Multi-Agent Behavior Retrieval: Retrieval-Augmented Policy Training for Cooperative Push Manipulation by Mobile Robots

Due to the complex interactions between agents, learning multi-agent control policy often requires a prohibited amount of data. This paper aims to enable multi-agent systems to effectively utilize past memories to adapt to novel collaborative tasks in a data-efficient fashion. We propose the Multi-Agent Coordination Skill Database, a repository for storing a collection of coordinated behaviors associated with key vectors distinctive to them. Our Transformer-based skill encoder effectively captures spatio-temporal interactions that contribute to coordination and provides a unique skill representation for each coordinated behavior. By leveraging only a small number of demonstrations of the target task, the database enables us to train the policy using a dataset augmented with the retrieved demonstrations. Experimental evaluations demonstrate that our method achieves a significantly higher success rate in push manipulation tasks compared with baseline methods like few-shot imitation learning. Furthermore, we validate the effectiveness of our retrieve-and-learn framework in a real environment using a team of wheeled robots

Collective Intelligence for Object Manipulation with Mobile Robots

While natural systems often present collective intelligence that allows them to self-organize and adapt to changes, the equivalent is missing in most artificial systems. We explore the possibility of such a system in the context of cooperative object manipulation using mobile robots. Although conventional works demonstrate potential solutions for the problem in restricted settings, they have computational and learning difficulties. More importantly, these systems do not possess the ability to adapt when facing environmental changes. In this work, we show that by distilling a planner derived from a gradient-based soft-body physics simulator into an attention-based neural network, our multi-robot manipulation system can achieve better performance than baselines. In addition, our system also generalizes to unseen configurations during training and is able to adapt toward task completions when external turbulence and environmental changes are applied

Swarm Body: Embodied Swarm Robots

The human brain's plasticity allows for the integration of artificial body parts into the human body. Leveraging this, embodied systems realize intuitive interactions with the environment. We introduce a novel concept: embodied swarm robots. Swarm robots constitute a collective of robots working in harmony to achieve a common objective, in our case, serving as functional body parts. Embodied swarm robots can dynamically alter their shape, density, and the correspondences between body parts and individual robots. We contribute an investigation of the influence on embodiment of swarm robot-specific factors derived from these characteristics, focusing on a hand. Our paper is the first to examine these factors through virtual reality (VR) and real-world robot studies to provide essential design considerations and applications of embodied swarm robots. Through quantitative and qualitative analysis, we identified a system configuration to achieve the embodiment of swarm robots

GenORM: Generalizable One-shot Rope Manipulation with Parameter-Aware Policy

Due to the inherent uncertainty in their deformability during motion, previous methods in rope manipulation often require hundreds of real-world demonstrations to train a manipulation policy for each rope, even for simple tasks such as rope goal reaching, which hinder their applications in our ever-changing world. To address this issue, we introduce GenORM, a framework that allows the manipulation policy to handle different deformable ropes with a single real-world demonstration. To achieve this, we augment the policy by conditioning it on deformable rope parameters and training it with a diverse range of simulated deformable ropes so that the policy can adjust actions based on different rope parameters. At the time of inference, given a new rope, GenORM estimates the deformable rope parameters by minimizing the disparity between the grid density of point clouds of real-world demonstrations and simulations. With the help of a differentiable physics simulator, we require only a single real-world demonstration. Empirical validations on both simulated and real-world rope manipulation setups clearly show that our method can manipulate different ropes with a single demonstration and significantly outperforms the baseline in both environments (62% improvement in in-domain ropes, and 15% improvement in out-of-distribution ropes in simulation, 26% improvement in real-world), demonstrating the effectiveness of our approach in one-shot rope manipulation

GenDOM: Generalizable One-shot Deformable Object Manipulation with Parameter-Aware Policy

Due to the inherent uncertainty in their deformability during motion, previous methods in deformable object manipulation, such as rope and cloth, often required hundreds of real-world demonstrations to train a manipulation policy for each object, which hinders their applications in our ever-changing world. To address this issue, we introduce GenDOM, a framework that allows the manipulation policy to handle different deformable objects with only a single real-world demonstration. To achieve this, we augment the policy by conditioning it on deformable object parameters and training it with a diverse range of simulated deformable objects so that the policy can adjust actions based on different object parameters. At the time of inference, given a new object, GenDOM can estimate the deformable object parameters with only a single real-world demonstration by minimizing the disparity between the grid density of point clouds of real-world demonstrations and simulations in a differentiable physics simulator. Empirical validations on both simulated and real-world object manipulation setups clearly show that our method can manipulate different objects with a single demonstration and significantly outperforms the baseline in both environments (a 62% improvement for in-domain ropes and a 15% improvement for out-of-distribution ropes in simulation, as well as a 26% improvement for ropes and a 50% improvement for cloths in the real world), demonstrating the effectiveness of our approach in one-shot deformable object manipulation.Comment: Extended version of arXiv:2306.0987

Aldose Reductase Inhibitor Ameliorates Renal Vascular Endothelial Growth Factor Expression in Streptozotocin-Induced Diabetic Rats

PURPOSE: The vascular endothelial growth factor (VEGF) expression of podocyte is one of the well-known major factors in development of diabetic nephropathy. In this study, we investigated the effects of aldose reductase inhibitor, fidarestat on diabetic nephropathy, and renal VEGF expression in a type 1 diabetic rat model. MATERIALS AND METHODS: Twenty four Sprague-Dawley male rats which were performed intraperitoneal injection of streptozotocin and normal six rats were divided into four groups including a normal control group, untreated diabetic control group, aldose reductase (AR) inhibitor (fidarestat, 16 mg kg(-1) day(-1)) treated diabetic group, and angiotensin receptor blocker (losartan, 20 mg kg(-1) day(-1)) treated diabetic group. We checked body weights and blood glucose levels monthly and measured urine albumin-creatinine ratio (ACR) at 8 and 32 weeks. We extracted the kidney to examine the renal morphology and VEGF expressions. RESULTS: The ACR decreased in fidarestat and losartan treated diabetic rat groups than in untreated diabetic group (24.79 +/- 11.12, 16.11 +/- 9.95, and 84.85 +/- 91.19, p < 0.05). The renal VEGF messenger RNA (mRNA) and protein expression were significantly decreased in the fidarestat and losartan treated diabetic rat groups than in the diabetic control group. CONCLUSION: We suggested that aldose reductase inhibitor may have preventive effect on diabetic nephropathy by reducing renal VEGF overexpression.ope

Magnetism and its microscopic origin in iron-based high-temperature superconductors

High-temperature superconductivity in the iron-based materials emerges from, or sometimes coexists with, their metallic or insulating parent compound states. This is surprising since these undoped states display dramatically different antiferromagnetic (AF) spin arrangements and N$\rm \acute{e}$el temperatures. Although there is general consensus that magnetic interactions are important for superconductivity, much is still unknown concerning the microscopic origin of the magnetic states. In this review, progress in this area is summarized, focusing on recent experimental and theoretical results and discussing their microscopic implications. It is concluded that the parent compounds are in a state that is more complex than implied by a simple Fermi surface nesting scenario, and a dual description including both itinerant and localized degrees of freedom is needed to properly describe these fascinating materials.Comment: 14 pages, 4 figures, Review article, accepted for publication in Nature Physic

The Physics of the B Factories

This work is on the Physics of the B Factories. Part A of this book contains a brief description of the SLAC and KEK B Factories as well as their detectors, BaBar and Belle, and data taking related issues. Part B discusses tools and methods used by the experiments in order to obtain results. The results themselves can be found in Part C