Search for: All records

We propose a visually-grounded library of behaviors approach for learning to manipulate diverse objects across varying initial and goal configurations and camera placements. Our key innovation is to disentangle the standard image-to-action mapping into two separate modules that use different types of perceptual input:(1) a behavior selector which conditions on intrinsic and semantically-rich object appearance features to select the behaviors that can successfully perform the desired tasks on the object in hand, and (2) a library of behaviors each of which conditions on extrinsic and abstract object properties, such as object location and pose, to predict actions to execute over time. The selector uses a semantically-rich 3D object feature representation extracted from images in a differential end-to-end manner. This representation is trained to be view-invariant and affordance-aware using self-supervision, by predicting varying views and successful object manipulations. We test our framework on pushing and grasping diverse objects in simulation as well as transporting rigid, granular, and liquid food ingredients in a real robot setup. Our model outperforms image-to-action mappings that do not factorize static and dynamic object properties. We further ablate the contribution of the selector's input and show the benefits of the proposed view-predictive, affordance-aware 3D visual object representations. 

Neutrophil is a pathophysiological character in Alzheimer's disease. The pathogen for neutrophil activation in cerebral tissue is the accumulated amyloid protein. In our present study, neutrophils infiltrate into the cerebra in two models (transgenic model APP/PS1 and stereotactic injection model) and promote neuron apoptosis, releasing their cellular constituents, including mitochondria and mitochondrial DNA (mtDNA). We found that both Aβ_1–42and mtDNA could provoke neutrophil infiltration into the cerebra, and they had synergistic effects when they presented together. This neutrophillic neuroinflammation upregulates expressions of STING, NLRP3 and IL‐1β. These inflammatory cytokines with mtDNA constitute the mtDNA‐STING‐NLRP3/IL‐1β axis, which is the prerequisite for neutrophil infiltration. When any factor in this pathway is depleted, the migration of neutrophils into cerebral tissue is ceased, with neurons and cognitive function being protected. Thus, we provide a novel perspective to alleviate the progression of Alzheimer's disease.