Collaborative robots (cobots) are increasingly used to help human workers perform assembly tasks or complete assembly tasks themselves in assembly lines. The ergonomic risks of human workers are a key factor influencing assembly line efficiency. Therefore, this study investigates the mixed-product-model assembly line balancing and sequencing problem (ALBSP) with cobots, considering ergonomic risks in cases where human workers and cobots can operate different tasks in parallel. A mixed-integer programming model is formulated to optimize the makespan and ergonomic risks; this model can solve small-scale instances optimally using the CPLEX solver. A Q-learning-based multiobjective coevolutionary algorithm (QMOCEA) is then developed to handle large-scale instances. This algorithm adopts five vectors for encoding: the task assignment vector handles the task allocation subproblem, the worker allocation vector handles the worker allocation subproblem, the cobot allocation vector handles the cobot allocation subproblem, the process alternative selection vector handles the process alternative selection subproblem, and the product model sequencing vector handles the product model sequencing subproblem. Additionally, this algorithm uses knowledge-based decoding and initialization to obtain high-quality initial solutions. A parameter self-update strategy is proposed to adjust algorithm parameters dynamically. Comparative analysis demonstrates that the proposed method outperforms the original version and exhibits promising performance in comparison with benchmark methods, achieving the highest average hypervolume (HV) ratio of 0.805 and the lowest inverted generational distance (IGD) of 0.028 across 22 instance groups.

Although diffusion models have achieved remarkable success in the field of image generation, their latent space remains under-explored. Current methods for identifying semantics within latent space often rely on external supervision, such as textual information and segmentation masks. In this paper, we propose a method to identify semantic attributes in the latent space of pre-trained diffusion models without any further training. By projecting the Jacobian of the targeted semantic region into a low-dimensional subspace which is orthogonal to the non-masked regions, our approach facilitates precise semantic discovery and control over local masked areas, eliminating the need for annotations. We conducted extensive experiments across multiple datasets and various architectures of diffusion models, achieving state-of-the-art performance. In particular, for some specific face attributes, the performance of our proposed method even surpasses that of supervised approaches, demonstrating its superior ability in editing local image properties.

Diffusion models have achieved remarkable success in image generation and editing tasks. Inversion within these models aims to recover the latent noise representation for a real or generated image, enabling reconstruction, editing, and other downstream tasks. However, to date, most inversion approaches suffer from an intrinsic trade-off between reconstruction accuracy and editing flexibility. This limitation arises from the difficulty of maintaining both semantic alignment and structural consistency during the inversion process. In this work, we introduce **Dual-Conditional Inversion (DCI)**, a novel framework that jointly conditions on the source prompt and reference image to guide the inversion process. Specifically, DCI formulates the inversion process as a dual-condition fixed-point optimization problem, minimizing both the latent noise gap and the reconstruction error under the joint guidance. This design anchors the inversion trajectory in both semantic and visual space, leading to more accurate and editable latent representations. Our novel setup brings new understanding to the inversion process. Extensive experiments demonstrate that DCI achieves state-of-the-art performance across multiple editing tasks, significantly improving both reconstruction quality and editing precision. Furthermore, we also demonstrate that our method achieves strong results in reconstruction tasks, implying a degree of robustness and generalizability approaching the ultimate goal of the inversion process. Our codes are available at: [https://github.com/Lzxhh/Dual-Conditional-Inversion](https://github.com/Lzxhh/Dual-Conditional-Inversion)

In practical assembly enterprises, customization and rush orders lead to an uncertain demand environment. This situation requires managers and researchers to configure an assembly line that increases production efficiency and robustness. Hence, this work addresses cost-oriented mixed-model multimanned assembly line balancing under uncertain demand, and presents a new robust mixed-integer linear programming model to minimize the production and penalty costs simultaneously. In addition, a reinforcement learning-based multiobjective evolutionary algorithm (MOEA) is designed to tackle the problem. The algorithm includes a priority-based solution representation and a new task-worker-sequence decoding that considers robustness processing and idle time reductions. Five crossover and three mutation operators are proposed. The Q -learning-based strategy determines the crossover and mutation operator at each iteration to effectively obtain Pareto sets of solutions. Finally, a time-based probability-adaptive strategy is designed to effectively coordinate the crossover and mutation operators. The experimental study, based on 269 benchmark instances, demonstrates that the proposal outperforms 11 competitive MOEAs and a previous single-objective approach to the problem. The managerial insights from the results as well as the limitations of the algorithm are also highlighted.

Abstract The collaborative robots (cobots) are increasingly being utilized in industries due to the advancement in the field of robotic technology and also due to the increase in labor costs. The cobots on the assembly line can be utilized to complete the tasks independently or assist the workers to complete the tasks. This study considers the U-shaped assembly line balancing problem with cobots, where several cobots with different purchasing costs are selected under the budget constraint. Three mixed-integer programming models are formulated to optimize the cycle time, and the built models are capable of solving the small-sized instances optimally. Two algorithms, artificial bee colony algorithm and migrating bird optimization algorithm, are developed and improved to tackle the large-sized instances, where new encoding scheme and decoding procedure are developed for this new problem. The computational tests demonstrate that the utilization of collaborative robots reduces the cycle time effectively in the assembly line. The comparative study on a set of instances shows that the proposed methodologies obtain competing performance in comparison with other 12 implemented algorithms.