Learning Manipulation under Physics Constraints with Visual Perception

Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. In this work, we consider the problem of autonomous block stacking and explore solutions to learning manipulation under physics constraints with visual perception inherent to the task. Inspired by the intuitive physics in humans, we first present an end-to-end learning-based approach to predict stability directly from appearance, contrasting a more traditional model-based approach with explicit 3D representations and physical simulation. We study the model's behavior together with an accompanied human subject test. It is then integrated into a real-world robotic system to guide the placement of a single wood block into the scene without collapsing existing tower structure. To further automate the process of consecutive blocks stacking, we present an alternative approach where the model learns the physics constraint through the interaction with the environment, bypassing the dedicated physics learning as in the former part of this work. In particular, we are interested in the type of tasks that require the agent to reach a given goal state that may be different for every new trial. Thereby we propose a deep reinforcement learning framework that learns policies for stacking tasks which are parametrized by a target structure

To Fall Or Not To Fall: {A} Visual Approach to Physical Stability Prediction

Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel object and their configurations. Developmental psychology has shown that such skills are acquired by infants from observations at a very early stage. In this paper, we contrast a more traditional approach of taking a model-based route with explicit 3D representations and physical simulation by an end-to-end approach that directly predicts stability and related quantities from appearance. We ask the question if and to what extent and quality such a skill can directly be acquired in a data-driven way bypassing the need for an explicit simulation. We present a learning-based approach based on simulated data that predicts stability of towers comprised of wooden blocks under different conditions and quantities related to the potential fall of the towers. The evaluation is carried out on synthetic data and compared to human judgments on the same stimuli

Derivative-Coupling Models and the Nuclear-Matter Equation of State

The equation of state of saturated nuclear matter is derived using two different derivative-coupling Lagrangians. We show that both descriptions are equivalent and can be obtained from the sigma-omega model through an appropriate rescaling of the coupling constants. We introduce generalized forms of this rescaling to study the correlations amongst observables in infinite nuclear matter, in particular, the compressibility and the effective nucleon mass.Comment: 16 pages, 6 figures, 36 kbytes. To appear in Zeit. f. Phys. A (Hadrons and Nuclei

Self-Consistent Relativistic Calculation of Nucleon Mean Free Path

We present a fully self-consistent and relativistic calculation of the nucleon mean free path in nuclear matter and finite nuclei. Starting from the Bonn potential, the Dirac-Brueckner-Hartree-Fock results for nuclear matter are parametrized in terms of an effective $\sigma$-$\omega$ Lagrangian suitable for the relativistic density-dependent Hartree-Fock (RDHF) approximation. The nucleon mean free path in nuclear matter is derived from this effective Lagrangian taking diagrams up to fourth-order into account. For the nucleon mean free path in finite nuclei, we make use of the density determined by the RDHF calculation in the local density approximation. Our microscopic results are in good agreement with the empirical data and predictions by Dirac phenomenology.Comment: 16 pages RevTex and 6 figures (paper, available upon request from [email protected]) UI-NTH-931

Underexpression of Deleted in liver cancer 2 (DLC2) is associated with overexpression of RhoA and poor prognosis in hepatocellular carcinoma

<p>Abstract</p> <p>Background</p> <p>DLC2, a unique RhoGAP, has been recently identified as a tumor suppressor gene in hepatocellular carcinoma (HCC). However, the expression of DLC2 protein, and its relationship with RhoA in clinical hepatocellular carcinoma have not been studied. The aim of this study was to investigate the DLC2 protein expression and its correlation with expression of RhoA, as well as to evaluate the prognostic value of DLC2 for HCC patients.</p> <p>Methods</p> <p>Western blot and immunohistochemical staining were employed to detect DLC2 protein expression in 128 HCC specimens. The correlation between DLC2 protein expression and clinicopathologic outcome, and prognostic value of DLC2 for HCC patients were analyzed.</p> <p>Results</p> <p>HCC tissues revealed significantly lower level of DLC2 protein than pericarcinomatous liver tissues (PCLT). There was significant correlation between underexpression of DLC2 protein and cell differentiation. Meanwhile, underexpression of DLC2 protein was correlated with overexression of RhoA. Furthermore, HCC Patients with DLC2-negative expression showed a significantly poorer prognosis than those with DLC2-positve expression.</p> <p>Conclusion</p> <p>Our data strongly suggested that decreased DLC2 expression in HCC correlates with cell differentiation of HCC and overexpression of RhoA, underexpression of DLC2 is associated with poor prognosis in HCC patients.</p

The Herschel Virgo cluster survey: V. Star-forming dwarf galaxies - dust in metal-poor environments

We present the dust properties of a small sample of Virgo cluster dwarf galaxies drawn from the science demonstration phase data set of the Herschel Virgo Cluster Survey. These galaxies have low metallicities (7.8 < 12 + log(O/H) < 8.3) and star-formation rates < 10^{-1} M_{sun}/yr. We measure the spectral energy distribution (SED) from 100 to 500 um and derive dust temperatures and dust masses. The SEDs are fitted by a cool component of temperature T < 20 K, implying dust masses around 10^{5} M_{sun} and dust-to-gas ratios D within the range 10^{-3}-10^{-2}. The completion of the full survey will yield a larger set of galaxies, which will provide more stringent constraints on the dust content of star-forming dwarf galaxies.Comment: Letter accepted for publication in A&A (Herschel special issue

Infrared nanoscopy of Dirac plasmons at the graphene-SiO2 interface

We report on infrared (IR) nanoscopy of 2D plasmon excitations of Dirac fermions in graphene. This is achieved by confining mid-IR radiation at the apex of a nanoscale tip: an approach yielding two orders of magnitude increase in the value of in-plane component of incident wavevector q compared to free space propagation. At these high wavevectors, the Dirac plasmon is found to dramatically enhance the near-field interaction with mid-IR surface phonons of SiO2 substrate. Our data augmented by detailed modeling establish graphene as a new medium supporting plasmonic effects that can be controlled by gate voltage.Comment: 12 pages, 4 figure

The Herschel Reference Survey: Dust in Early-Type Galaxies and Across the Hubble Sequence

We present Herschel observations of 62 Early-Type Galaxies (ETGs), including 39 galaxies morphologically classified as S0+S0a and 23 galaxies classified as ellipticals using SPIRE at 250, 350 and 500 microns (and PACS 100 and 160 microns for 19 sources) as part of the volume-limited Herschel Reference Survey. We detect dust emission in 24% of the ellipticals and 62% of the S0s. The mean temperature of the dust is 23.9+/-0.8 K, warmer than that found for late-type galaxies in the Virgo Cluster. Including the non-detections, the mean dust mass is log(Mdust) = 5.9+/-0.1 and 5.2+/-0.1 Msun for the S0s and elliptical galaxies respectively. The mean dust-to-stellar mass is log(Mdust/Mstar) = -4.4+/-0.1 (S0s) and -5.8+/-0.1 (ellipticals). Virtually all the galaxies lie close to the red sequence yet the large number of detections of cool dust, the gas-to-dust ratios and the ratios of far-infrared to radio emission all suggest that many ETGs contain a cool interstellar medium similar to that in late-type galaxies. The mean dust-to-stellar mass ratio for S0s is approximatly a factor of ten less than for early-type spirals and the sizes of the dust sources in the S0s are also much smaller. We show that the difference cannot be explained by either the different bulge-to-disk ratios or environmental effects such as ram-pressure stripping. The wide range in the dust-to-stellar mass ratio for ETGs and the lack of a correlation between dust mass and optical luminosity suggest that much of the dust in the ETGs detected by Herschel has been acquired as the result of gravitational interactions; these interactions are unlikely to have had a major effect on the stellar masses of the ETGs. The Herschel observations tentatively suggest that in the most massive ETGs, the mass of the interstellar medium is unconnected to the evolution of the stellar populations.Comment: 28 Pages, 12 Figures. Submitted to ApJ December 2011; accepted January 201

The Herschel Exploitation of Local Galaxy Andromeda (HELGA). I: Global far-infrared and sub-mm morphology

We have obtained Herschel images at five wavelengths from 100 to 500 micron of a ~5.5x2.5 degree area centred on the local galaxy M31 (Andromeda), our nearest neighbour spiral galaxy, as part of the Herschel guaranteed time project "HELGA". The main goals of HELGA are to study the characteristics of the extended dust emission, focusing on larger scales than studied in previous observations of Andromeda at an increased spatial resolution, and the obscured star formation. In this paper we present data reduction and Herschel maps, and provide a description of the far-infrared morphology, comparing it with features seen at other wavelengths. We use high--resolution maps of the atomic hydrogen, fully covering our fields, to identify dust emission features that can be associated to M31 with confidence, distinguishing them from emission coming from the foreground Galactic cirrus. Thanks to the very large extension of our maps we detect, for the first time at far-infrared wavelengths, three arc-like structures extending out to ~21, ~26 and ~31 kpc respectively, in the south-western part of M31. The presence of these features, hosting ~2.2e6 Msol of dust, is safely confirmed by their detection in HI maps. Overall, we estimate a total dust mass of ~5.8e7 Msol, about 78% of which is contained in the two main ring-like structures at 10 and 15 kpc, at an average temperature of 16.5 K. We find that the gas-to-dust ratio declines exponentially as a function of the galacto-centric distance, in agreement with the known metallicity gradient, with values ranging from 66 in the nucleus to ~275 in the outermost region. [Abridged]Comment: 15 Pages, 9 Figures. Accepted for publication in Astronomy and Astrophysics. A high resolution version of the paper can be found at http://wazn.ugent.be/jfritz/HelgaI_final.pd