Using Simulation and Domain Adaptation to Improve Efficiency of Deep Robotic Grasping

Instrumenting and collecting annotated visual grasping datasets to train modern machine learning algorithms can be extremely time-consuming and expensive. An appealing alternative is to use off-the-shelf simulators to render synthetic data for which ground-truth annotations are generated automatically. Unfortunately, models trained purely on simulated data often fail to generalize to the real world. We study how randomized simulated environments and domain adaptation methods can be extended to train a grasping system to grasp novel objects from raw monocular RGB images. We extensively evaluate our approaches with a total of more than 25,000 physical test grasps, studying a range of simulation conditions and domain adaptation methods, including a novel extension of pixel-level domain adaptation that we term the GraspGAN. We show that, by using synthetic data and domain adaptation, we are able to reduce the number of real-world samples needed to achieve a given level of performance by up to 50 times, using only randomly generated simulated objects. We also show that by using only unlabeled real-world data and our GraspGAN methodology, we obtain real-world grasping performance without any real-world labels that is similar to that achieved with 939,777 labeled real-world samples.Comment: 9 pages, 5 figures, 3 table

Complexidade e escala na investigação da eficácia do ensino: reflexões do estudo MET

Researchers and policymakers in the US and beyond increasingly seek to identify teaching qualities that are associated with academic achievement gains for K-12 students through effectiveness studies. Yet teaching quality varies with academic content and social contexts, involves multiple participants, and requires a range of skills, knowledge, and dispositions. In this essay, we address the inescapable tension between complexity and scale in research on teaching effectiveness. We provide five recommendations to study designers and analysts to manage this tension to enhance effectiveness research, drawing on our recent experiences as the first external analysts of the Measures of Effective Teaching (MET) study. Our recommendations address conceptual framing, the measurement of teaching (e.g., observation protocols, student surveys), sampling, classroom videoing, and the use and interpretation of value-added models.Investigadores y legisladores en los Estados Unidos y en otros países buscan identificar las cualidades de la enseñanza que se asocian con incrementos de desempeño académico para alumnos de primaria y secundaria a través de estudios de eficacia. Sin embargo, la calidad de la enseñanza varía según el contenido académico y los contextos sociales, involucra a múltiples participantes y requiere una variedad de habilidades, conocimientos y disposiciones. En este ensayo, abordamos la ineludible tensión entre la complejidad y la escala en la investigación sobre la eficacia de la enseñanza. Proveemos cinco recomendaciones a los diseñadores de estudios y analistas para manejar esta tensión y mejorar la investigación de eficacia, aprovechando nuestras experiencias recientes como los primeros analistas externos del estudio Measures of Effective Teaching (MET). Nuestras recomendaciones abordan el marco conceptual, la medición de la enseñanza (por ej., protocolos de observación, encuestas de estudiantes), el muestreo, el video en el aula y el uso e interpretación de modelos de valor agregado.Pesquisadores e legisladores nos Estados Unidos e em outros países buscam identificar as qualidades de ensino associadas ao aumento do desempenho acadêmico de alunos do ensino fundamental e médio por meio de estudos de eficácia. No entanto, a qualidade do ensino varia de acordo com o conteúdo acadêmico e os contextos sociais, envolve múltiplos participantes e requer uma variedade de habilidades, conhecimentos e disposições. Neste ensaio, abordamos a tensão inescapável entre complexidade e escala na pesquisa sobre a eficácia do ensino. Fornecemos cinco recomendações para projetistas e analistas de estudo para gerenciar essa tensão e melhorar a pesquisa sobre eficácia, alavancando nossas experiências recentes como os primeiros analistas externos do estudo Measures of Effective Teaching (MET). Nossas recomendações abordam a estrutura conceitual, a medição do ensino (por exemplo, protocolos de observação, pesquisas com estudantes), amostragem, vídeo em sala de aula e o uso e interpretação de modelos de valor agregado

Efficient robotic grasping using simulation and domain adaptation.

Data collection for training robotic grasping controllers is expensive in both time and price. Methods for making use of simulated data are very appealing as they reduce this expense dramatically, but often fail to generalise to a real world environment. GraspGAN is a application of pixel level domain adaptation that can generate synthetic training data good enough that we can reduce the amount of real world data required by a factor of 50

The Aryl Hydrocarbon Receptor Mediates Degradation of Estrogen Receptor α through Activation of Proteasomes

2,3,7,8-Tetrachlorodibenzo-p-dioxin (TCDD) and other aryl hydrocarbon receptor (AhR) ligands suppress 17β-estradiol (E)-induced responses in the rodent uterus and mammary tumors and in human breast cancer cells. Treatment of ZR-75, T47D, and MCF-7 human breast cancer cells with TCDD induces proteasome-dependent degradation of endogenous estrogen receptor α (ERα). The proteasome inhibitors MG132, PSI, and PSII inhibit the proteasome-dependent effects induced by TCDD, whereas the protease inhibitors EST, calpain inhibitor II, and chloroquine do not affect this response. ERα levels in the mouse uterus and breast cancer cells were significantly lower after cotreatment with E plus TCDD than after treatment with E or TCDD alone, and our results indicate that AhR-mediated inhibition of E-induced transactivation is mainly due to limiting levels of ERα in cells cotreated with E plus TCDD. TCDD alone or in combination with E increases formation of ubiquitinated forms of ERα, and both coimmunoprecipitation and mammalian two-hybrid assays demonstrate that TCDD induces interaction of the AhR with ERα in the presence or absence of E. In contrast, E does not induce AhR-ERα interactions. Thus, inhibitory AhR-ERα cross talk is linked to a novel pathway for degradation of ERα in which TCDD initially induces formation of a nuclear AhR complex which coordinately recruits ERα and the proteasome complex, resulting in degradation of both receptors

Prognostic markers of overall survival in cancer patients attending a cachexia support service : An evaluation of clinically assessed physical function, malnutrition and inflammatory status

Background Cancer cachexia is a muscle-wasting syndrome that results in physical function impairments and decreased survival. While body weight and muscle mass loss predict survival, the prognostic significance of physical function in this population is unclear. Thus, we evaluated the association between physical function, and other routine measures, and overall survival (OS) in cancer patients attending a cachexia support service. Methods Physical function was clinically-assessed using the 30 s sit-to-stand test and handgrip strength. Six-month weight loss, the Patient-Generated Subjective Global Assessment (PG-SGA) total score, C-reactive protein (CRP), albumin, and quality of life were also evaluated. Results Records from 203 patients (age: 68.6 ± 11.6 years) were included. Handgrip strength did not predict OS. Sit-to-stand repetitions predicted OS in the single variable, but not the multivariable analysis. Multivariable results suggested higher PG-SGA total scores (HR: 1.04, 95% CI: 1.01–1.07), six-month weight loss (HR: 1.02, 95% CI: 1.004–1.04), and elevated CRP (HR: 1.004, 95% CI: 1.0004–1.01) predicted shorter OS. Higher albumin predicted longer OS (HR: 0.93, 95% CI: 0.90–0.97). Conclusion Six-month weight loss, the PG-SGA total score, CRP, and albumin independently predicted survival, while physical function did not. Functional impairments remain a hallmark of cancer cachexia and the benefit of their routine assessment warrants further exploration, especially in relation to patient quality of life

Quality of life and symptom burden improve in patients attending a multidisciplinary clinical service for cancer cachexia : A retrospective observational review

Background Cancer cachexia negatively affects quality of life (QoL) and increases symptom burden. A multimodal treatment approach may optimize cachexia outcomes, including QoL. We evaluated QoL and symptoms over time among patients attending a multidisciplinary clinical service for cancer cachexia. Methods Adults with cancer who attended the clinical service three times between 2017 and 2020 were included. Quality of life and symptoms were assessed using the European Organization for Research and Treatment of Cancer Quality of life Questionnaire Core 15 Palliative Care (EORTC QLQ-C15-PAL) and the Functional Assessment Anorexia/Cachexia Therapy (FAACT) questionnaires. Physical function was assessed using the 30s sit-to-stand test and handgrip strength. Results Overall, 162 patients (age = 67.2 ± 12.0 years) were included. Mean six-month weight loss at baseline was 10.4% ± 9.4%. Mean body weight was stable between clinic visits (P = 0.904) and no change in sit-to-stand repetitions (P = 0.133) or handgrip strength (P = 0.734) occurred over time. Improvements in EORTC QLQ-C15-PAL overall QoL (Δ10.7 ± 2.5, P < 0.001), physical function (Δ8.0 ± 2.4, P = 0.003) and emotional function (Δ11.4 ± 2.9, P < 0.001) occurred by the second visit. EORTC QLQ-C15-PAL fatigue (Δ13.8 ± 2.9, P < 0.001), pain (Δ10.3 ± 3.3, P = 0.007), nausea/vomiting (Δ16.1 ± 3.0, P < 0.001) and appetite symptoms (Δ25.9 ± 3.8, P < 0.001) also improved by the second visit. FAACT total score (Δ14.6 ± 2.7, P < 0.001), anorexia-cachexia symptoms (Δ6.6 ± 1.1, P< 0.001), and physical (Δ3.7 ± 0.70, P < 0.001), emotional (Δ1.9 ± 0.60, P = 0.005) and functional wellbeing (Δ2.7 ± 0.71, P = 0.001) improved by the second visit. All improvements in EORTC QLQ-C15-PAL and FAACT outcomes were maintained at the third visit. Conclusion Significant improvements in QoL and symptoms were associated with attending a cancer cachexia clinical service. Our findings support using multidisciplinary, multimodal cancer cachexia treatment approaches to improve patient wellbeing