Efficient Fully Convolution Neural Network for Generating Pixel Wise Robotic Grasps With High Resolution Images

This paper presents an efficient neural network model to generate robotic grasps with high resolution images. The proposed model uses fully convolution neural network to generate robotic grasps for each pixel using 400 $\times$ 400 high resolution RGB-D images. It first down-sample the images to get features and then up-sample those features to the original size of the input as well as combines local and global features from different feature maps. Compared to other regression or classification methods for detecting robotic grasps, our method looks more like the segmentation methods which solves the problem through pixel-wise ways. We use Cornell Grasp Dataset to train and evaluate the model and get high accuracy about 94.42% for image-wise and 91.02% for object-wise and fast prediction time about 8ms. We also demonstrate that without training on the multiple objects dataset, our model can directly output robotic grasps candidates for different objects because of the pixel wise implementation.Comment: Submitted to ROBIO 201

Understanding and predicting synthetic lethal genetic interactions in Saccharomyces cerevisiae using domain genetic interactions

Genetic interactions have been widely used to define functional relationships between proteins and pathways. In this study, we demonstrated that yeast synthetic lethal genetic interactions can be explained by the genetic interactions between domains of those proteins. The domain genetic interactions rarely overlap with the domain physical interactions from iPfam database and provide a complementary view about domain relationships. Moreover, we found that domains in multidomain yeast proteins contribute to their genetic interactions differently. The domain genetic interactions help more precisely define the function related to the synthetic lethal genetic interactions, and then help understand how domains contribute to different functionalities of multidomain proteins. Using the probabilities of domain genetic interactions, we were able to predict novel yeast synthetic lethal genetic interactions. Furthermore, we had also identified novel compensatory pathways from the predicted synthetic lethal genetic interactions. Our study significantly improved the understanding of yeast mulitdomain proteins, the synthetic lethal genetic interactions and the functional relationships between proteins and pathways.Comment: 36 page, 4 figure

Corporate Social Responsibility Reporting, Pyramidal Structure And Political Interference: Evidence From China

This paper attempts to investigate the relation between pyramidal structure and corporate social responsibility (CSR) reporting quality and the effect of political interference on the relation. Based on 1388 Chinese A-share listed firms during 2010-2012, this paper demonstrates that the separation between control and ownership rights is significantly and positively related to the CSR reporting quality in the state-owned firms (SOFs), while negatively related to the CSR reporting quality in the non-state-owned firms (NSOFs). Results also indicate that the pyramidal layer between the bottom firms and their top ultimate owners is negatively related to CSR reporting quality, particularly significant for the NSOFs. Our research enriches the corporate governance literature by giving insights into the mechanism of pyramidal structure in corporate reporting, and extends the understanding of political interference in the CSR field. This study has public policy implications for China as well as a number of other countries in the Asia–Pacific region.

Formal deformations, cohomology theory and L∞[1]L_\infty[1]-structures for differential Lie algebras of arbitrary weight

Generalising a previous work of Jiang and Sheng, a cohomology theory for differential Lie algebras of arbitrary weight is introduced. The underlying $L_\infty[1]$-structure on the cochain complex is also determined via a generalised version of higher derived brackets. The equivalence between $L_\infty[1]$-structures for absolute and relative differential Lie algebras are established. Formal deformations and abelian extensions are interpreted by using lower degree cohomology groups. Also we introduce the homotopy differential Lie algebras. In a forthcoming paper, we will show that the operad of homotopy (relative) differential Lie algebras is the minimal model of the operad of (relative) differential Lie algebras