Ambiguity-Aware Multi-Object Pose Optimization for Visually-Assisted Robot Manipulation

6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty under occlusion and structural ambiguity (symmetricity). However, these works demand prior information about shape attributes, and this condition is hardly satisfied in reality; even asymmetric objects may be symmetric under the viewpoint change. In addition, acquiring and fusing diverse sensor data is challenging when extending them to robotics applications. Tackling these limitations, we present an ambiguity-aware 6D object pose estimation network, PrimA6D++, as a generic uncertainty prediction method. The major challenges in pose estimation, such as occlusion and symmetry, can be handled in a generic manner based on the measured ambiguity of the prediction. Specifically, we devise a network to reconstruct the three rotation axis primitive images of a target object and predict the underlying uncertainty along each primitive axis. Leveraging the estimated uncertainty, we then optimize multi-object poses using visual measurements and camera poses by treating it as an object SLAM problem. The proposed method shows a significant performance improvement in T-LESS and YCB-Video datasets. We further demonstrate real-time scene recognition capability for visually-assisted robot manipulation. Our code and supplementary materials are available at https://github.com/rpmsnu/PrimA6D.Comment: IEEE Robotics and Automation Letter

TRansPose: Large-Scale Multispectral Dataset for Transparent Object

Transparent objects are encountered frequently in our daily lives, yet recognizing them poses challenges for conventional vision sensors due to their unique material properties, not being well perceived from RGB or depth cameras. Overcoming this limitation, thermal infrared cameras have emerged as a solution, offering improved visibility and shape information for transparent objects. In this paper, we present TRansPose, the first large-scale multispectral dataset that combines stereo RGB-D, thermal infrared (TIR) images, and object poses to promote transparent object research. The dataset includes 99 transparent objects, encompassing 43 household items, 27 recyclable trashes, 29 chemical laboratory equivalents, and 12 non-transparent objects. It comprises a vast collection of 333,819 images and 4,000,056 annotations, providing instance-level segmentation masks, ground-truth poses, and completed depth information. The data was acquired using a FLIR A65 thermal infrared (TIR) camera, two Intel RealSense L515 RGB-D cameras, and a Franka Emika Panda robot manipulator. Spanning 87 sequences, TRansPose covers various challenging real-life scenarios, including objects filled with water, diverse lighting conditions, heavy clutter, non-transparent or translucent containers, objects in plastic bags, and multi-stacked objects. TRansPose dataset can be accessed from the following link: https://sites.google.com/view/transpose-datasetComment: Under revie

Synthetic quorum-sensing circuit to control consortial biofilm formation and dispersal in a microfluidic device

To utilize biofilms for chemical transformations in biorefineries they need to be controlled and replaced. Previously, we engineered the global regulator Hha and cyclic diguanylate-binding BdcA to create proteins that enable biofilm dispersal. Here we report a biofilm circuit that utilizes these two dispersal proteins along with a population-driven quorum-sensing switch. With this synthetic circuit, in a novel microfluidic device, we form an initial colonizer biofilm, introduce a second cell type (dispersers) into this existing biofilm, form a robust dual-species biofilm and displace the initial colonizer cells in the biofilm with an extracellular signal from the disperser cells. We also remove the disperser biofilm with a chemically induced switch, and the consortial population could tune. Therefore, for the first time, cells have been engineered that are able to displace an existing biofilm and then be removed on command allowing one to control consortial biofilm formation for various applications

Embedding Synthetic Microvascular Networks in Poly(Lactic Acid) Substrates with Rounded Cross-Sections for Cell Culture Applications

Synthetic microvascular networks are essential to enable in vitro studies of cell biology, biophysics, hemodynamics, and drug discovery, as well as in applications involving tissue engineering and artificial vasculature. But current limitations make it challenging to construct networks incorporating a hierarchy of microchannel diameters that possess cell-favored circular cross-sectional topographies. We report a new approach that overcomes these limitations by employing pressure-assisted expansion of biocompatible degradable poly(lactic acid) (PLA) substrates. This single-step process is straightforward and highly controllable, making it possible to simultaneously shape the interior topology of branched 3D and pseudo-3D microchannel networks across wide range of diameters. We further demonstrate in vitro culture of confluent endothelial cell monolayers in microchannel networks treated by this process, suggesting potential as a tool to help generate bio-mimicking vascular-like environments

Bone Morphogenetic Protein Signaling: Implications in Urology

The bone morphogenetic proteins (BMPs), as members of the transforming growth factor-β (TGF-β) superfamily, not only control bone formation, but also regulate multiple key steps during embryonic development and differentiation. Furthermore, BMPs play critical roles in maintaining the homeostasis of the cardiovascular, pulmonary, reproductive, urogenital, and nervous systems in adult life. Like all members of the TGF-β superfamily, BMP signaling is mediated through a heteromeric complex of type I and type II transmembrane serine/threonine kinase receptors. The subsequent signal transduction cascade includes either the canonical Smad-dependent or non-canonical Smad-independent pathways. Reflecting the critical function of BMPs, BMP signaling is tightly regulated at multiple steps by various mechanisms including extracellular endogenous antagonists, neutralizing antibodies/extracellular soluble receptor domains, small molecule inhibitors, cytoplasmic inhibitory Smads, and transcriptional co-repressors. Recently, dorsomorphin, the first small molecule inhibitor of BMP signaling, was identified and suggested as a useful tool for dissecting the mechanisms of signaling pathways and for developing novel therapeutics for diverse human diseases that are related to the BMP signaling pathways. In this article, we discuss various mechanisms involved in regulating BMP signaling pathways and their implications for urology

Trajectory Data Analysis on the Spatial and Temporal Influence of Pedestrian Flow on Path Planning Decision

The modeling of walking behavior and design of walk-friendly urban pathways have been of interest to many researchers over the past decades. One of the major issues in pedestrian modeling is path planning decision-making in a dynamic walking environment with different pedestrian flows. While previous studies have agreed that pedestrian flow influences path planning, only a few studies have dealt with the empirical data to show the relationship between pedestrian flow and path planning behavior. This study introduces a new methodology for analyzing pedestrian trajectory data to find the dynamic walking conditions that influence the path planning decision. The comparison of the pedestrians’ path shows that the higher proportion of opposite flows are, the greater they influence the path selection decision. In this study, we investigate the relationship between the opposite flow changes and path planning behavior and find the spatial and temporal ranges of the opposite flow that affects the path planning behavior. Lastly, we find the ratio of pedestrians that update their paths with respect to the opposite flow rate