically significant differences. It has been found out that practical training and academic training have different predictors of the personal agency development stages that depend on the specialty the students are majoring in. The research shows that in the conditions of practical training the students’ groups are divided into two unequal informal micro groups depending on the predominance of their eco-psychological subject-joint interaction type. Moreover, the success of the development of the “Student” stage has predictors in the form of the stage manifestation ratio, and manifestation of the conscious self-regulation components and life meaning orientations. The significance of the results obtained lies in the positive impact of practical training on the personal agency development in students of vocational training programmes.

Background. The anthropogenic pressure on the natural and social environment increases the ecopsychological research. On the eve of the 110th anniversary of the RAO Psychological Institute, it is important to conduct a historical and theoretical analysis of the development of an ecopsychological approach to the development of the psyche, indicating the importance of such prominent scientists of this institution as V.V. Davydov, G.A. Kovalev, A.I. Mirakyan, F.T. Mikhailov, etc. Objective. to describe the methodological prerequisites, theoretical constructs and stages ecopsychological approach to the development of the psyche being. Methods. historical and theoretical analysis of the methodological prerequisites, theoretical constructs and stages ecopsychological approach to the development of the psyche being. Results. There are three stages in the formation of ecopsychological approach to the development of the psyche. First stage — academic topics “Ecology of childhood” and “Gifted student”. The second stage was devoted to the development of the main theoretical constructs, including the idea of the psyche as a form of being, relationship “individual — environment”, the ecopsychological typology of subject-environmental interactions, and the ecopsychological model of the formation of agency. The third stage — paradigmatic analysis of the definition of the psyche as an object of research within the framework of epistemological, ontological and transcendental paradigms. Four forms of existence are distinguished psyche as an object of study: become, alienated, generated and virtual. Conclusions. The obtained results suggest that in the future such an approach will make it possible to study the emergence of not only individual mental phenomena, but also ways of thinking that determine one or another scientific paradigm, not only in psychology, but also in the natural sciences.

Abstract Biologically plausible models of learning may provide a crucial insight for building autonomous intelligent agents capable of performing a wide range of tasks. In this work, we propose a hierarchical model of an agent operating in an unfamiliar environment driven by a reinforcement signal. We use temporal memory to learn sparse distributed representation of state–actions and the basal ganglia model to learn effective action policy on different levels of abstraction. The learned model of the environment is utilized to generate an intrinsic motivation signal, which drives the agent in the absence of the extrinsic signal, and through acting in imagination, which we call dreaming. We demonstrate that the proposed architecture enables an agent to effectively reach goals in grid environments.

In this paper, we study the problem of visual indoor navigation to an object that is defined by its semantic category. Recent works have shown significant achievements in the end-to-end reinforcement learning approach and modular systems. However, both approaches need a big step forward to be robust and practically applicable. To solve the problem of insufficient exploration of the scenes and make exploration more semantically meaningful, we extend standard task formulation and give the agent easily accessible landmarks in the form of the room locations and those types. The availability of landmarks allows the agent to build a hierarchical policy structure and achieve a success rate of 63% on validation scenes in a photo-realistic Habitat simulator. In a hierarchy, a low level consists of separately trained RL skills and a high level deterministic policy, which decides which skill is needed at the moment. Also, in this paper, we show the possibility of transferring a trained policy to a real robot. After a bit of training on the reconstructed real scene, the robot shows up to 79% SPL when solving the task of navigating to an arbitrary object.

The relevance of the problem of adolescent behavior in the digital educational environment is conditioned by acceleration of education digitalization processes, which participate in the formation of a new type of behavior, i.e. digital behavior, that is defined as a system of actions associated with the use of the digital environment. The purpose of the present work is to investigate the current state of this problem and outline the prospects for its further study on the basis of the analysis and generalization of Russian and foreign sources. We employ the methods of theoretical analysis, systematization of the results of relevant psychological and pedagogical studies and the retrospective analysis of key concepts. We also present the general conceptual system of the research area under study and the genesis and semantics of the terms: information behavior, digital behavior, educational environment, digital educational environment (DEE). The study has revealed the process of transformation of views on the educational environment and the difference between the digital environment and the pre-digital one. The problem area of DEE study has been indicated: positive and negative effects of DEE implementation, psychological reasons for rejecting innovations, psychological safety of the educational environment and design of the effective DEE. We have also investigated the problem of full scale use of digital educational platforms and services in Russian schools to improve the quality of the learning process, including distance learning. We have considered the sources and methods of researching digital behavior, i.e. digital psychometrics based on the analysis of “digital footprints”. Unlike most works that study deviant behavior of adolescents, our work focuses on normative, pro-social behavior. We have taken into consideration such problems as behavior of schoolchildren on different digital educational platforms, digital multitasking, interaction of adolescents with electronic text content, stages of subjectivity formation in the digital educational space, which are relevant for the study.

In recent years, Embodied AI has become one of the main topics in robotics. For the agent to operate in human-centric environments, it needs the ability to explore previously unseen areas and to navigate to objects that humans want the agent to interact with. This task, which can be formulated as ObjectGoal Navigation (ObjectNav), is the main focus of this work. To solve this challenging problem, we suggest a hybrid framework consisting of both not-learnable and learnable modules and a switcher between them—SkillFusion. The former are more accurate, while the latter are more robust to sensors’ noise. To mitigate the sim-to-real gap, which often arises with learnable methods, we suggest training them in such a way that they are less environment-dependent. As a result, our method showed top results in both the Habitat simulator and during the evaluations on a real robot.

In this work we study the behavior of groups of autonomous vehicles, which are the part of the Internet of Vehicles systems. One of the challenging modes of operation of such systems is the case when the observability of each vehicle is limited and the global/local communication is unstable, e.g. in the crowded parking lots. In such scenarios the vehicles have to rely on the local observations and exhibit cooperative behavior to ensure safe and efficient trips. This type of problems can be abstracted to the so-called multi-agent pathfinding when a group of agents, confined to a graph, have to find collision-free paths to their goals (ideally, minimizing an objective function e.g. travel time). Widely used algorithms for solving this problem rely on the assumption that a central controller exists for which the full state of the environment (i.e. the agents current positions, their targets, configuration of the static obstacles etc.) is known and they cannot be straightforwardly be adapted to the partially-observable setups. To this end, we suggest a novel approach which is based on the decomposition of the problem into the two sub-tasks: reaching the goal and avoiding the collisions. To accomplish each of this task we utilize reinforcement learning methods such as Deep Monte Carlo Tree Search, Q-mixing networks, and policy gradients methods to design the policies that map the agents’ observations to actions. Next, we introduce the policy-mixing mechanism to end up with a single hybrid policy that allows each agent to exhibit both types of behavior – the individual one (reaching the goal) and the cooperative one (avoiding the collisions with other agents). We conduct an extensive empirical evaluation that shows that the suggested hybrid-policy outperforms standalone stat-of-the-art reinforcement learning methods for this kind of problems by a notable margin.

The paper considers the cooperation between S.N. Durylin (1886 –1954), a scholar, writer, cultural historian, and the academic book series “Literary Heritage”. Durylin prepared several big publications for the series, among them a fundamental research “Russian Writers Visiting Goethe in Weimar” (1932; 30 academic sheets). The process of editing, as well as the principles of editorial work with authors and materials characteristic of “Literary Heritage” are uncovered in Durylin’s correspondence with the editorial staff, in particular with I.S. Zil'bershtein. The paper provides information on their joint projects that remained unrealized, for example on the series of propagandistic popular educational books that “Literary Heritage” tried to launch during the Great Patriotic (Soviet-German) war: Durylin prepared for this series several works dedicated to the XIXth century Russian writers, including Slavophiles. Durylin’s experience in “Literary Heritage” attracts attention to the difficulties pre-revolutionary intellectuals were facing with in the process of accommodation to the Soviet reality in 1930s-1950s.

In the last years, deep learning and reinforcement learning methods have significantly improved mobile robots in such fields as perception, navigation, and planning. But there are still gaps in applying these methods to real robots due to the low computational efficiency of recent neural network architectures and their poor adaptability to robotic experiments' realities. In this article, we consider an important task in mobile robotics - navigation to an object using an RGB-D camera. We develop a new neural network framework for robot control that is fast and resistant to possible noise in sensors and actuators. We propose an original integration of semantic segmentation, mapping, localization, and reinforcement learning methods to improve the effectiveness of exploring the environment, finding the desired object, and quickly navigating to it. We created a new HISNav dataset based on the Habitat virtual environment, which allowed us to use simulation experiments to pre-train the model and then upload it to a real robot. Our architecture is adapted to work in a real-time environment and fully implements modern trends in this area.

Durylin’s article published herewith is devoted to P.A.Vyazemsky’s poem. The paper considers various versions of the article which help to reconstruct the methods of research that Durylin as a historian of literature used to apply in his studies: the main attention was paid to the historical and biographical context combined with the close analysis of the literary text. The fact that the article finished in 1929 remained unpublished, gives an idea of the situation in the Soviet editorial policy of the 1930-1950s in the field of scholarly editions on cultural history.