Knolling bot 2.0: Enhancing Object Organization with Self-supervised Graspability Estimation

Building on recent advancements in transformer based approaches for domestic robots performing knolling, the art of organizing scattered items into neat arrangements. This paper introduces Knolling bot 2.0. Recognizing the challenges posed by piles of objects or items situated closely together, this upgraded system incorporates a self-supervised graspability estimation model. If objects are deemed ungraspable, an additional behavior will be executed to separate the objects before knolling the table. By integrating this grasp prediction mechanism with existing visual perception and transformer based knolling models, an advanced system capable of decluttering and organizing even more complex and densely populated table settings is demonstrated. Experimental evaluations demonstrate the effectiveness of this module, yielding a graspability prediction accuracy of 95.7%.Comment: This paper has been accepted by the NeurIPS 2023 Robot Learning Worksho

A layer decomposition method for multi-layer elastic contact systems with interlayer Tresca friction

With the increasing demand for the accuracy of numerical simulation of pavement mechanics, the variational inequality model and its induced finite element method which can simulate the interlayer contact state becomes a potential solution. In this paper, a layer decomposition algorithm for solving variational inequality models of multi-layer elastic contact systems with interlayer Tresca friction conditions is studied. Continuous and discrete versions of the algorithm and their convergence theorems have been proposed and proved successively. Then, the algebraic form of the executable optimization algorithm and the numerical experimental results verify the practicability of the variational inequality model and its algorithm in the pavement mechanics modeling

Integrative construction of regulatory region networks in 127 human reference epigenomes by matrix factorization

© The Author(s) 2019. Published by Oxford University Press on behalf of Nucleic Acids Research. Despite large experimental and computational efforts aiming to dissect the mechanisms underlying disease risk, mapping cis-regulatory elements to target genes remains a challenge. Here, we introduce a matrix factorization framework to integrate physical and functional interaction data of genomic segments. The framework was used to predict a regulatory network of chromatin interaction edges linking more than 20 000 promoters and 1.8 million enhancers across 127 human reference epigenomes, including edges that are present in any of the input datasets. Our network integrates functional evidence of correlated activity patterns from epigenomic data and physical evidence of chromatin interactions. An important contribution of this work is the representation of heterogeneous data with different qualities as networks. We show that the unbiased integration of independent data sources suggestive of regulatory interactions produces meaningful associations supported by existing functional and physical evidence, correlating with expected independent biological features

The Impact of the Interactive New Technology of TikTok on the Pre-production Stage of the Film Industry Chain

In the context of the Internet era, the emergence and development of new media technology has affected many industries in society and spawned the birth and popularity of mobile short video apps represented by TikTok. This interactive new technology of TikTok has a huge influence on People's Daily life and on the traditional film industry and even the newly emerged "new media film industry". This study analyzes the impact of the interactive new technology of TikTok on the pre-production stage specifically. The impact happens in three primary angles. It demonstrates that TikTok is not just in a position to be used by filmmakers for their publicity. Meanwhile, it already started to reverse its influence on the front end of the movie industry chain. Through the method of literature research, this article gives a new definition of "new media film" and "short video", which is conducive to better-targeted research on TikTok-dominated short videos. At the same time, this study also subdivides the impact of short videos on the film industry based on the industrial chain, focusing on the impact on the pre-production stage of the film, which is rarely mentioned in previous studies

The Impact of the Interactive New Technology of TikTok on the Pre-production Stage of the Film Industry Chain

In the context of the Internet era, the emergence and development of new media technology has affected many industries in society and spawned the birth and popularity of mobile short video apps represented by TikTok. This interactive new technology of TikTok has a huge influence on People's Daily life and on the traditional film industry and even the newly emerged "new media film industry". This study analyzes the impact of the interactive new technology of TikTok on the pre-production stage specifically. The impact happens in three primary angles. It demonstrates that TikTok is not just in a position to be used by filmmakers for their publicity. Meanwhile, it already started to reverse its influence on the front end of the movie industry chain. Through the method of literature research, this article gives a new definition of "new media film" and "short video", which is conducive to better-targeted research on TikTok-dominated short videos. At the same time, this study also subdivides the impact of short videos on the film industry based on the industrial chain, focusing on the impact on the pre-production stage of the film, which is rarely mentioned in previous studies.</jats:p

MEAN TIME TO ABSORPTION ON THE JOINT SIERPINSKI GASKET

As a kind of classical fractal network models, Sierpinski Gasket and its extended network models have attracted the attention of many scholars because of their many applications in real-world networks. Based on the classical Sierpinski Gasket, this paper proposes a joint Sierpinski Gasket model, which can be used not only to study the topology and dynamic properties of Sierpinski Gasket itself, but also to study the Sierpinski Gasket under special conditions, such as the residual Sierpinski Gasket after damage. Since the mean time to absorption (MTA) on the network is a basic dynamic property related to the random walk, in this paper, we study the expression of MTA on the proposed general joint Sierpinski Gasket model, and find that the MTA is determined by the number of iterations [Formula: see text] and two variables determined by the mode variable [Formula: see text], which can be solved by matrix algorithm. Therefore, using the expression of MTA on the general joint Sierpinski Gasket model, we calculate the analytical expressions of the MTA on a general example of the joint Sierpinski Gasket model and three Sierpinski Gaskets with varying degrees of damage and do the corresponding numerical simulation to verify the correctness of the conclusion. </jats:p

Simulation of Robotic Arm Grasping Control Based on Proximal Policy Optimization Algorithm

Abstract There are many kinds of inverse kinematics solutions for robots. Deep reinforcement learning can make the robot spend a short time to find the optimal inverse kinematics solution. Aiming at the problem of sparse rewards in the process of deep reinforcement learning, this paper proposes an improved PPO algorithm. Firstly, built a simulation environment for the operation of the robotic arm. Secondly, use a convolutional neural network to process the data read by the camera of the robotic arm, obtaining a network about Actor and Critic. Thirdly, based on the principle of inverse kinematics of the robotic arm and the reward mechanism in deep reinforcement learning, design a hierarchical reward function containing motion accuracy to promote the convergence of the PPO algorithm. Finally, compare the improved PPO algorithm with the traditional PPO algorithm. The results show that the improved PPO algorithm has improved both the convergence speed and the operating accuracy.</jats:p