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Large language models (LLMs) have gained increasing popularity in robotic task planning due to their exceptional abilities in text analytics and generation, as well as their broad knowledge of the world. However, they fall short in decoding visual cues. LLMs have limited direct perception of the world, which leads to a deficient grasp of the current state of the world. By contrast, the emergence of visual language models (VLMs) fills this gap by integrating visual perception modules, which can enhance the autonomy of robotic task planning. Despite these advancements, VLMs still face challenges, such as the potential for task execution errors, even when provided with accurate instructions. To address such issues, this paper proposes a ReplanVLM framework for robotic task planning. In this study, we focus on error correction interventions. An internal error correction mechanism and an external error correction mechanism are presented to correct errors under corresponding phases. A replan strategy is developed to replan tasks or correct error codes when task execution fails. Experimental results on real robots and in simulation environments have demonstrated the superiority of the proposed framework, with higher success rates and robust error correction capabilities in open-world tasks. Videos of our experiments are available at https://youtu.be/NPk2pWKazJc.

Accurate visual understanding is imperative for advancing autonomous systems and intelligent robots. Despite the powerful capabilities of vision-language models (VLMs) in processing complex visual scenes, precisely recognizing obscured or ambiguously presented visual elements remains challenging. To tackle such issues, this paper proposes InsightSee, a multi-agent framework to enhance VLMs' interpretative capabilities in handling complex visual understanding scenarios. The framework comprises a description agent, two reasoning agents, and a decision agent, which are integrated to refine the process of visual information interpretation. The design of these agents and the mechanisms by which they can be enhanced in visual information processing are presented. Experimental results demonstrate that the InsightSee framework not only boosts performance on specific visual tasks but also retains the original models' strength. The proposed framework outperforms state-of-the-art algorithms in 6 out of 9 benchmark tests, with a substantial advancement in multimodal understanding.

With their prominent scene understanding and reasoning capabilities, pre-trained visual-language models (VLMs) such as GPT-4V have attracted increasing attention in robotic task planning. Compared with traditional task planning strategies, VLMs are strong in multimodal information parsing and code generation and show remarkable efficiency. Although VLMs demonstrate great potential in robotic task planning, they suffer from challenges like hallucination, semantic complexity, and limited context. To handle such issues, this paper proposes a multi-agent framework, i.e., GameVLM, to enhance the decision-making process in robotic task planning. In this study, VLM-based decision and expert agents are presented to conduct the task planning. Specifically, decision agents are used to plan the task, and the expert agent is employed to evaluate these task plans. Zero-sum game theory is introduced to resolve inconsistencies among different agents and determine the optimal solution. Experimental results on real robots demonstrate the efficacy of the proposed framework, with an average success rate of 83.3%.

In their study of a quartic integral, Boros and Moll introduced a special case of Jacobi polynomials, which are now known as the Boros-Moll polynomials. In this paper, we study a symmetric decomposition of Boros-Moll polynomials. We discover that both of the polynomials in the symmetric decomposition are alternatingly gamma-positive polynomials., Comment: 7 pages

In this paper, we choose the derivative polynomials for tangent and secant as basis sets of polynomial space. From this viewpoint, we first give an expansion of the derivative polynomials for tangent in terms of the derivative polynomials for secant, and we then present a result in the reverse direction. We also discuss the relationships between alternating derivative polynomials and Eulerian polynomials. As applications, we give certain expansions of the alternating derivative polynomials, which indicate that the alternating derivative polynomials share more properties with the Chebyshev polynomials., Comment: 12 pages

Let $a, b$ be distinct, non-constant polynomials in ${\mathbb F}_2 [z]$. Let $\xi_{a, b}$ be the power series in ${\mathbb F}_2((z^{-1}))$ whose sequence of partial quotients is the Thue-Morse sequence over $\{a, b\}$. We establish that $\xi_{a,b}$ is algebraic of degree $4$., Comment: 21 pages

Let $b \ge 2$ and $\ell \ge 1$ be integers. We establish that there is an absolute real number $K$ such that all the partial quotients of the rational number $$ \prod_{h = 0}^\ell \, (1 - b^{-2^h}), $$ of denominator $b^{2^{\ell+1} - 1}$, do not exceed $\exp(K (\log b)^2 \sqrt{\ell} 2^{\ell/2})$.

We introduce a large family of combinatorial objects, called standard puzzles, defined by very simple rules. We focus on the standard puzzles for which the enumeration problems can be solved by explicit formulas or by classical numbers, such as binomial coefficients, Fibonacci numbers, tangent numbers, Catalan numbers, $\ldots$

The $k$-arrangements are permutations whose fixed points are $k$-colored. We prove enumerative results related to statistics and patterns on $k$-arrangements, confirming several conjectures by Blitvi\'c and Steingr\'imsson. In particular, one of their conjectures regarding the equdistribution of the number of descents over the derangement form and the permutation form of $k$-arrangements is strengthened in two interesting ways. Moreover, as one application of the so-called Decrease Value Theorem, we calculate the generating function for a symmetric pair of Eulerian statistics over permutations arising in our study., Comment: 25 pages, 1 figure and 1 table

In 1998, Allouche, Peyri\`{e}re, Wen and Wen showed that the Hankel determinant $H_n$ of the Thue-Morse sequence over $\{-1,1\}$ satisfies $H_n/2^{n-1}\equiv 1~(\mathrm{mod}~2)$ for all $n\geq 1$. Inspired by this result, Fu and Han introduced \emph{apwenian} sequences over $\{-1,1\}$, namely, $\pm 1$ sequences whose Hankel determinants satisfy $H_n/2^{n-1}\equiv 1~(\mathrm{mod}~2)$ for all $n\geq 1$, and proved with computer assistance that a few sequences are apwenian. In this paper, we obtain an easy to check criterion for apwenian sequences, which allows us to determine all apwenian sequences that are fixed points of substitutions of constant length. Let $f(z)$ be the generating functions of such apwenian sequences. We show that for all integer $b\ge 2$ with $f(1/b)\neq 0$, the real number $f(1/b)$ is transcendental and its irrationality exponent is equal to $2$. Besides, we also derive a criterion for zero-one apwenian sequences whose Hankel determinants satisfy $H_n\equiv 1~(\mathrm{mod}~2)$ for all $n\geq 1$. We find that the only zero-one apwenian sequence, among all fixed points of substitutions of constant length, is the period-doubling sequence. Various examples of apwenian sequences given by substitutions with projection are also given. Furthermore, we prove that all Sturmian sequences over $\{-1,1\}$ or $\{0,1\}$ are not apwenian. And we conjecture that fixed points of substitution of non-constant length over $\{-1,1\}$ or $\{0,1\}$ can not be apwenian., Comment: 27 pages

The Poupard polynomials are polynomials in one variable with integer coefficients, with some close relationship to Bernoulli and tangent numbers. They also have a combinatorial interpretation. We prove that every Poupard polynomial has all its roots on the unit circle. We also obtain the same property for another sequence of polynomials introduced by Kreweras and related to Genocchi numbers. This is obtained through a general statement about some linear operators acting on palindromic polynomials., Comment: 10 pages, 1 figure

We prove several conjectures made by Z.-W. Sun on the existence of permutations conditioned by certain rational functions. Furthermore, we fully characterize all integer values of the "inverse difference" rational function. Our proofs consist of both investigation of the mathematical properties of the rational functions and brute-force attack by computer for finding special permutations.

The Euler numbers occur in the Taylor expansion of $\tan(x)+\sec(x)$. Since Stieltjes, continued fractions and Hankel determinants of the even Euler numbers, on the one hand, of the odd Euler numbers, on the other hand, have been widely studied separately. However, no Hankel determinants of the (mixed) Euler numbers have been obtained and explicitly calculated. The reason for that is that some Hankel determinants of the Euler numbers are null. This implies that the Jacobi continued fraction of the Euler numbers does not exist. In the present paper, this obstacle is bypassed by using the Hankel continued fraction, instead of the $J$-fraction. Consequently, an explicit formula for the Hankel determinants of the Euler numbers is being derived, as well as a full list of Hankel continued fractions and Hankel determinants involving Euler numbers. Finally, a new $q$-analog of the Euler numbers $E_n(q)$ based on our continued fraction is proposed. We obtain an explicit formula for $E_n(-1)$ and prove a conjecture by R. J. Mathar on these numbers.

We prove that a family of average weights for oscillating tableaux are polynomials in two variables, namely, the length of the oscillating tableau and the size of the ending partition, which generalizes a result of Hopkins and Zhang. Several explicit and asymptotic formulas for the average weights are also derived., Comment: 12 pages

The tangent number $T_{2n+1}$ is equal to the number of increasing labelled complete binary trees with $2n+1$ vertices. This combinatorial interpretation immediately proves that $T_{2n+1}$ is divisible by $2^n$. However, a stronger divisibility property is known in the studies of Bernoulli and Genocchi numbers, namely, the divisibility of $(n+1)T_{2n+1}$ by $2^{2n}$. The traditional proofs of this fact need significant calculations. In the present paper, we provide a combinatorial proof of the latter divisibility by using the hook length formula for trees. Furthermore, our method is extended to $k$-ary trees, leading to a new generalization of the Genocchi numbers.

Plane partitions have been widely studied in Mathematics since MacMahon. See, for example, the works by Andrews, Macdonald, Stanley, Sagan and Krattenthaler. The Schur process approach, introduced by Okounkov and Reshetikhin, and further developed by Borodin, Corwin, Corteel, Savelief and Vuleti\'c, has been proved to be a powerful tool in the study of various kinds of plane partitions. The exact enumerations of ordinary plane partitions, shifted plane partitions and cylindric partitions could be derived from two summation formulas for Schur processes, namely, the open summation formula and the cylindric summation formula. In this paper, we establish a new summation formula for Schur processes, called the complete summation formula. As an application, we obtain the generating function and the asymptotic formula for the number of doubled shifted plane partitions, which can be viewed as plane partitions `shifted at the two sides'. We prove that the order of the asymptotic formula depends only on the diagonal width of the doubled shifted plane partition, not on the profile (the skew zone) itself. By using the same methods, the generating function and the asymptotic formula for the number of symmetric cylindric partitions are also derived., Comment: 19 pages

Inspired by the works of Dewar, Murty and Kot\v{e}\v{s}ovec, we establish some useful theorems for asymptotic formulas. As an application, we obtain asymptotic formulas for the numbers of skew plane partitions and cylindric partitions. We prove that the order of the asymptotic formula for the skew plane partitions of fixed width depends only on the width of the region, not on the profile (the skew zone) itself, while this is not true for cylindric partitions.

Entringer numbers occur in the Andr\'e permutation combinatorial set-up under several forms. This leads to the construction of a matrix-analog refinement of the tangent (resp. secant) numbers. Furthermore, closed expressions for the three-variate exponential generating functions for pairs of so-called Entringerian statistics are derived.

An infinite $\pm 1$-sequence is called {\it Apwenian} if its Hankel determinant of order $n$ divided by $2^{n-1}$ is an odd number for every positive integer $n$. In 1998, Allouche, Peyri\`ere, Wen and Wen discovered and proved that the Thue--Morse sequence is an Apwenian sequence by direct determinant manipulations. Recently, Bugeaud and Han re-proved the latter result by means of an appropriate combinatorial method. By significantly improving the combinatorial method, we prove that several other Apwenian sequences related to the Hankel determinants with Computer Assistance.

In 2009, the first author proved the Nekrasov-Okounkov formula on hook lengths for integer partitions by using an identity of Macdonald in the framework of type $\widetilde A$ affine root systems, and conjectured that some summations over the set of all partitions of size $n$ are always polynomials in $n$. This conjecture was generalized and proved by Stanley. Recently, P\'etr\'eolle derived two Nekrasov-Okounkov type formulas for $\widetilde C$ and $\widetilde C\,\check{}$ which involve doubled distinct and self-conjugate partitions. Inspired by all those previous works, we establish the polynomiality of some hook-content summations for doubled distinct and self-conjugate partitions.

The concept of $t$-difference operator for functions of partitions is introduced to prove a generalization of Stanley's theorem on polynomiality of Plancherel averages of symmetric functions related to contents and hook lengths. Our extension uses a generalization of the notion of Plancherel measure, based on walks in the Young lattice with steps given by the addition of $t$-hooks. It is well-known that the hook lengths of multiples of $t$ can be characterized by the Littlewood decomposition. Our study gives some further information on the contents and hook lengths of other congruence classes modulo $t$., Comment: 24 pages

We introduce the difference operator for functions defined on strict partitions and prove a polynomiality property for a summation involving the hook length and content statistics. As an application, several new hook-content formulas for strict partitions are derived., Comment: 16 pages

Motivated by the Nekrasov-Okounkov formula on hook lengths, the first author conjectured that the Plancherel average of the $2k$-th power sum of hook lengths of partitions with size $n$ is always a polynomial of $n$ for any $k\in \mathbb{N}$. This conjecture was generalized and proved by Stanley (Ramanujan J., 23(1--3): 91--105, 2010). In this paper, inspired by the work of Stanley and Olshanski on the differential poset of Young lattice, we study the properties of two kinds of difference operators $D$ and $D^-$ defined on functions of partitions. Even though the calculations for higher orders of $D$ are extremely complex, we prove that several well-known families of functions of partitions are annihilated by a power of the difference operator $D$. As an application, our results lead to several generalizations of classic results on partitions, including the marked hook formula, Stanley Theorem, Okada-Panova hook length formula, and Fujii-Kanno-Moriyama-Okada content formula. We insist that the Okada constants $K_r$ arise directly from the computation for a single partition $\lambda$, without the summation ranging over all partitions of size~$n$., Comment: 27 pages

The irrationality exponent of an irrational number $\xi$, which measures the approximation rate of $\xi$ by rationals, is in general extremely difficult to compute explicitly, unless we know the continued fraction expansion of $\xi$. Results obtained so far are rather fragmentary, and often treated case by case. In this work, we shall unify all the known results on the subject by showing that the irrationality exponents of large classes of automatic numbers and Mahler numbers (which are transcendental) are exactly equal to $2$. Our classes contain the Thue--Morse--Mahler numbers, the sum of the reciprocals of the Fermat numbers, the regular paperfolding numbers, which have been previously considered respectively by Bugeaud, Coons, and Guo, Wu and Wen, but also new classes such as the Stern numbers and so on. Among other ingredients, our proofs use results on Hankel determinants obtained recently by Han., Comment: International Mathematics Research Notices 2015

We obtain the explicit evaluations of the Hankel determinants of the formal power series $\prod_{k\geq 0}(1+Jx^{3^{k}})$ where $J={(\sqrt{-3}-1)}/2$, and prove that the sequence of Hankel determinants is an aperiodic automatic sequence taking value in $\{0, \pm 1, \pm J, \pm J^2\}$. This research is essentially inspired by the works about Hankel determinants of Thue--Morse-like sequences by Allouche, Peyri\`ere, Wen and Wen (1998), Bacher (2006) and the first author (2013).

In 1998, Allouche, Peyri\`ere, Wen and Wen considered the Thue--Morse sequence, and proved that all the Hankel determinants of the period-doubling sequence are odd integral numbers. We speak of $t$-extension when the entries along the diagonal in the Hankel determinant are all multiplied by~$t$. Then we prove that the $t$-extension of each Hankel determinant of the period-doubling sequence is a polynomial in $t$, whose leading coefficient is the {\it only one} to be an odd integral number. Our proof makes use of the combinatorial set-up developed by Bugeaud and Han, which appears to be very suitable for this study, as the parameter $t$ counts the number of fixed points of a permutation. Finally, we prove that all the $t$-extensions of the Hankel determinants of the regular paperfolding sequence are polynomials in $t$ of degree less than or equal to $3$.

The Hankel determinants of a given power series $f$ can be evaluated by using the Jacobi continued fraction expansion of $f$. However the existence of the Jacobi continued fraction needs that all Hankel determinants of $f$ are nonzero. We introduce {\it Hankel continued fraction}, whose existene and unicity are guaranteed without any condition for the power series $f$. The Hankel determinants can also be evaluated by using the Hankel continued fraction. It is well known that the continued fraction expansion of a quadratic irrational number is ultimately periodic. We prove a similar result for power series. If a power series $f$ over a finite field satisfies a quadratic functional equation, then the Hankel continued fraction is ultimately periodic. As an application, we derive the Hankel determinants of several automatic sequences, in particular, the regular paperfolding sequence. Thus we provide an automatic proof of a result obtained by Guo, Wu and Wen, which was conjectured by Coons-Vrbik.

The Hankel determinants of certain automatic sequences $f$ are evaluated, based on a calculation modulo a prime number. In most cases, the Hankel determinants of automatic sequences do not have any closed-form expressions; the traditional methods, such as $LU$-decompo\-si\-tion and Jacobi continued fraction, cannot be applied directly. Our method is based on a simple idea: the Hankel determinants of each sequence $g$ equal to $f$ modulo $p$ are equal to the Hankel determinants of $f$ modulo $p$. The clue then consists of finding a nice sequence $g$, whose Hankel determinants have closed-form expressions. Several examples are presented, including a result saying that the Hankel determinants of the Thue-Morse sequence are nonzero, first proved by Allouche, Peyri\`ere, Wen and Wen using determinant manipulation. The present approach shortens the proof of the latter result significantly. We also prove that the corresponding Hankel determinants do not vanish when the powers $2^n$ in the infinite product defining the $\pm 1$ Thue--Morse sequence are replaced by $3^n$.

In 1998, Allouche, Peyri\`ere, Wen and Wen established that the Hankel determinants associated with the Thue--Morse sequence on $\{-1, 1\}$ are always nonzero. Their proof depends on a set of sixteen recurrence relations. We present an alternative, purely combinatorial proof of the same result. We also re-prove a recent result of Coons on the non-vanishing of the Hankel determinants associated to two other classical integer sequences.

It is known that the normalized volume of standard hypersimplices (defined as some slices of the unit hypercube) are the Eulerian numbers. More generally, a recent conjecture of Stanley relates the Ehrhart series of hypersimplices with descents and excedences in permutations. This conjecture was proved by Nan Li, who also gave a generalization to colored permutations. In this article, we give another generalization to colored permutations, using the flag statistics introduced by Foata and Han. We obtain in particular a new proof of Stanley's conjecture, and some combinatorial identities relating pairs of Eulerian statistics on colored permutations., Comment: 18 pages

Legendre orthogonal moments have been widely used in the field of image analysis. Because their computation by a direct method is very time expensive, recent efforts have been devoted to the reduction of computational complexity. Nevertheless, the existing algorithms are mainly focused on binary images. We propose here a new fast method for computing the Legendre moments, which is not only suitable for binary images but also for grey levels. We first set up the recurrence formula of one-dimensional (1D) Legendre moments by using the recursive property of Legendre polynomials. As a result, the 1D Legendre moments of order p, Lp = Lp(0), can be expressed as a linear combination of Lp-1(1) and Lp-2(0). Based on this relationship, the 1D Legendre moments Lp(0) is thus obtained from the array of L1(a) and L0(a) where a is an integer number less than p. To further decrease the computation complexity, an algorithm, in which no multiplication is required, is used to compute these quantities. The method is then extended to the calculation of the two-dimensional Legendre moments Lpq. We show that the proposed method is more efficient than the direct method.