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As technology advances, Human-Robot Interaction (HRI) is boosting overall system efficiency and productivity. However, allowing robots to be present closely with humans will inevitably put higher demands on precise human motion tracking and prediction. Datasets that contain both humans and robots operating in the shared space are receiving growing attention as they may facilitate a variety of robotics and human-systems research. Datasets that track HRI with rich information other than video images during daily activities are rarely seen. In this paper, we introduce a novel dataset that focuses on social navigation between humans and robots in a future-oriented Wholesale and Retail Trade (WRT) environment (https://uf-retail-cobot-dataset.github.io/). Eight participants performed the tasks that are commonly undertaken by consumers and retail workers. More than 260 minutes of data were collected, including robot and human trajectories, human full-body motion capture, eye gaze directions, and other contextual information. Comprehensive descriptions of each category of data stream, as well as potential use cases are included. Furthermore, analysis with multiple data sources and future directions are discussed.

 

Metabotropic glutamate receptors (mGluRs) play an important role in regulating glutamate signal pathways, which are involved in neuropathy and periphery homeostasis. mGluR4, which belongs to Group III mGluRs, is most widely distributed in the periphery among all the mGluRs. It has been proved that the regulation of this receptor is involved in diabetes, colorectal carcinoma and many other diseases. However, the application of structure-based drug design to identify small molecules to regulate the mGluR4 receptor is limited due to the absence of a resolved mGluR4 protein structure. In this work, we first built a homology model of mGluR4 based on a crystal structure of mGluR8, and then conducted hierarchical virtual screening (HVS) to identify possible active ligands for mGluR4. The HVS protocol consists of three hierarchical filters including Glide docking, molecular dynamic (MD) simulation and binding free energy calculation. We successfully prioritized active ligands of mGluR4 from a set of screening compounds using HVS. The predicted active ligands based on binding affinities can almost cover all the experiment-determined active ligands, with only one ligand missed. The correlation between the measured and predicted binding affinities is significantly improved for the MM-PB/GBSA-WSAS methods compared to the Glide docking method. More importantly, we have identified hotspots for ligand binding, and we found that SER157 and GLY158 tend to contribute to the selectivity of mGluR4 ligands, while ALA154 and ALA155 could account for the ligand selectivity to mGluR8. We also recognized other 5 key residues that are critical for ligand potency. The difference of the binding profiles between mGluR4 and mGluR8 can guide us to develop more potent and selective modulators. Moreover, we evaluated the performance of IPSF, a novel type of scoring function trained by a machine learning algorithm on residue–ligand interaction profiles, in guiding drug lead optimization. The cross-validation root-mean-square errors (RMSEs) are much smaller than those by the endpoint methods, and the correlation coefficients are comparable to the best endpoint methods for both mGluRs. Thus, machine learning-based IPSF can be applied to guide lead optimization, albeit the total number of actives/inactives are not big, a typical scenario in drug discovery projects.