Learning to Use Chopsticks in Diverse Gripping Styles

Learning dexterous manipulation skills is a long-standing challenge in computer graphics and robotics, especially when the task involves complex and delicate interactions between the hands, tools and objects. In this paper, we focus on chopsticks-based object relocation tasks, which are common yet demanding. The key to successful chopsticks skills is steady gripping of the sticks that also supports delicate maneuvers. We automatically discover physically valid chopsticks holding poses by Bayesian Optimization (BO) and Deep Reinforcement Learning (DRL), which works for multiple gripping styles and hand morphologies without the need of example data. Given as input the discovered gripping poses and desired objects to be moved, we build physics-based hand controllers to accomplish relocation tasks in two stages. First, kinematic trajectories are synthesized for the chopsticks and hand in a motion planning stage. The key components of our motion planner include a grasping model to select suitable chopsticks configurations for grasping the object, and a trajectory optimization module to generate collision-free chopsticks trajectories. Then we train physics-based hand controllers through DRL again to track the desired kinematic trajectories produced by the motion planner. We demonstrate the capabilities of our framework by relocating objects of various shapes and sizes, in diverse gripping styles and holding positions for multiple hand morphologies. Our system achieves faster learning speed and better control robustness, when compared to vanilla systems that attempt to learn chopstick-based skills without a gripping pose optimization module and/or without a kinematic motion planner

Numerical Simulations of Spread Characteristics of Toxic Cyanide in the Danjiangkou Reservoir in China under the Effects of Dam Cooperation

Many accidents of releasing toxic pollutants into surface water happen each year in the world. It is believed that dam cooperation can affect flow field in reservoir and then can be applied to avoiding and reducing spread speed of toxic pollutants to drinking water intake mouth. However, few studies investigated the effects of dam cooperation on the spread characteristics of toxic pollutants in reservoir, especially the source reservoir for water diversion with more than one dam. The Danjiangkou Reservoir is the source reservoir of the China’ South-to-North Water Diversion Middle Route Project. The human activities are active within this reservoir basin and cyanide-releasing accident once happened in upstream inflow. In order to simulate the spread characteristics of cyanide in the reservoir in the condition of dam cooperation, a three-dimensional water quality model based on the Environmental Fluid Dynamics Code (EFDC) has been built and put into practice. The results indicated that cooperation of two dams of the Danjiangkou Reservoir could be applied to avoiding and reducing the spread speed of toxic cyanide in the reservoir directing to the water intake mouth for water diversions

Quantum resonance and anti-resonance for a periodically kicked Bose-Einstein Condensate in a one dimensional Box

We investigate the quantum dynamics of a periodically kicked Bose-Einstein Condensate confined in a one dimensional (1D) Box both numerically and theoretically, emphasizing on the phenomena of quantum resonance and anti-resonance. The quantum resonant behavior of BEC is different from the single particle case but the anti-resonance condition ($T = 2\pi$ and $\alpha = 0$) is not affected by the atomic interaction. For the anti-resonance case, the nonlinearity (atom interaction) causes the transition between oscillation and quantum beating. For the quantum resonance case, because of the coherence of BEC, the energy increase is oscillating and the rate is dramatically affected by the many-body interaction. We also discuss the relation between the quantum resonant behavior and the KAM or non-KAM property of the corresponding classical system.Comment: 7 pages, 7 figure