GenPose: Generative Category-level Object Pose Estimation via Diffusion Models

Object pose estimation plays a vital role in embodied AI and computer vision, enabling intelligent agents to comprehend and interact with their surroundings. Despite the practicality of category-level pose estimation, current approaches encounter challenges with partially observed point clouds, known as the multihypothesis issue. In this study, we propose a novel solution by reframing categorylevel object pose estimation as conditional generative modeling, departing from traditional point-to-point regression. Leveraging score-based diffusion models, we estimate object poses by sampling candidates from the diffusion model and aggregating them through a two-step process: filtering out outliers via likelihood estimation and subsequently mean-pooling the remaining candidates. To avoid the costly integration process when estimating the likelihood, we introduce an alternative method that trains an energy-based model from the original score-based model, enabling end-to-end likelihood estimation. Our approach achieves state-of-the-art performance on the REAL275 dataset, surpassing 50% and 60% on strict 5d2cm and 5d5cm metrics, respectively. Furthermore, our method demonstrates strong generalizability to novel categories sharing similar symmetric properties without fine-tuning and can readily adapt to object pose tracking tasks, yielding comparable results to the current state-of-the-art baselines

GraspGF: Learning Score-based Grasping Primitive for Human-assisting Dexterous Grasping

The use of anthropomorphic robotic hands for assisting individuals in situations where human hands may be unavailable or unsuitable has gained significant importance. In this paper, we propose a novel task called human-assisting dexterous grasping that aims to train a policy for controlling a robotic hand's fingers to assist users in grasping objects. Unlike conventional dexterous grasping, this task presents a more complex challenge as the policy needs to adapt to diverse user intentions, in addition to the object's geometry. We address this challenge by proposing an approach consisting of two sub-modules: a hand-object-conditional grasping primitive called Grasping Gradient Field~(GraspGF), and a history-conditional residual policy. GraspGF learns `how' to grasp by estimating the gradient from a success grasping example set, while the residual policy determines `when' and at what speed the grasping action should be executed based on the trajectory history. Experimental results demonstrate the superiority of our proposed method compared to baselines, highlighting the user-awareness and practicality in real-world applications. The codes and demonstrations can be viewed at "https://sites.google.com/view/graspgf"

Spatial-temporal Transformers for EEG Emotion Recognition

Electroencephalography (EEG) is a popular and effective tool for emotion recognition. However, the propagation mechanisms of EEG in the human brain and its intrinsic correlation with emotions are still obscure to researchers. This work proposes four variant transformer frameworks~(spatial attention, temporal attention, sequential spatial-temporal attention and simultaneous spatial-temporal attention) for EEG emotion recognition to explore the relationship between emotion and spatial-temporal EEG features. Specifically, spatial attention and temporal attention are to learn the topological structure information and time-varying EEG characteristics for emotion recognition respectively. Sequential spatial-temporal attention does the spatial attention within a one-second segment and temporal attention within one sample sequentially to explore the influence degree of emotional stimulation on EEG signals of diverse EEG electrodes in the same temporal segment. The simultaneous spatial-temporal attention, whose spatial and temporal attention are performed simultaneously, is used to model the relationship between different spatial features in different time segments. The experimental results demonstrate that simultaneous spatial-temporal attention leads to the best emotion recognition accuracy among the design choices, indicating modeling the correlation of spatial and temporal features of EEG signals is significant to emotion recognition

Characterization of lncRNA–miRNA–mRNA Network to Reveal Potential Functional ceRNAs in Bovine Skeletal Muscle

There is growing evidence that non-coding RNAs are emerging as critical regulators of skeletal muscle development. In order to reveal their functional roles and regulatory mechanisms, we constructed a lncRNA–miRNA–mRNA network according to the ceRNA (competitive endogenous RNA) theory, using our high-throughput sequencing data. Subsequently, the network analysis, GO (Gene Ontology) analysis, and KEGG (Kyoto Encyclopedia of Genes and Genomes) pathway analysis were performed for functional annotation and exploration of lncRNA ceRNAs. The results uncovered a scale-free characteristics network which exhibited high functional specificity for bovine skeletal muscle development: co-expression lncRNAs were significantly enriched in muscle development related biological processes and the Wnt signaling pathway. Furthermore, GSEA (Gene Set Enrichment Analysis) indicated that the risk score has a tendency to associate with myogenesis, and differentially expressed RNAs were validated by qPCR, further confirming the credibility of our network. In summary, this study provides insights into lncRNA-mediated ceRNA function and mechanisms in bovine skeletal muscle development and will expand our understanding of lncRNA biology in mammals

Global distribution and interannual variations of mesospheric and lower thermospheric neutral wind diurnal tide: 1. Migrating tide

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/95689/1/jgra18975.pd

Global distribution and interannual variations of mesospheric and lower thermospheric neutral wind diurnal tide: 2. Nonmigrating tide

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/94716/1/jgra18976.pd