More Than a Feeling: Learning to Grasp and Regrasp using Vision and Touch

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact. In this paper, we investigate how a robot can learn to use tactile information to iteratively and efficiently adjust its grasp. To this end, we propose an end-to-end action-conditional model that learns regrasping policies from raw visuo-tactile data. This model -- a deep, multimodal convolutional network -- predicts the outcome of a candidate grasp adjustment, and then executes a grasp by iteratively selecting the most promising actions. Our approach requires neither calibration of the tactile sensors, nor any analytical modeling of contact forces, thus reducing the engineering effort required to obtain efficient grasping policies. We train our model with data from about 6,450 grasping trials on a two-finger gripper equipped with GelSight high-resolution tactile sensors on each finger. Across extensive experiments, our approach outperforms a variety of baselines at (i) estimating grasp adjustment outcomes, (ii) selecting efficient grasp adjustments for quick grasping, and (iii) reducing the amount of force applied at the fingers, while maintaining competitive performance. Finally, we study the choices made by our model and show that it has successfully acquired useful and interpretable grasping behaviors.Comment: 8 pages. Published on IEEE Robotics and Automation Letters (RAL). Website: https://sites.google.com/view/more-than-a-feelin

Risky Decision Making Assessed With the Gambling Task in Adults with HIV

Decision making was assessed using a laboratory gambling task in 67 adults with the Human Immunodeficiency Virus (HIV+) and in 19 HIV-seronegative (HIV−) control participants. Neurocognitive test performance across several domains was also analyzed to examine potential cognitive mechanisms of gambling task performance. As predicted, the HIV+ group performed worse on the gambling task, indicating greater risky decision making. Specifically, the HIV+ group selected more cards from the “risky” or disadvantageous deck that included relatively large payoffs but infrequent large penalties. The control group also selected such risky cards but quickly learned to avoid them. Exploratory analyses also indicated that in the HIV+ group, but not in the control group, gambling task performance was correlated with Stroop Interference performance and long delay free recall on the California Verbal Learning Test, suggesting the role of inhibitory processes and verbal memory in the poorer gambling task performance in HIV. These findings indicate the usefulness of the gambling task as a laboratory tool to examine risky decision making and cognition in the HIV population

Hyperbolic quenching problem with damping in the micro-electro mechanical system device

[[abstract]]We study the initial boundary value problem for the damped hyperbolic equation arising in the micro-electro mechanical system device with local or nonlocal singular nonlinearity. For both cases, we provide some criteria for quenching and global existence of the solution. We also derive the existence of the quenching curve for the corresponding Cauchy problem with local source[[notice]]補正完畢[[journaltype]]國外[[incitationindex]]SCI[[ispeerreviewed]]Y[[countrycodes]]US

Sensation Seeking and Visual Selective Attention in Adults with HIV/AIDS

The association between sensation seeking and visual selective attention was examined in 31 adults with the Human Immunodeficiency Virus (HIV). Sensation seeking was measured with Zuckerman’s Sensation Seeking Scale Form V (SSS-V). Selective attention was assessed with a perceptual span task, where a target letter-character must be identified in a quickly presented array of nontarget letter-characters. As predicted, sensation seeking was strongly associated (R2 = .229) with perceptual span performance in the array size 12 condition, where selective attention demands were greatest, but not in the easier conditions. The Disinhibition, Boredom Susceptibility, and Experience Seeking subscales of the SSS-V were associated with span performance. It is argued that personality factors such as sensation seeking may play a significant role in selective attention and related cognitive abilities in HIV positive adults. Furthermore, sensation seeking differences might explain certain inconsistencies in the HIV neuropsychology literature

Elements of attention in HIV-infected adults: Evaluation of an existing model

Because of the multifactorial nature of neuropsychological tests, attention remains poorly defined from a neuropsychological perspective, and conclusions made regarding attention across studies may be limited due to the different nature of the measures used. Thus, a more definitive schema for this neurocognitive domain is needed. We assessed the applicability of Mirsky and Duncan\u27s (2001) neuropsychological model of attention to a cohort of 104 HIV+ adults. Our analysis resulted in a five-factor structure similar to that of previous studies, which explained 74.5% of the variance. However, based on the psychometric characteristics of the measures comprising each factor, we offer an alternative interpretation of the factors. Findings also indicate that one factor, which is generally not assessed in clinical neuropsychology settings, may be more predictive of real-world behaviors (such as medication adherence) than those composed of traditional measures. Suggestions for further research in this important area are discussed

Factors associated with recovery from paraplegia in dogs with loss of pain perception in the pelvic limbs following intervertebral disk herniation

Abstract OBJECTIVE To investigate associations between recovery of locomotion and putative prognostic factors in dogs with loss of deep pain perception in the pelvic limbs caused by intervertebral disk herniation (IVDH). DESIGN Prospective cohort study. ANIMALS 78 client-owned dogs evaluated for IVDH that underwent spinal decompression surgery. PROCEDURES Dogs with complete loss of deep pain perception in the pelvic limbs and tail underwent routine examinations, advanced imaging, and spinal decompression surgery in accordance with standards of practice and owner consent. For each dog, information was prospectively collected on duration of clinical signs prior to onset of paraplegia; delay between onset of paraplegia and initial referral evaluation; date of recovery of locomotion, death, or euthanasia (3-month follow-up period); and whether dogs had received corticosteroid drugs before surgery. Severity of spinal cord compression at the lesion epicenter was measured via CT or MRI. RESULTS 45 of 78 (58%) of dogs recovered the ability to ambulate independently within 3 months after spinal decompression surgery. No evidence of prognostic value was identified for any of the investigated factors; importantly, a greater delay between onset of paraplegia and referral evaluation was not associated with a poorer prognosis. CONCLUSIONS AND CLINICAL RELEVANCE In this group of dogs with IVDH, immediacy of surgical treatment had no apparent association with outcome. The prognosis for recovery may instead be strongly influenced by the precise nature of the initiating injury.</jats:p

Hairy Black Holes in String Theory

Solutions of bosonic string theory are constructed which correspond to four-dimensional black holes with axionic quantum hair. The basic building blocks are the renormalization group flows of the CP1 model with a theta term and the SU(1,1)/U(1) WZW coset conformal field theory. However the solutions are also found to have negative energy excitations, and are accordingly expected to decay to the vacuum.Comment: 14 pages (References added

A surface groove essential for viral Bcl-2 function during chronic infection in vivo

Antiapoptotic Bcl-2 family proteins inhibit apoptosis in cultured cells by binding BH3 domains of proapoptotic Bcl-2 family members via a hydrophobic BH3 binding groove on the protein surface. We investigated the physiological importance of the BH3 binding groove of an antiapoptotic Bcl-2 protein in mammals in vivo by analyzing a viral Bcl-2 family protein. We show that the gamma-herpesvirus 68 (gammaHV68) Bcl-2 family protein (gammaHV68 v-Bcl-2), which is known to inhibit apoptosis in cultured cells, inhibits both apoptosis in primary lymphocytes and Bax toxicity in yeast. Nuclear magnetic resonance determination of the gammaHV68 v-Bcl-2 structure revealed a BH3 binding groove that binds BH3 domain peptides from proapoptotic Bcl-2 family members Bax and Bak via a molecular mechanism shared with host Bcl-2 family proteins, involving a conserved arginine in the BH3 peptide binding groove. Mutations of this conserved arginine and two adjacent amino acids to alanine (SGR to AAA) within the BH3 binding groove resulted in a properly folded protein that lacked the capacity of the wild-type gammaHV68 v-Bcl-2 to bind Bax BH3 peptide and to block Bax toxicity in yeast. We tested the physiological importance of this v-Bcl-2 domain during viral infection by engineering viral mutants encoding a v-Bcl-2 containing the SGR to AAA mutation. This mutation resulted in a virus defective for both efficient reactivation of gammaHV68 from latency and efficient persistent gammaHV68 replication. These studies demonstrate an essential functional role for amino acids in the BH3 peptide binding groove of a viral Bcl-2 family member during chronic infection

How does democracy influence citizens' perceptions of government corruption? A cross-national study

We examine the effect of democracy as an institutional context on individuals’ perceptions of government corruption. To do so, we compile an integrated dataset from the Asian, Afro, and Latino Barometer Surveys and use a hierarchical linear regression model. Our primary finding is that the effect of democracy has different effects on ordinary citizens’ perceptions of corruption in different contexts. In general, people in countries with higher levels of democracy tend to perceive their governments to be more corrupt. However, more importantly, conditional models show that in countries with more developed democratic institutions, individuals with stronger democratic values are less likely to perceive the government to be corrupt. Moreover, people in such countries are less likely to assess their government based on their perceptions of economic situation