Extreme Parkour with Legged Robots

Humans can perform parkour by traversing obstacles in a highly dynamic fashion requiring precise eye-muscle coordination and movement. Getting robots to do the same task requires overcoming similar challenges. Classically, this is done by independently engineering perception, actuation, and control systems to very low tolerances. This restricts them to tightly controlled settings such as a predetermined obstacle course in labs. In contrast, humans are able to learn parkour through practice without significantly changing their underlying biology. In this paper, we take a similar approach to developing robot parkour on a small low-cost robot with imprecise actuation and a single front-facing depth camera for perception which is low-frequency, jittery, and prone to artifacts. We show how a single neural net policy operating directly from a camera image, trained in simulation with large-scale RL, can overcome imprecise sensing and actuation to output highly precise control behavior end-to-end. We show our robot can perform a high jump on obstacles 2x its height, long jump across gaps 2x its length, do a handstand and run across tilted ramps, and generalize to novel obstacle courses with different physical properties. Parkour videos at https://extreme-parkour.github.io/Comment: Website and videos at https://extreme-parkour.github.io

Soft BPR Loss for Dynamic Hard Negative Sampling in Recommender Systems

In recommender systems, leveraging Graph Neural Networks (GNNs) to formulate the bipartite relation between users and items is a promising way. However, powerful negative sampling methods that is adapted to GNN-based recommenders still requires a lot of efforts. One critical gap is that it is rather tough to distinguish real negatives from massive unobserved items during hard negative sampling. Towards this problem, this paper develops a novel hard negative sampling method for GNN-based recommendation systems by simply reformulating the loss function. We conduct various experiments on three datasets, demonstrating that the method proposed outperforms a set of state-of-the-art benchmarks.Comment: 9 pages, 16 figure

Deep Imaging of the HCG 95 Field.I.Ultra-diffuse Galaxies

We present a detection of 89 candidates of ultra-diffuse galaxies (UDGs) in a 4.9 degree$^2$ field centered on the Hickson Compact Group 95 (HCG 95) using deep $g$- and $r$-band images taken with the Chinese Near Object Survey Telescope. This field contains one rich galaxy cluster (Abell 2588 at $z$=0.199) and two poor clusters (Pegasus I at $z$=0.013 and Pegasus II at $z$=0.040). The 89 candidates are likely associated with the two poor clusters, giving about 50 $-$ 60 true UDGs with a half-light radius $r_{\rm e} > 1.5$ kpc and a central surface brightness $\mu(g,0) > 24.0$ mag arcsec$^{-2}$. Deep $z$'-band images are available for 84 of the 89 galaxies from the Dark Energy Camera Legacy Survey (DECaLS), confirming that these galaxies have an extremely low central surface brightness. Moreover, our UDG candidates are spread over a wide range in $g-r$ color, and $\sim$26% are as blue as normal star-forming galaxies, which is suggestive of young UDGs that are still in formation. Interestingly, we find that one UDG linked with HCG 95 is a gas-rich galaxy with H I mass $1.1 \times 10^{9} M_{\odot}$ detected by the Very Large Array, and has a stellar mass of $M_\star \sim 1.8 \times 10^{8}$ $M_{\odot}$. This indicates that UDGs at least partially overlap with the population of nearly dark galaxies found in deep H I surveys. Our results show that the high abundance of blue UDGs in the HCG 95 field is favored by the environment of poor galaxy clusters residing in H I-rich large-scale structures.Comment: Published in Ap

Communication-Efficient Topologies for Decentralized Learning with O(1)O(1) Consensus Rate

Decentralized optimization is an emerging paradigm in distributed learning in which agents achieve network-wide solutions by peer-to-peer communication without the central server. Since communication tends to be slower than computation, when each agent communicates with only a few neighboring agents per iteration, they can complete iterations faster than with more agents or a central server. However, the total number of iterations to reach a network-wide solution is affected by the speed at which the agents' information is ``mixed'' by communication. We found that popular communication topologies either have large maximum degrees (such as stars and complete graphs) or are ineffective at mixing information (such as rings and grids). To address this problem, we propose a new family of topologies, EquiTopo, which has an (almost) constant degree and a network-size-independent consensus rate that is used to measure the mixing efficiency. In the proposed family, EquiStatic has a degree of $\Theta(\ln(n))$, where $n$ is the network size, and a series of time-dependent one-peer topologies, EquiDyn, has a constant degree of 1. We generate EquiDyn through a certain random sampling procedure. Both of them achieve an $n$-independent consensus rate. We apply them to decentralized SGD and decentralized gradient tracking and obtain faster communication and better convergence, theoretically and empirically. Our code is implemented through BlueFog and available at \url{https://github.com/kexinjinnn/EquiTopo}Comment: NeurIPS 202

Construction of Visual Inspection Database for Catenary on High-speed Railways

With the rapid development of computer vision, techniques of machine vision and visual inspection have been applied into the inspection of catenary on high-speed railways. Visual inspection systems have been developed and super-high-resolution images are captured to check the status of catenary components. Automatic recognition of defects becomes very important since the number of images is too huge to be manually checked one by one. However, it is not easy for the development of recognition algorithms on catenary components. There are many types of defects to be checked on different kinds of catenary components, but the number of defect images is too small in real world. In this paper, a solution was proposed and implemented. An on-site data acquisition system was designed and developed, and different types of defects were manually made on different catenary components beforehand. Finally, a visual inspection database was successfully constructed, including plenty of different kinds of catenary components, different types of defects, in different inspection conditions. The visual inspection database will be of great use in the development and test of recognition algorithms for catenary

Towards Finding the Best Characteristics of Some Bit-oriented Block Ciphers and Automatic Enumeration of (Related-key) Differential and Linear Characteristics with Predefined Properties

In this paper, we investigate the Mixed-integer Linear Programming (MILP) modelling of the differential and linear behavior of a wide range of block ciphers. We point out that the differential behavior of an arbitrary S-box can be exactly described by a small system of linear inequalities. ~~~~~Based on this observation and MILP technique, we propose an automatic method for finding high probability (related-key) differential or linear characteristics of block ciphers. Compared with Sun {\it et al.}\u27s {\it heuristic} method presented in Asiacrypt 2014, the new method is {\it exact} for most ciphers in the sense that every feasible 0-1 solution of the MILP model generated by the new method corresponds to a valid characteristic, and therefore there is no need to repeatedly add valid cutting-off inequalities into the MILP model as is done in Sun {\it et al.}\u27s method; the new method is more powerful which allows us to get the {\it exact lower bounds} of the number of differentially or linearly active S-boxes; and the new method is more efficient which allows to obtain characteristic with higher probability or covering more rounds of a cipher (sometimes with less computational effort). ~~~~~Further, by encoding the probability information of the differentials of an S-boxes into its differential patterns, we present a novel MILP modelling technique which can be used to search for the characteristics with the maximal probability, rather than the characteristics with the smallest number of active S-boxes. With this technique, we are able to get tighter security bounds and find better characteristics. ~~~~~Moreover, by employing a type of specially constructed linear inequalities which can remove {\it exactly one} feasible 0-1 solution from the feasible region of an MILP problem, we propose a method for automatic enumeration of {\it all} (related-key) differential or linear characteristics with some predefined properties, {\it e.g.}, characteristics with given input or/and output difference/mask, or with a limited number of active S-boxes. Such a method is very useful in the automatic (related-key) differential analysis, truncated (related-key) differential analysis, linear hull analysis, and the automatic construction of (related-key) boomerang/rectangle distinguishers. ~~~~~The methods presented in this paper are very simple and straightforward, based on which we implement a Python framework for automatic cryptanalysis, and extensive experiments are performed using this framework. To demonstrate the usefulness of these methods, we apply them to SIMON, PRESENT, Serpent, LBlock, DESL, and we obtain some improved cryptanalytic results

BAM15 as a mitochondrial uncoupler: a promising therapeutic agent for diverse diseases

Subcellular organelles dysfunction is implicated in various diseases, including metabolic diseases, neurodegenerative diseases, cancer, and cardiovascular diseases. BAM15, a selective mitochondrial uncoupler, has emerged as a promising therapeutic agent due to its ability to enhance mitochondrial respiration and metabolic flexibility. By disrupting the coupling between electron transport and ATP synthesis, BAM15 dissipates the proton gradient, leading to increased mitochondrial respiration and energy expenditure. This review provides a comprehensive overview of BAM15, including its mechanism of action and potential therapeutic applications in diverse disease contexts. BAM15 has shown promise in obesity by increasing energy expenditure and reducing fat accumulation. In diabetes, it improves glycemic control and reverses insulin resistance. Additionally, BAM15 has potential in non-alcoholic fatty liver disease, sepsis, and cardiovascular diseases by mitigating oxidative stress, modulating inflammatory responses, and promoting cardioprotection. The safety profile of BAM15 is encouraging, with minimal adverse effects and remarkable tolerability. However, challenges such as its high lipophilicity and the need for alternative delivery methods need to be addressed. Further research is necessary to fully understand the therapeutic potential of BAM15 and optimize its application in clinical settings

Calycosin induces autophagy and apoptosis via Sestrin2/AMPK/mTOR in human papillary thyroid cancer cells

Calycosin, one of small molecules derived from astragalus, has anti-tumor effects in various tumors. However, the effects of calycosin on papillary thyroid cancer (PTC) remain unclear. This study aimed to explore the anti-tumor ability of calycosin on human PTC and its potential mechanisms. The B-CPAP cells were treated with calycosin, then cell proliferation, apoptosis and invasiveness were measured by CCK8 assay, flow cytometry, wound healing and transwell invasion assay, respectively. The cells were also performed by whole transcriptome microarray bioinformatics analysis. Apoptosis and autophagy-related markers or proteins were measured by qRT-PCR or western blot. Sestrin2-mediated AMPK/mTOR pathways were determined by western blot. We found that calycosin inhibited migration and invasion of B-CPAP cells and induced apoptosis (Bax/Bcl-2) and autophagy (LC3II/I, Beclin1) of B-CPAP cells. Differential expressed genes were screened between the calycosin-treated cells and control (524 genes upregulated and 328 genes downregulated). The pathway enrichment suggested that the role of calycosin in B-CPAP cells is closely related to apoptosis-related genes and p70S6 Kinase. Transmission electron microscopy found an increase in autophagosomes in calycosin-treated cells. Sestrin2 in human PTC tissues and B-CPAP cells was lower than in normal thyroid tissues and cells. And the pharmacological effects of calycosin in PTC cells were related to Sestrin2 activation, increased p-AMPK and inhibited p-mTOR and p-p70S6Kinase; these alterations were reversed when silencing Sestrin2. In conclusion, calycosin has an inhibitory effect on PTC via promoting apoptosis and autophagy through the Sestrin2/AMPK/mTOR pathway