Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrations

We propose to learn to generate grasping motion for manipulation with a dexterous hand using implicit functions. With continuous time inputs, the model can generate a continuous and smooth grasping plan. We name the proposed model Continuous Grasping Function (CGF). CGF is learned via generative modeling with a Conditional Variational Autoencoder using 3D human demonstrations. We will first convert the large-scale human-object interaction trajectories to robot demonstrations via motion retargeting, and then use these demonstrations to train CGF. During inference, we perform sampling with CGF to generate different grasping plans in the simulator and select the successful ones to transfer to the real robot. By training on diverse human data, our CGF allows generalization to manipulate multiple objects. Compared to previous planning algorithms, CGF is more efficient and achieves significant improvement on success rate when transferred to grasping with the real Allegro Hand. Our project page is at https://jianglongye.com/cgf .Comment: Project page: https://jianglongye.com/cg

HOXA-AS2 Promotes Proliferation and Induces Epithelial-Mesenchymal Transition via the miR-520c-3p/GPC3 Axis in Hepatocellular Carcinoma

Background/Aims: Previous studies have demonstrated that long non-coding RNAs (lncRNAs) may play critical roles in cancer biology, including Hepatocellular carcinoma (HCC). The HOXA cluster antisense RNA2 (HOXA-AS2) lncRNA plays an important role in carcinogenesis, however, the underlying role of HOXA-AS2 in HCC remains unknown. The present study examined the effects of HOXA-AS2 on the progression of HCC, and explored the underlying molecular mechanisms. Methods: Quantitative real-time PCR was used to detect HOXA-AS2 expression in HCC tissues and cell lines. Furthermore, the effects of HOXA-AS2 silencing and overexpression on cell proliferation, cell cycle, apoptosis, migration, and invasion were assessed in HCC in vitro and in vivo. Furthermore, bioinformatics online programs predicted and luciferase reporter assay were used to validate the association of HOXA-AS2 and miR-520c-3p in HCC cells. Results: We observed that HOXA-AS2 was up-regulated in HCC tissues and cell lines. In vitro experiments revealed that HOXA-AS2 knockdown significantly inhibited HCC cells proliferation by causing G1 arrest and promoting apoptosis, whereas HOXA-AS2 overexpression promoted cell growth. Further functional assays indicated that HOXA-AS2 significantly promoted HCC cell migration and invasion by promoting EMT. Bioinformatics online programs predicted that HOXA-AS2 sponge miR-520c-3p at 3’-UTR with complementary binding sites, which was validated using luciferase reporter assay. HOXA-AS2 could negatively regulate the expression of miR-520c-3p in HCC cells. MiR-520c-3p was down-regulated and inversely correlated with HOXA-AS2 expression in HCC tissues. miR-520c-3p suppressed cell proliferation, invasion and migration in HCC cells, and enforced expression of miR-520c-3p attenuated the oncogenic effects of HOXA-AS2 in HCC cells. By bioinformatic analysis and dual-luciferase reporter assay, we found that miR-223-3p directly targeted the 3’-untranslated region (UTR) of Glypican-3 (GPC3), one of the key players in HCC. GPC3 was up-regulated in HCC tissues, and was negatively correlated with miR-520c-3p expression and positively correlated with HOXA-AS2 expression. Conclusion: In summary, our results suggested that the HOXA-AS2/miR-520c-3p/GPC3 axis may play an important role in the regulation of PTC progression, which could serve as a biomarker and therapeutic target for HCC

Construction and validation of a glioblastoma prognostic model based on immune-related genes

BackgroundGlioblastoma multiforme (GBM) is a common malignant brain tumor with high mortality. It is urgently necessary to develop a new treatment because traditional approaches have plateaued.PurposeHere, we identified an immune-related gene (IRG)-based prognostic signature to comprehensively define the prognosis of GBM.MethodsGlioblastoma samples were selected from the Chinese Glioma Genome Atlas (CGGA). We retrieved IRGs from the ImmPort data resource. Univariate Cox regression and LASSO Cox regression analyses were used to develop our predictive model. In addition, we constructed a predictive nomogram integrating the independent predictive factors to determine the one-, two-, and 3-year overall survival (OS) probabilities of individuals with GBM. Additionally, the molecular and immune characteristics and benefits of ICI therapy were analyzed in subgroups defined based on our prognostic model. Finally, the proteins encoded by the selected genes were identified with liquid chromatography-tandem mass spectrometry and western blotting (WB).ResultsSix IRGs were used to construct the predictive model. The GBM patients were categorized into a high-risk group and a low-risk group. High-risk group patients had worse survival than low-risk group patients, and stronger positive associations with multiple tumor-related pathways, such as angiogenesis and hypoxia pathways, were found in the high-risk group. The high-risk group also had a low IDH1 mutation rate, high PTEN mutation rate, low 1p19q co-deletion rate and low MGMT promoter methylation rate. In addition, patients in the high-risk group showed increased immune cell infiltration, more aggressive immune activity, higher expression of immune checkpoint genes, and less benefit from immunotherapy than those in the low-risk group. Finally, the expression levels of TNC and SSTR2 were confirmed to be significantly associated with patient prognosis by protein mass spectrometry and WB.ConclusionHerein, a robust predictive model based on IRGs was developed to predict the OS of GBM patients and to aid future clinical research

Clinical effect of reconstruction of large anterior palatal fistulae by anteriorly based dorsal tongue flaps

Objective To evaluate the feasibility and outcomes of the reconstruction of large anterior palatal fistu⁃ lae by anteriorly based dorsal tongue flaps to provide a rational reference of anteriorly based dorsal tongue flaps for clini⁃ cians. Methods Five patients with anterior hernia had a defect range of 1.0 cm × 1.0 cm to 1.5 cm × 2.0 cm, and the anterior tongue was 1.3 cm × 3.5 cm to 2.0 cm × 3.5 cm. The defects were all repaired with anteriorly based dorsal tongue flaps. The clinical efficacy was evaluated after operation, including whether the mucosal flap was infected, wheth⁃ er there was any shedding before the pedicle, and whether there was any perforation after operation. Thereafter, patients who were satisfied with their chewing, swallowing, speech function and appearance were followed up. Results All pa⁃ tients underwent successful reconstruction of palatal defects by anteriorly based tongue flaps, and no case of spontane⁃ ous detachment of the tongue flap occurred. Patients with palatal fistulae were followed up for 16⁃28 months, and no re⁃ currence was encountered. The operation had no effect on the speech, agitation and swallowing function of the tongue, and patients were satisfied with the appearance. Conclusion The dorsal lingual mucosal flap pedicled with the anteri⁃ or tongue is a safe and reliable method for repairing large anterior palatal fistula

A Field Study on the Indoor Thermal Environment of the Airport Terminal in Tibet Plateau in Winter

In order to study the characteristics of indoor thermal environment in the airport terminal in Tibet Plateau with radiant floor heating in winter, a field measurement of the indoor thermal environment was conducted in Lhasa Gonggar Airport terminal 2. First, the unique climate characteristics in Tibet Plateau were analyzed through comparison of meteorological parameters in Beijing and Lahsa. The thermal environment in the terminal was divided into outer zone and inner zone as well as south zone and north zone. Thermal environment parameters including air temperature, black globe temperature, relative humidity in each zone, and inner surface temperature of envelope were measured and analyzed. Meanwhile, temperature and relative humidity in the vertical direction were measured. In addition, PMV and PPD were calculated for evaluating the thermal environment in the terminal. The findings can provide guidance for the design and regulation of thermal environment in terminals in Tibet Plateau in China

Shorter-is-Better: Venue Category Estimation from Micro-Video

10.1145/2964284.2964307ACM Multimedia Conference 20161415-142

Surgical Disparities of Parathyroid Carcinoma: Long-Term Outcomes and Deep Excavation Based on a Large Database

Purpose. Parathyroid carcinoma (PC) is an uncommon endocrine disease, and surgery is considered the only potential cure. PC does not have a mature staging system because of the small number of PC patients. Our aim is to further investigate the prognostic factors associated with PC and explore the optimal extent of resection for PC patients. Methods. Univariate and multivariate Cox regression analyses were conducted to explore the influence of relevant factors on cancer-specific survival (CSS) and overall survival (OS). Survival curves were generated using the Kaplan–Meier method and analyzed using the log-rank test. The mortality rates per 1,000 person-years were calculated to evaluate patients’ follow-up data. We also performed subgroup analysis based on the extent of resection. Results. The extent of resection was related to both CSS and OS, whereas race and extent of disease had a significant positive correlation with OS (all P<0.05). Patients who underwent parathyroidectomy had remarkably better CSS and OS than patients who did not undergo definitive treatment. Conclusion. The extent of resection is related to CSS and OS in patients with PC. No significant difference in prognosis was observed between patients who underwent parathyroidectomy and those who underwent en bloc resection, which may provide useful parameters for the treatment of PC