Open X-Embodiment:Robotic learning datasets and RT-X models

Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train "generalist" X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. The project website is robotics-transformer-x.github.io

Effect of dietary β‐carotene supplementation on growth and antioxidant capability of female swimming crab Portunus trituberculatus

Abstract Dietary supplementation with synthetic β‐carotene was investigated in this study to assess its impact on gonad development, antioxidant status, color parameters, and carotenoid composition in adult female swimming crab (Portunus trituberculatus). Four diets, designated as Diet 1 to 4, were formulated to contain 3.07, 53.78, 103.23, and 205.22 mg/kg dry diets of synthetic β‐carotene. The findings revealed the following: (1) No significant differences in body weights or feed utilization were observed, indicating that β‐carotene did not significantly enhance the growth of adult P. trituberculatus. (2) The inclusion of 50–100 mg/kg β‐carotene in the diets led to improvements in antioxidant capacity indicators (T‐AOC, MDA) and immune‐related parameters (AKP, ACP) in both hepatopancreas and hemolymph. (3) Notably, the redness of ovaries and hepatopancreas increased significantly with higher dietary β‐carotene supplementation for color enhancement. In conclusion, incorporating β‐carotene into the diet enhanced the antioxidative capability, nonspecific immunity, and tissue carotenoid contents in adult female P. trituberculatus, and the optimal level of dietary synthetic β‐carotene supplementation for adult female P. trituberculatus was suggested to be around 100 mg/kg

The Software Design of SiBCN Temperature Sensor Wireless Sweep Signal Receiving and Dispatching System Based on FPGA

SiBCN (silicon boron carbon nitrogen) wireless passive microwave resonant cavity temperature sensor is a new type of sensor under the development trend of radio frequency microwave technology. Based on the working principle of the sensor, the software design of SiBCN temperature sensor wireless sweep transceiver system based on FPGA is carried out on the basis of the existing wireless sweep signal transceiver system hardware. Let the signal source send the 11.0GHz ~ 11.6GHz range sweep signal to the sensor. The feedback signal of the sensor is filtered and the resonant frequency is obtained. The detection of temperature is based on the correspondence between the resonant frequency and the temperature.Through the analysis of the measured results, the system software design meets the requirements, and the temperature and frequency change rate is about 421.2KHz / °C

The Software Design of SiBCN Temperature Sensor Wireless Sweep Signal Receiving and Dispatching System Based on FPGA

SiBCN (silicon boron carbon nitrogen) wireless passive microwave resonant cavity temperature sensor is a new type of sensor under the development trend of radio frequency microwave technology. Based on the working principle of the sensor, the software design of SiBCN temperature sensor wireless sweep transceiver system based on FPGA is carried out on the basis of the existing wireless sweep signal transceiver system hardware. Let the signal source send the 11.0GHz ~ 11.6GHz range sweep signal to the sensor. The feedback signal of the sensor is filtered and the resonant frequency is obtained. The detection of temperature is based on the correspondence between the resonant frequency and the temperature.Through the analysis of the measured results, the system software design meets the requirements, and the temperature and frequency change rate is about 421.2KHz / °C

Epidemiology and clinical characteristics of acute respiratory tract infections among hospitalized infants and young children in Chengdu, West China, 2009–2014

Abstract Background Acute respiratory infection (ARI) is the leading cause of morbidity and mortality in pediatric patients worldwide and imposes an intense pressure on health care facilities. Data on the epidemiology profiles of ARIs are scarce in the western and rural areas of China. The purpose of the current study is to provide data on the presence of potential pathogens of ARIs in hospitalized children in Chengdu, west China. Methods Respiratory specimens were obtained from hospitalized patients (under 6 years old) with ARIs in a local hospital in Chengdu. Eight respiratory viruses were identified by PCR and 6 respiratory bacteria by biochemical reactions and Analytical Profile Index (API). Pathogens profiles, clinical characteristics and seasonality were analyzed. Results Fifty-one percent of patients were identified with at least one respiratory pathogen. Human rhinovirus (HRV) (23%), Respiratory syncytial virus (RSV) (22.7%) was the most commonly identified viruses, with Klebsiella pneumoniae (11.5%) the most commonly identified bacterium in the study. The presences of more than one pathogen were found, and multiple viral, bacterial, viral/bacterial combinations were identified in 14.9, 3.3 and 13.9% of patients respectively. Respiratory viruses were identified throughout the year with a seasonal peak in December–February. Pathogens profiles and clinical associations were different between infants ( 1 year of age). Infants with ARIs were more likely to have one or more viruses than older children. Infants identified with multiple pathogens had significantly higher proportions of tachypnea than infants that were not. Conclusions This study demonstrated that viral agents were frequently found in hospitalized children with ARI in Chengdu during the study period. This study gives us better information on the pathogen profiles, clinical associations, co-infection combinations and seasonal features of ARIs in hospitalized children, which is important for diagnoses and treatment of ARIs, as well as implementation of vaccines in this area. Moreover, future efforts in reducing the impact of ARIs will depend on programs in which available vaccines, especially vaccines on RSV, HRV and S. pneumoniae could be employed in this region and new vaccines could be developed against common pathogens

Improved magneostriction and mechanical properties in dual-phase FeGa single crystal

Single-phase Fe81Ga19 and dual-phase (Fe0.81Ga0.19)99.95Tb0.05 single crystals with perfect $\langle 001 \rangle$ orientation were prepared by directional solidification technology. The performance of the dual-phase single crystal (SC) can achieve 399 ppm in magnetostriction and 10.2% in tensile fracture strain, which are, respectively, 28% and 5 times larger than those in single-phase Fe81Ga19 SC. The slight solid solution of Tb and dispersive distributed Tb-rich particles in dual-phase SC, respectively, lead to the improvement in magnetostriction and ductility. This dual-phase SC can become the candidate for new-generation magnetostrictive materials combining significant advantages in both structural and functional properties. Impact statement This dual-phase (Fe0.81Ga0.19)99.95Tb0.05 single crystal combining large magnetostriction and excellent mechanical properties can be new-generation magnetostrictive materials which can satisfy the application requirement in structural and functional properties

A Novel Risk Score Model of Lactate Metabolism for Predicting over Survival and Immune Signature in Lung Adenocarcinoma

Background: The role of lactate acid in tumor progression was well proved. Recently, it was found that lactate acid accumulation induced an immunosuppressive microenvironment. However, these results were based on a single gene and it was unclear that lactate acid genes were associated with immunotherapy and able to predict overall survival. Methods: Genes and survival data were acquired from TCGA, GEO and GENECARDS. PCA and TSNE were used to distinguish sample types according to lactate metabolism-associated gene expression. A Wilcox-test examined the expression differences between normal and tumor samples. The distribution in chromatin and mutant levels were displayed by Circo and MAfTools. The lactate metabolism-associated gene were divided into categories by consistent clustering and visualized by Cytoscape. Immune cell infiltration was evaluated by CIBERSORT and LM22 matrix. Enrichment analysis was performed by GSVA. We used the ConsensusClusterPlus package for consistent cluster analysis. A prognostic model was constructed by Univariate Cox regression and Lasso regression analysis. Clinical specimens were detected their expression of genes in model by IHC. Results: Most lactate metabolism-associated gene were significantly differently expressed between normal and tumor samples. There was a strong correlation between the expression of lactate metabolism-associated gene and the abundance of immune cells. We divided them into two clusters (lactate.cluster A,B) with significantly different survival. The two clusters showed a difference in signal, immune cells, immune signatures, chemokines, and clinical features. We identified 162 differential genes from the two clusters, by which the samples were divided into three categories (gene.cluster A,B,C). They also showed a difference in OS and immune infiltration. Finally, a risk score model that was composed of six genes was constructed. There was significant difference in the survival between the high and low risk groups. ROC curves of 1, 3, 5, and 10 years verified the model had good predictive efficiency. Gene expression were correlated with ORR and PFS in patients who received anti-PD-1/L1. Conclusion: The lactate metabolism-associated genes in LUAD were significantly associated with OS and immune signatures. The risk scoring model that was constructed by us was able to well identify and predict OS and were related with anti-PD-1/L1 therapy outcome

An improved gridded water resource distribution for China based on second-order basin data

Water resources are essential for the land surface system and human life and activity. However, gridded water resource data that can reflect subtle differences of spatial distribution within water basins are scarce. This article has introduced six factors: precipitation, aridity, evapotranspiration, slope, vegetation, and catchment area, to develop an improved gridded model for water resource distribution in China based on the partition-weight assignment method. The results showed that the improved gridded water resource distribution method based on second-order basins has high applicability for China. It demonstrates an overall spatialization error of 7.68% for third-order basins and 7.25% for provincial administrative units. In addition, the spatialization precision of the Yangtze River Basin, Songhua River basin, and Southern River Basin, is better than that of the middle and lower reaches of Yellow River Basin, Huaihe River Basin, and Northwestern River Basin. The relationship between the water resource distribution and gross domestic product density differed with the size of urban areas and geographical locations. These results can provide scientific support and databases for the management of regional water resources