Chat-3D v2: Bridging 3D Scene and Large Language Models with Object Identifiers

Recent research has evidenced the significant potentials of Large Language Models (LLMs) in handling challenging tasks within 3D scenes. However, current models are constrained to addressing object-centric tasks, where each question-answer pair focuses solely on an individual object. In real-world applications, users may pose queries involving multiple objects or expect for answers that precisely reference various objects. We introduce the use of object identifiers to freely reference objects during a conversation. While this solution appears straightforward, it presents two main challenges: 1) How to establish a reliable one-to-one correspondence between each object and its identifier? 2) How to incorporate complex spatial relationships among dozens of objects into the embedding space of the LLM? To address these challenges, we propose a two-stage alignment method, which involves learning an attribute-aware token and a relation-aware token for each object. These tokens capture the object's attributes and spatial relationships with surrounding objects in the 3D scene. Once the alignment is established, we can fine-tune our model on various downstream tasks using instruction tuning. Experiments conducted on traditional datasets like ScanQA, ScanRefer, and Nr3D/Sr3D showcase the effectiveness of our proposed method. Additionally, we create a 3D scene captioning dataset annotated with rich object identifiers, with the assistant of GPT-4. This dataset aims to further explore the capability of object identifiers in effective object referencing and precise scene understanding

Local information transfer in soft robotic arm

Recently, the information theoretic approach has been increasingly used in the robotics community as powerful quantitative measures for characterizing the dynamic coupling between the controller, the body, and the environment in embodied robots. This approach is effective and useful even if this interaction regime becomes complex and nonlinear as is often the case in soft robots. In this study, we propose a method for characterizing and visualizing the information transfer spatiotemporally through the robot’s body. This method is based on the framework called “local information transfer” proposed by Lizier et al. We extend it with the permutation-information theoretic approach, which makes it feasible for continuous time series data usually obtained in robotic platforms. To test the power of the proposed method, we performed experiments using a soft robotic arm simulator and a silicone-based soft robotic arm platform inspired by the octopus and showed that the external damage spreading is successfully and clearly visualized by the method. We also analyzed the robustness of the method to noise. Finally, we discuss future applications and possible extensions

A tendon-driven actuator with cantilever initiated variable stiffness used for robotic fingers

Variable stiffness actuators (VSAs) have emerged as a key actuation technology known for their bionic performance and task adaptability. However, current VSAs often exhibit relatively large sizes, making them possible for use in robotic arms and legs but less convenient for integrations into robotic hands. This paper introduces a compact design of a tendon-driven variable stiffness actuator (TVSA) based on an adjustable cantilever mechanism, which can be embedded into a robotic finger. This implementation endows the robotic finger with the independent regulation of joint position and stiffness. A concise and computationally efficient stiffness mapping model from the TVSA to the finger joints is then established, providing a theoretical foundation for the stiffness regulation of the tendon-driven fingers. A prototype of a robotic hand equipped with the presented TVSA demonstrates safe interactions with various objects of diverse shapes, weights and stiffness

Nanoparticles transfected with plasmid-encoded lncRNA-OIP5-AS1 inhibit renal ischemia-reperfusion injury in mice via the miR-410-3p/Nrf2 axis

Nanostructures composed of liposomes and polydopamine (PDA) have demonstrated efficacy as carriers for delivering plasmids, effectively alleviating renal cell carcinoma. However, their role in acute kidney injury (AKI) remains unclear. This study aimed to investigate the effects of the plasmid-encoded lncRNA-OIP5-AS1@PDA nanoparticles (POP-NPs) on renal ischemia/reperfusion (RI/R) injury and explore the underlying mechanisms. RI/R or OGD/R models were established in mice and HK-2 cells, respectively. In vivo, vector or POP-NPs were administered (10 nmol, IV) 48 h after RI/R treatment. In the RI/R mouse model, the OIP5-AS1 and Nrf2/HO-1 expressions were down-regulated, while miR-410-3p expression was upregulated. POP-NPs treatment effectively reversed RI/R-induced renal tissue injury, restoring altered levels of blood urea nitrogen, creatinine, malondialdehyde, inflammatory factors (IL-8, IL-6, TNF-α), ROS, apoptosis, miR-410-3p, as well as the suppressed expression of SOD and Nrf2/HO-1 in the model mice. Similar results were obtained in cell models treated with POP-NPs. Additionally, miR-410-3p mimics could reverse the effects of POP-NPs on cellular models, partially counteracted by Nrf2 agonists. The binding relationship between OIP5-AS1 and miR-410-3p, alongside miR-410-3p and Nrf2, has been substantiated by dual-luciferase reporter and RNA pull-down assays. The study revealed that POP-NPs can attenuate RI/R-induced injury through miR-410-3p/Nrf2 axis. These findings lay the groundwork for future targeted therapeutic approaches utilizing nanoparticles for RI/R-induced AKI

Evolution and expression analysis of the caffeoyl-CoA 3-O-methyltransferase (CCoAOMT) gene family in jute (Corchorus L.)

Abstract Background Jute is considered one of the most important crops for fiber production and multipurpose usages. Caffeoyl-CoA 3-O-methyltransferase (CCoAOMT) is a crucial enzyme involved in lignin biosynthesis in plants. The potential functions of CCoAOMT in lignin biosynthesis of jute have been reported in several studies. However, little is known about the evolution of the CCoAOMT gene family, and either their expression level at different developing stages in different jute cultivars, as well as under abiotic stresses including salt and drought stress. Results In the present study, 66 CCoAOMT genes from 12 species including 12 and eight CCoAOMTs in Corchorus olitorius and C. capsularis were identified. Phylogenetic analysis revealed that CCoAOMTs could be divided into six groups, and gene expansion was observed in C. olitorius. Furthermore, gene expression analysis of developing jute fibers was conducted at different developmental stages (15, 30, 45, 60, and 90 days after sowing [DAS]) in six varieties (Jute-179 [J179], Lubinyuanguo [LB], and Qiongyueqing [QY] for C. capsularis; Funong No.5 [F5], Kuanyechangguo [KY], and Cvlv [CL] for C. olitorius). The results showed that CCoAOMT1 and CCoAOMT2 were the dominant genes in the CCoAOMT family. Of these two dominant CCoAOMTs, CCoAOMT2 showed a constitutive expression level during the entire growth stages, while CCoAOMT1 exhibited differential expression patterns. These two genes showed higher expression levels in C. olitorius than in C. capsularis. The correlation between lignin content and CCoAOMT gene expression levels indicated that this gene family influences the lignin content of jute. Using real-time quantitative reverse transcription PCR (qRT-PCR), a substantial up-regulation of CCoAOMTs was detected in stem tissues of jute 24 h after drought treatment, with an up to 17-fold increase in expression compared to that of untreated plants. Conclusions This study provides a basis for comprehensive genomic studies of the entire CCoAOMT gene family in C. capsularis and C. olitorius. Comparative genomics analysis among the CCoAOMT gene families of 12 species revealed the close evolutionary relationship among Corchorus, Theobroma cacao and Gossypium raimondii. This study also shows that CCoAOMTs are not only involved in lignin biosynthesis, but also are associated with the abiotic stress response in jute, and suggests the potential use of these lignin-related genes to genetically improve the fiber quality of jute

Rational Design of 3D Honeycomb-Like SnS2 Quantum Dots/rGO Composites as High-Performance Anode Materials for Lithium/Sodium-Ion Batteries

Abstract Structure pulverization and poor electrical conductivity of metal dichalcogenides result in serious capacity decay both in lithium-ion batteries (LIBs) and sodium-ion batteries (SIBs). To resolve the above problems, a combination of metal dichalcogenides with conductive scaffolds as high-performance electrode materials has aroused tremendous interest recently. Herein, we synthesize a 3D honeycomb-like rGO anchored with SnS2 quantum dots (3D SnS2 QDs/rGO) composite via spray-drying and sulfidation. The unique 3D-ordered honeycomb-like structure can confine the volume change of SnS2 QDs in the lithiation/delithiation and sodiation/desodiation processes, provide enough space for electrolyte reservoirs, promote the conductivity of the SnS2 QDs, and improve the electron transfer. As a result, the 3D SnS2 QDs/rGO composite electrode delivers a high capacity and long cycling stability (862 mAh/g for LIB at 0.1 A/g after 200 cycles, 233 mAh/g for SIB at 0.5 A/g after 200 cycles). This study provides a feasible synthesis route for preparing 3D-ordered porous networks in varied materials for the development of high-performance LIBs and SIBs in future

How does the SARS-CoV-2 reinfection rate change over time? The global evidence from systematic review and meta-analysis

Abstract Background There is a significant increase in the number of SARS-CoV-2 reinfection reports in various countries. However, the trend of reinfection rate over time is not clear. Methods We searched PubMed, Web of Science, Medline, Embase, Cochrane Central Register of Controlled Trials, China National Knowledge Infrastructure, and Wanfang for cohort studies, case-control studies, and cross-sectional studies up to March 16, 2023, to conduct a meta-analysis of global SARS-CoV-2 reinfection rate. Subgroup analyses were performed for age, country, study type, and study population, and time-varying reinfection rates of SARS-CoV-2 were estimated using meta-regression. The risk of bias was assessed using the Newcastle-Ottawa Scale and the Joanna Briggs Institute critical appraisal tool. Result A total of 55 studies involving 111,846 cases of SARS-CoV-2 reinfection were included. The pooled SARS-CoV-2 reinfection rate was 0.94% (95% CI: 0.65 -1.35%). In the subgroup analyses, there were statistically significant differences in the pooled reinfection rates by reinfection variant, and study type (P < 0.05). Based on meta-regression, the reinfection rate fluctuated with time. Conclusion Meta-regression analysis found that the overall reinfection rate increased and then decreased over time, followed by a period of plateauing and then a trend of increasing and then decreasing, but the peak of the second wave of reinfection rate was lower than the first wave. SARS-CoV-2 is at risk of reinfection and the Omicron variant has a higher reinfection rate than other currently known variants. The results of this study could help guide public health measures and vaccination strategies in response to the Coronavirus Disease 2019 (COVID-19) pandemic

Prevalence and Molecular Characteristics of FAdV-4 from Indigenous Chicken Breeds in Yunnan Province, Southwestern China

Fowl adenovirus-induced hepatitis–pericardial effusion syndrome outbreaks have been increasingly reported in China since 2015, resulting in substantial economic losses to the poultry industry. The genetic diversity of indigenous chicken results in different immune traits, affecting the evolution of these viruses. Although the molecular epidemiology of fowl adenovirus serotype 4 (FAdV-4) has been well studied in commercial broiler and layer chickens, the prevalence and genetic characteristics of FAdV-4 in indigenous chickens remain largely unknown. In this study, samples were collected from six indigenous chicken breeds in Yunnan province, China. FAdV-positive samples were identified in five of the six indigenous chicken populations via PCR and 10 isolates were obtained. All FAdVs belonged to serotype FAdV-4 and species FAdV-C. The hexon, fiber, and penton gene sequence comparison analysis demonstrated that the prevalence of FAdV-4 isolates in these chickens might have originated from other provinces that exported chicks and poultry products to Yunnan province. Moreover, several distinct amino acid mutations were firstly identified in the major structural proteins. Our findings highlighted the need to decrease inter-regional movements of live poultry to protect indigenous chicken genetic resources and that the immune traits of these indigenous chickens might result in new mutations of FAdV-4 strains