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

ドウイ ト キンキュウセイ ノ テキヨウ カンケイ ニツイテ ムラヤマ タカヤス キョウジュ タイニン キネンゴウ

In the United States of America, the Fourth Amendment to the Constitution prohibits unreasonable searches and seizures, and stipulates that a warrant must be issued on the basis of probable cause. The Supreme Court (of the United States) rules that warrantless searches and seizures are "per se unreasonable under the Fourth Amendment-subject only to a specifically established and well-delineated exceptions" proclaiming that a warrant must be obtained for a search or a seizure (the warrant requirement). In this article, "consent search" and "exigent circumstances exception" established by the Supreme Court as "exceptions to the warrant requirement" are examined in the light of the Fourth Amendment to the Constitution. Although the Supreme Court established both "consent" and "exigent circumstances" as "exceptions to the warrant requirement", applicability of "consent" or "exigent circumstances" is complex in certain cases. This article also aims at classifying these cases and theories in terms of the applicability so that it may help to disentangle the complications within them

開心術前後における身体組成変動

Lean body mass decreases after a major operation such as open-heart surgery, which leads to postoperative complications, as a drastic loss of muscle mass is related to infections and longer hospital stays. The purpose of this study was to examine changes in lean body mass and muscle mass including body composition the perioperative phase until discharge in patients undergoing open-heart surgery. Body fluids, fat and lean body mass in 17 patients were determined before and 1 week after surgery, and at discharge using bioelectrical impedance analysis. In addition, the levels of hemoglobin, albumin, and C-reactive protein in blood were measured. Cardiac rehabilitation consisted of early mobilization and aerobic bicycle exercise was subsequently performed after confirmation of independent walking for 200 meters. Early mobilization after surgery was assisted by physical therapists experienced in cases of cardiovascular surgery. Early mobilization required no more than 3 delayed days and no major complications until discharge in any of the patients. Weight and body mass index were significantly lower at discharge than before and 1 week after surgery, while lean body mass, muscle mass, total body water, intracellular fluid, body protein, and body cell mass values were significantly lower at discharge than before surgery. The changes in body composition seen after cardiac surgery until discharge indicated continuous catabolic reactions in our patients and some cytokines have been suggested to influence this phenomenon. After receiving open-heart surgery, it is important for patients to receive nutritional therapy and begin resistance exercise as soon as possible. Aerobic exercise should produce muscle protein synthesis and increase muscle mass under adequate nutritional support including specific amino acid supplements. Our findings indicate that muscle mass and nutritional status should be monitored after discharge and followed consistently in patients after open-heart surgery

Combined In Silico and In Vivo Analyses Reveal Role of Hes1 in Taste Cell Differentiation

The sense of taste is of critical importance to animal survival. Although studies of taste signal transduction mechanisms have provided detailed information regarding taste receptor calcium signaling molecules (TRCSMs, required for sweet/bitter/umami taste signal transduction), the ontogeny of taste cells is still largely unknown. We used a novel approach to investigate the molecular regulation of taste system development in mice by combining in silico and in vivo analyses. After discovering that TRCSMs colocalized within developing circumvallate papillae (CVP), we used computational analysis of the upstream regulatory regions of TRCSMs to investigate the possibility of a common regulatory network for TRCSM transcription. Based on this analysis, we identified Hes1 as a likely common regulatory factor, and examined its function in vivo. Expression profile analyses revealed that decreased expression of nuclear HES1 correlated with expression of type II taste cell markers. After stage E18, the CVP of Hes1−/− mutants displayed over 5-fold more TRCSM-immunoreactive cells than did the CVP of their wild-type littermates. Thus, according to our composite analyses, Hes1 is likely to play a role in orchestrating taste cell differentiation in developing taste buds