DaXBench: Benchmarking Deformable Object Manipulation with Differentiable Physics

Deformable Object Manipulation (DOM) is of significant importance to both daily and industrial applications. Recent successes in differentiable physics simulators allow learning algorithms to train a policy with analytic gradients through environment dynamics, which significantly facilitates the development of DOM algorithms. However, existing DOM benchmarks are either single-object-based or non-differentiable. This leaves the questions of 1) how a task-specific algorithm performs on other tasks and 2) how a differentiable-physics-based algorithm compares with the non-differentiable ones in general. In this work, we present DaXBench, a differentiable DOM benchmark with a wide object and task coverage. DaXBench includes 9 challenging high-fidelity simulated tasks, covering rope, cloth, and liquid manipulation with various difficulty levels. To better understand the performance of general algorithms on different DOM tasks, we conduct comprehensive experiments over representative DOM methods, ranging from planning to imitation learning and reinforcement learning. In addition, we provide careful empirical studies of existing decision-making algorithms based on differentiable physics, and discuss their limitations, as well as potential future directions.Comment: ICLR 2023 (Oral

Microglia, TREM2, and Therapeutic Methods of Alzheimer’s Disease

Alzheimer’s disease (AD) is one of the most common causes of dementia all around the world. It is characterized by the deposition of amyloid-β protein (Aβ) and the formation of neurofibrillary tangles (NFTs), which contribute to neuronal loss and cognitive decline. Microglia, as innate immune cells in brain, plays dual roles in the pathological process of AD. Expression in different subtypes of microglia is diverse in AD genes. Triggering receptor expressed on myeloid cells 2 (TREM2) is a transmembrane glycoprotein mainly expressed on microglia in the central nervous system (CNS). Soluble TREM2 (sTREM2), a proteolytic product of TREM2, which is abundant in the cerebrospinal fluid, shows a dynamic change in different stages and ameliorates the pathological process of AD. The interplay between the different subtypes of apolipoprotein and TREM2 is closely related to the mechanism of AD and serves as important regulatory sites. Moreover, several therapeutic strategies targeting TREM2 have shown positive outcomes during clinical trials and some novel therapies at different points are in progress. In this review, we mainly talk about the interrelationships among microglia, TREM2, and AD, and hope to give an overview of the strategies of AD