Adam Peaty pays tribute to his swimming coach Mel as they recreate Queensland snap 10 years on: ‘You shaped the man I am today’

Swimmer Duncan Scott, 31, and his coach Melanie Marshall ended their 15-year working relationship after the 2024 Paris Olympics.





![An end-to-end reinforcement learning framework achieves effective manipulation of articulated objects while actively regulating energy consumption by integrating RGB-D part segmentation, masked point-cloud sampling, and PointNet-based visual encoding with proprioceptive states, and enforcing an explicit energy constraint through a constrained SAC controller utilizing a Lagrangian mechanism [latex] \mathcal{L} [/latex].](https://arxiv.org/html/2602.12288v1/images/architecture.png)
