Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching

This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories without needing any task-specific training data for novel objects. To achieve this, it first uses a category-agnostic affordance prediction algorithm to select and execute among four different grasping primitive behaviors. It then recognizes picked objects with a cross-domain image classification framework that matches observed images to product images. Since product images are readily available for a wide range of objects (e.g., from the web), the system works out-of-the-box for novel objects without requiring any additional training data. Exhaustive experimental results demonstrate that our multi-affordance grasping achieves high success rates for a wide variety of objects in clutter, and our recognition algorithm achieves high accuracy for both known and novel grasped objects. The approach was part of the MIT-Princeton Team system that took 1st place in the stowing task at the 2017 Amazon Robotics Challenge. All code, datasets, and pre-trained models are available online at http://arc.cs.princeton.eduComment: Project webpage: http://arc.cs.princeton.edu Summary video: https://youtu.be/6fG7zwGfIk

Physical Characterization of 2015 JD(1) : A Possibly Inhomogeneous Near-Earth Asteroid

The surfaces of airless bodies such as asteroids are exposed to many phenomena that can alter their physical properties. Bennu, the target of the OSIRIS-REx mission, has demonstrated how complex the surface of a small body can be. In 2019 November, the potentially hazardous asteroid 2015 JD(1) experienced a close approach of 0.033 1 au from the Earth. We present results of the physical characterization of 2015 JD(1) based on ground-based radar, spectroscopy, and photometric observations acquired during 2019 November. Radar polarimetry measurements from the Arecibo Observatory indicate a morphologically complex surface. The delay-Doppler images reveal a contact binary asteroid with an estimated visible extent of similar to 150 m. Our observations suggest that 2015 JD(1) is an E-type asteroid with a surface composition similar to aubrites, a class of differentiated enstatite meteorites. The dynamical properties of 2015 JD(1) suggest that it came from the nu (6) resonance with Jupiter, and spectral comparison with major E-type bodies suggests that it may have been derived from a parental body similar to the progenitor of the E-type (64) Angelina. Significantly, we find rotational spectral variation across the surface of 2015 JD(1) from the red to blue spectral slope. Our compositional analysis suggests that the spectral slope variation could be due to the lack of iron and sulfides in one area of the surface of 2015 JD(1) and/or differences in grain sizes.Peer reviewe

Physical Characterization of 2015 JD(1) : A Possibly Inhomogeneous Near-Earth Asteroid

The surfaces of airless bodies such as asteroids are exposed to many phenomena that can alter their physical properties. Bennu, the target of the OSIRIS-REx mission, has demonstrated how complex the surface of a small body can be. In 2019 November, the potentially hazardous asteroid 2015 JD(1) experienced a close approach of 0.033 1 au from the Earth. We present results of the physical characterization of 2015 JD(1) based on ground-based radar, spectroscopy, and photometric observations acquired during 2019 November. Radar polarimetry measurements from the Arecibo Observatory indicate a morphologically complex surface. The delay-Doppler images reveal a contact binary asteroid with an estimated visible extent of similar to 150 m. Our observations suggest that 2015 JD(1) is an E-type asteroid with a surface composition similar to aubrites, a class of differentiated enstatite meteorites. The dynamical properties of 2015 JD(1) suggest that it came from the nu (6) resonance with Jupiter, and spectral comparison with major E-type bodies suggests that it may have been derived from a parental body similar to the progenitor of the E-type (64) Angelina. Significantly, we find rotational spectral variation across the surface of 2015 JD(1) from the red to blue spectral slope. Our compositional analysis suggests that the spectral slope variation could be due to the lack of iron and sulfides in one area of the surface of 2015 JD(1) and/or differences in grain sizes.Peer reviewe

IL7 genetic variation and toxicity to immune checkpoint blockade in patients with melanoma

Treatment with immune checkpoint blockade (ICB) frequently triggers immune-related adverse events (irAEs), causing considerable morbidity. In 214 patients receiving ICB for melanoma, we observed increased severe irAE risk in minor allele carriers of rs16906115, intronic to IL7. We found that rs16906115 forms a B cell-specific expression quantitative trait locus (eQTL) to IL7 in patients. Patients carrying the risk allele demonstrate increased pre-treatment B cell IL7 expression, which independently associates with irAE risk, divergent immunoglobulin expression and more B cell receptor mutations. Consistent with the role of IL-7 in T cell development, risk allele carriers have distinct ICB-induced CD8+ T cell subset responses, skewing of T cell clonality and greater proportional repertoire occupancy by large clones. Finally, analysis of TCGA data suggests that risk allele carriers independently have improved melanoma survival. These observations highlight key roles for B cells and IL-7 in both ICB response and toxicity and clinical outcomes in melanoma

Field-study science classrooms as positive and enjoyable learning environments

We investigated differences between field-study classrooms and traditional science classrooms in terms of the learning environment and students’ attitudes to science, as well as the differential effectiveness of field-study classrooms for students differing in sex and English proficiency. A modified version of selected scales from the What Is Happening In this Class? questionnaire was used to assess the learning environment, whereas students’ attitudes were assessed with a shortened version of a scale from the Test of Science Related Attitudes. A sample of 765 grade 5 students from 17 schools responded to the learning environment and attitude scales in terms of both their traditional science classrooms and classrooms at a field-study centre in Florida. Large effect sizes supported the effectiveness of the field-studies classroom in terms of both the learning environment and student attitudes. Relative to the home school science class, the field-study class was considerably more effective for students with limited English proficiency than for native English speakers

The Science Performance of JWST as Characterized in Commissioning

This paper characterizes the actual science performance of the James Webb Space Telescope (JWST), as determined from the six month commissioning period. We summarize the performance of the spacecraft, telescope, science instruments, and ground system, with an emphasis on differences from pre-launch expectations. Commissioning has made clear that JWST is fully capable of achieving the discoveries for which it was built. Moreover, almost across the board, the science performance of JWST is better than expected; in most cases, JWST will go deeper faster than expected. The telescope and instrument suite have demonstrated the sensitivity, stability, image quality, and spectral range that are necessary to transform our understanding of the cosmos through observations spanning from near-earth asteroids to the most distant galaxies.Comment: 5th version as accepted to PASP; 31 pages, 18 figures; https://iopscience.iop.org/article/10.1088/1538-3873/acb29

The James Webb Space Telescope Mission

Twenty-six years ago a small committee report, building on earlier studies, expounded a compelling and poetic vision for the future of astronomy, calling for an infrared-optimized space telescope with an aperture of at least $4m$. With the support of their governments in the US, Europe, and Canada, 20,000 people realized that vision as the $6.5m$ James Webb Space Telescope. A generation of astronomers will celebrate their accomplishments for the life of the mission, potentially as long as 20 years, and beyond. This report and the scientific discoveries that follow are extended thank-you notes to the 20,000 team members. The telescope is working perfectly, with much better image quality than expected. In this and accompanying papers, we give a brief history, describe the observatory, outline its objectives and current observing program, and discuss the inventions and people who made it possible. We cite detailed reports on the design and the measured performance on orbit.Comment: Accepted by PASP for the special issue on The James Webb Space Telescope Overview, 29 pages, 4 figure

An immunodominant NP105-113-B*07:02 cytotoxic T cell response controls viral replication and is associated with less severe COVID-19 disease.

Funder: RCUK | Medical Research Council (MRC); doi: https://doi.org/10.13039/501100000265Funder: Chinese Academy of Medical Sciences (CAMS); doi: https://doi.org/10.13039/501100005150Funder: Wellcome Trust (Wellcome); doi: https://doi.org/10.13039/100004440NP105-113-B*07:02-specific CD8+ T cell responses are considered among the most dominant in SARS-CoV-2-infected individuals. We found strong association of this response with mild disease. Analysis of NP105-113-B*07:02-specific T cell clones and single-cell sequencing were performed concurrently, with functional avidity and antiviral efficacy assessed using an in vitro SARS-CoV-2 infection system, and were correlated with T cell receptor usage, transcriptome signature and disease severity (acute n = 77, convalescent n = 52). We demonstrated a beneficial association of NP105-113-B*07:02-specific T cells in COVID-19 disease progression, linked with expansion of T cell precursors, high functional avidity and antiviral effector function. Broad immune memory pools were narrowed postinfection but NP105-113-B*07:02-specific T cells were maintained 6 months after infection with preserved antiviral efficacy to the SARS-CoV-2 Victoria strain, as well as Alpha, Beta, Gamma and Delta variants. Our data show that NP105-113-B*07:02-specific T cell responses associate with mild disease and high antiviral efficacy, pointing to inclusion for future vaccine design