Affordance-Driven Next-Best-View Planning for Robotic Grasping

Grasping occluded objects in cluttered environments is an essential component in complex robotic manipulation tasks. In this paper, we introduce an AffordanCE-driven Next-Best-View planning policy (ACE-NBV) that tries to find a feasible grasp for target object via continuously observing scenes from new viewpoints. This policy is motivated by the observation that the grasp affordances of an occluded object can be better-measured under the view when the view-direction are the same as the grasp view. Specifically, our method leverages the paradigm of novel view imagery to predict the grasps affordances under previously unobserved view, and select next observation view based on the highest imagined grasp quality of the target object. The experimental results in simulation and on a real robot demonstrate the effectiveness of the proposed affordance-driven next-best-view planning policy. Project page: https://sszxc.net/ace-nbv/.Comment: Conference on Robot Learning (CoRL) 202

Diversity and selective sweep in the OsAMT1;1 genomic region of rice

<p>Abstract</p> <p>Background</p> <p>Ammonium is one of the major forms in which nitrogen is available for plant growth. <it>OsAMT1;1 </it>is a high-affinity ammonium transporter in rice (<it>Oryza sativa </it>L.), responsible for ammonium uptake at low nitrogen concentration. The expression pattern of the gene has been reported. However, variations in its nucleotides and the evolutionary pathway of its descent from wild progenitors are yet to be elucidated. In this study, nucleotide diversity of the gene <it>OsAMT1;1 </it>and the diversity pattern of seven gene fragments spanning a genomic region approximately 150 kb long surrounding the gene were surveyed by sequencing a panel of 216 rice accessions including both cultivated rice and wild relatives.</p> <p>Results</p> <p>Nucleotide polymorphism (Pi) of <it>OsAMT1;1 </it>was as low as 0.00004 in cultivated rice (<it>Oryza sativa</it>), only 2.3% of that in the common wild rice (<it>O. rufipogon</it>). A single dominant haplotype was fixed at the locus in <it>O. sativa</it>. The test values for neutrality were significantly negative in the entire region stretching 5' upstream and 3' downstream of the gene in all accessions. The value of linkage disequilibrium remained high across a 100 kb genomic region around <it>OsAMT1;1 </it>in <it>O. sativa</it>, but fell rapidly in <it>O. rufipogon </it>on either side of the promoter of <it>OsAMT1;1</it>, demonstrating a strong natural selection within or nearby the ammonium transporter.</p> <p>Conclusions</p> <p>The severe reduction in nucleotide variation at <it>OsAMT1;1 </it>in rice was caused by a selective sweep around <it>OsAMT1;1</it>, which may reflect the nitrogen uptake system under strong selection by the paddy soil during the domestication of rice. Purifying selection also occurred before the wild rice diverged into its two subspecies, namely <it>indica </it>and <it>japonica</it>. These findings would provide useful insights into the processes of evolution and domestication of nitrogen uptake genes in rice.</p

Development and Application of Specific KASP Markers for Blast Resistance Genes Pi2 and Pita in Rice

【Objective】Rice blast resistance genes Pi2 and Pita are broad-spectrum resistance genes to rice blast in rice areas in South China, which have very important application value for rice blast resistance breeding. Therefore, the development of a set of efficient identification methods is beneficial to genetic breeding efficiency of rice blast-resistant varieties.【Method】According to the variant GCA GGA/GTG TTA of the 787 and 788 codons of the Pi2 gene in 'Huanghuangyouzhan' (highly resistant to rice blast) and 'Guangluai 4' (highly susceptible to rice blast), and the variant G/T at base 6 640 of Pita gene in Tetp (an international rice germplasm resource with high resistance to rice blast) and Lijiang Xintuan Heigu (a local ermplasm resource with high susceptibility to rice blast), based on the competitive allele PCR (Kompetitive Allele Specific PCR, KASP) labeling technology principle, molecular markers of rice blast resistance genes were developed.【Result】Two KASP markers (W-Pi2 and W-Pita) were developed to detect the functional sites of Pi2 and Pita. The markers were used to detect the conventional rice, aromatic rice and hybrid rice cultivated by the Rice Research Institute of Guangdong Academy of Agricultural Sciences. 19 resistant varieties were screened, including 13 varieties with a single gene tested as a diseaseresistant allele and 6 varieties with two genes tested as disease-resistant alleles. The comparison of the two markers suggested that the frequency of disease-resistance was higher in the varieties carrying Pi2 resistance gene than in the varieties carrying Pita resistance gene. The results showed that the two markers could detect the allele types of rice blast resistance genes Pi2 and Pita in breeding materials in the early stage (seed or seedling stage), and the breeding materials were not required to be planted in the disease nursery, then individual plants carrying resistant alleles could be screened and identified.【Conclusion】The developed KASP functional molecular markers W-Pi2 and W-Pita can better distinguish parental varieties with different resistance, clearly distinguish different allele types among breeding materials, and accurately screen breeding materials

Associations between Milk Intake and Sleep Disorders in Chinese Adults: A Cross-Sectional Study

We aimed to examine the association of milk intake with sleep disorders and their specific indicators. The current study included 768 adults aged 28–95 from Wenling, China. Milk intake was assessed using a food frequency questionnaire with ten food items, while sleep disorders were measured using the Pittsburgh Sleep Quality Index (PSQI), with higher scores indicating poorer sleep. The participants were divided into two groups according to the average intake of milk per week: rare intake (≤62.5 mL/week) and regular intake (>62.5 mL/week). Primary measurements were multivariate-adjusted odds ratios (ORs) with 95% confidence intervals (CIs) for the prevalence of sleep disorders concerning regular milk intake compared with rare intake. In secondary analyses, linear regression analyses were performed to assess the effects of milk intake on sleep disorders and their specific dimensions. Regular intake of milk did not have a significant association with sleep disorders compared with rare intake (adjusted OR: 0.72, 95%; CI: 0.51, 1.03), but this association was found to be pronounced with sleep disturbances (OR: 0.49, 95%; CI: 0.28, 0.87). Increased intake of milk was significantly associated with the lower scores of PSQI for sleep quality (β: −0.045, 95%; CI: −0.083, −0.007) and sleep disturbances (β: −0.059, 95%; CI: −0.090, −0.029), respectively. When stratified by age and gender, the benefits of milk intake for sleep disorders and sleep disturbances were more significant in older adults (≥65) and men than in younger persons and women. In summary, regular milk intake benefits sleep quality, which may contribute to nutritional psychiatric support for prevention against sleep disorders

Genetic Dissection of Rice Ratooning Ability Using an Introgression Line Population and Substitution Mapping of a Pleiotropic Quantitative Trait Locus qRA5

Ratooning ability is a key factor that influences ratoon rice yield, in the area where light and temperature are not enough for second season rice. In the present study, an introgression line population derived from Minghui 63 as the recipient parent and 02428 as the donor parent was developed, and a high-density bin map containing 4568 bins was constructed. Nine ratooning-ability-related traits were measured, including maximum tiller number, panicle number, and grain yield per plant in the first season and ratoon season, as well as three secondary traits, maximum tiller number ratio, panicle number ratio, and grain yield ratio. A total of 22 main-effect QTLs were identified and explained for 3.26&ndash;18.63% of the phenotypic variations in the introgression line population. Three genomic regions, including 14.12&ndash;14.65 Mb on chromosome 5, 4.64&ndash;5.76 Mb on chromosome 8, and 10.64&ndash;15.52 Mb on chromosome 11, were identified to simultaneously control different ratooning-ability-related traits. Among them, qRA5 in the region of 14.12&ndash;14.65 Mb on chromosome 5 was validated for its pleiotropic effects on maximum tiller number and panicle number in the first season, as well as its maximum tiller number ratio, panicle number ratio, and grain yield ratio. Moreover, qRA5 was independent of genetic background and delimited into a 311.16 kb region by a substitution mapping approach. These results will help us better understand the genetic basis of rice ratooning ability and provide a valuable gene resource for breeding high-yield ratoon rice varieties

Gut microbiota regulates postprandial GLP-1 response via ileal bile acid-TGR5 signaling

ABSTRACTThe gut microbiota interacts with intestinal epithelial cells through microbial metabolites to regulate the release of gut hormones. We investigated whether the gut microbiota affects the postprandial glucagon-like peptide-1 (GLP-1) response using antibiotic-treated mice and germ-free mice. Gut microbiome depletion completely abolished postprandial GLP-1 response in the circulation and ileum in a lipid tolerance test. Microbiome depletion did not influence the GLP-1 secretory function of primary ileal cells in response to stimulators in vitro, but dramatically changed the postprandial dynamics of endogenous bile acids, particularly ω-muricholic acid (ωMCA) and hyocholic acid (HCA). The bile acid receptor Takeda G protein-coupled receptor 5 (TGR5) but not farnesoid X receptor (FXR), participated in the regulation of postprandial GLP-1 response in the circulation and ileum, and ωMCA or HCA stimulated GLP-1 secretion via TGR5. Finally, fecal microbiota transplantation or ωMCA and HCA supplementation restored postprandial GLP-1 response. In conclusion, gut microbiota is indispensable for maintaining the postprandial GLP-1 response specifically in the ileum, and bile acid (ωMCA and HCA)-TGR5 signaling is involved in this process. This study helps to understand the essential interplay between the gut microbiota and host in regulating postprandial GLP-1 response and opens the foundation for new therapeutic targets

Structural basis for bacterial lipoprotein relocation by the transporter LolCDE

Lipoproteins in the outer membrane of Gram-negative bacteria are involved in various vital physiological activities, including multidrug resistance. Synthesized in the cytoplasm and matured in the inner membrane, lipoproteins must be transported to the outer membrane through the Lol pathway mediated by the ATP-binding cassette transporter LolCDE in the inner membrane via an unknown mechanism. Here, we report cryo-EM structures of Escherichia coli LolCDE in apo, lipoprotein-bound, LolA-bound, ADP-bound and AMP-PNP-bound states at a resolution of 3.2–3.8 Å, covering the complete lipoprotein transport cycle. Mutagenesis and in vivo viability assays verify features of the structures and reveal functional residues and structural characteristics of LolCDE. The results provide insights into the mechanisms of sorting and transport of outer-membrane lipoproteins and may guide the development of novel therapies against multidrug-resistant Gram-negative bacteria