Hierarchical Visual Policy Learning for Long-Horizon Robot Manipulation in Densely Cluttered Scenes

In this work, we focus on addressing the long-horizon manipulation tasks in densely cluttered scenes. Such tasks require policies to effectively manage severe occlusions among objects and continually produce actions based on visual observations. We propose a vision-based Hierarchical policy for Cluttered-scene Long-horizon Manipulation (HCLM). It employs a high-level policy and three options to select and instantiate three parameterized action primitives: push, pick, and place. We first train the pick and place options by behavior cloning (BC). Subsequently, we use hierarchical reinforcement learning (HRL) to train the high-level policy and push option. During HRL, we propose a Spatially Extended Q-update (SEQ) to augment the updates for the push option and a Two-Stage Update Scheme (TSUS) to alleviate the non-stationary transition problem in updating the high-level policy. We demonstrate that HCLM significantly outperforms baseline methods in terms of success rate and efficiency in diverse tasks. We also highlight our method's ability to generalize to more cluttered environments with more additional blocks

Evolution of negative superhumps, quasi-periodic oscillations and outbursts in the Z Cam-type dwarf nova AH Her

AH Her is a Z Cam-type dwarf nova with an orbital period of ~ 0.258 d. Dwarf nova oscillations and long-period dwarf nova oscillations have been detected, but no quasi-periodic oscillations (QPOs) and negative superhumps (NSHs) have been found. We investigated the association between NSHs, QPOs, and outbursts of AH Her based on \textit{TESS} photometry. We find for the first time the NSHs with a period of 0.24497(1) d in AH Her, and trace the variation of the amplitude and period of NSHs with the outburst. The amplitude of the NSHs is most significant at quiescence, weakening as the outburst rises, becoming undetectable at the top, rebounding and weakening at the plateau, and strengthening again as the outburst declines. The variation of the accretion disk radius can explain the NSHs amplitude variation except for the plateau, so we suggest that the relationship between NSHs amplitude and outburst can be used as a window to study the accretion disk instability and the origin of NSHs. In addition, we find the periodic variations in the amplitude, maxima, and shape of the NSHs ranging from 2.33(2) d to 2.68(5) d, which may be related to the precession of the tilted disk. Finally, we find QPOs at the top of AH Her's long outburst with ~ 2800 s similar to HS 2325+8205, suggesting that the presence of QPOs at the top of Z Cam's long outburst may be a general phenomenonComment: 20 pages, 11 figures, accepted for publication in the Astrophysical Journa

New insights into the impact of polystyrene micro/nanoplastics on the nutritional quality of marine jacopever (Sebastes schlegelii)

Microplastics (MPs) and nanoplastics (NPs) are ubiquitous in the marine environments due to the wide use and mismanagement of plastics. However, the effect of MPs/NPs on the nutrition quality of economic species is poorly understood, and their underlying mechanisms remained unclear. We therefore investigated the impacts of polystyrene MPs/NPs on the nutrition composition of marine jacopever Sebastes schlegelii from the perspective of assimilation and metabolism. Results showed that NPs reduced more nutrition quality than MPs. Despite no notable impact on intestinal microbiota function, MPs/NPs influenced the assimilation of fish through intestinal damage. Furthermore, NPs induced greater damage to hepatocyte metabolism than MPs, caused by hepatocyte uptake through membrane protein pumps/channels and clathrin/caveolin-mediated endocytosis for NPs, while through phagocytosis/pinocytosis for MPs. NPs triggered more cell apoptosis signals in Ferroptosis and FoxO signaling pathways than MPs, destroying mitochondria structure. Compared with MP treatments, a significant upregulation of genes (PRODH and SLC25A25A) associated with the electron transfer chain of mitochondria was detected in the NP treatments, influencing the tricarboxylic acid cycle and interfering with liver metabolism of proteins, fatty acid, glycerol phospholipids, and carbohydrates. This work provides new insights into the potential impacts of MPs/NPs on the quality and safety of seafood.publishedVersio

Distilled Visual and Robot Kinematics Embeddings for Metric Depth Estimation in Monocular Scene Reconstruction

Estimating precise metric depth and scene reconstruction from monocular endoscopy is a fundamental task for surgical navigation in robotic surgery. However, traditional stereo matching adopts binocular images to perceive the depth information, which is difficult to transfer to the soft robotics-based surgical systems due to the use of monocular endoscopy. In this paper, we present a novel framework that combines robot kinematics and monocular endoscope images with deep unsupervised learning into a single network for metric depth estimation and then achieve 3D reconstruction of complex anatomy. Specifically, we first obtain the relative depth maps of surgical scenes by leveraging a brightness-aware monocular depth estimation method. Then, the corresponding endoscope poses are computed based on non-linear optimization of geometric and photometric reprojection residuals. Afterwards, we develop a Depth-driven Sliding Optimization (DDSO) algorithm to extract the scaling coefficient from kinematics and calculated poses offline. By coupling the metric scale and relative depth data, we form a robust ensemble that represents the metric and consistent depth. Next, we treat the ensemble as supervisory labels to train a metric depth estimation network for surgeries (i.e., MetricDepthS-Net) that distills the embeddings from the robot kinematics, endoscopic videos, and poses. With accurate metric depth estimation, we utilize a dense visual reconstruction method to recover the 3D structure of the whole surgical site. We have extensively evaluated the proposed framework on public SCARED and achieved comparable performance with stereo-based depth estimation methods. Our results demonstrate the feasibility of the proposed approach to recover the metric depth and 3D structure with monocular inputs

Preparation and Performance Analysis of Manchurian Walnut Oil Microcapsules with Manchurian Walnut Protein Isolate as Wall Material

Mixtures of maltodextrin (MD), egg yolk protein (EYP), Manchurian walnut protein isolate (MWPI) and soybean protein isolate (SPI) in different proportions were used as wall materials to prepare Manchurian walnut oil microcapsules by spray drying. The micromorphology, thermal stability, storage stability and antioxidant stability of microcapsules were analyzed. The results showed that the encapsulation efficiency of microcapsules prepared with MWPI was 73.68%, with an intact and dense structure, indicating that Manchurian walnut oil was successfully encapsulated in and protected by the microcapsules. The microcapsule powder had good flowability and solubility. The MWPI microcapsules lost only 5.48% of its initial mass under programmed heating conditions (10 ℃/min, up to 150 ℃), which was much lower than that of SPI microcapsules (10.3%), thereby being more able to meet the requirements of most thermally processed products. Microencapsulation obviously slowed down the oxidation rate of Manchurian walnut oil and improved its storage stability. The antioxidant experiments demonstrated that microencapsulation could effectively improve the antioxidant stability of active ingredients in Manchurian walnut oil. Therefore, this study demonstrated MWPI to be an excellent microcapsule wall material by evaluating its performance, which will expand the range of selection of protein-based wall materials, and provide a new idea for the application of walnut protein isolate resources to improve the added value of Manchurian walnut