Joint Representations for Reinforcement Learning with Multiple Sensors

Combining inputs from multiple sensor modalities effectively in reinforcement learning (RL) is an open problem. While many self-supervised representation learning approaches exist to improve performance and sample complexity for image-based RL, they usually neglect other available information, such as robot proprioception. However, using this proprioception for representation learning can help algorithms to focus on relevant aspects and guide them toward finding better representations. In this work, we systematically analyze representation learning for RL from multiple sensors by building on Recurrent State Space Models. We propose a combination of reconstruction-based and contrastive losses, which allows us to choose the most appropriate method for each sensor modality. We demonstrate the benefits of joint representations, particularly with distinct loss functions for each modality, for model-free and model-based RL on complex tasks. Those include tasks where the images contain distractions or occlusions and a new locomotion suite. We show that combining reconstruction-based and contrastive losses for joint representation learning improves performance significantly compared to a post hoc combination of image representations and proprioception and can also improve the quality of learned models for model-based RL

Quantum Communication Uplink to a 3U CubeSat: Feasibility & Design

Satellites are the efficient way to achieve global scale quantum communication (Q.Com) because unavoidable losses restrict fiber based Q.Com to a few hundred kilometers. We demonstrate the feasibility of establishing a Q.Com uplink with a tiny 3U CubeSat (measuring just 10X10X32 cm^3 ) using commercial off-the-shelf components, the majority of which have space heritage. We demonstrate how to leverage the latest advancements in nano-satellite body-pointing to show that our 4kg CubeSat can provide performance comparable to much larger 600kg satellite missions. A comprehensive link budget and simulation was performed to calculate the secure key rates. We discuss design choices and trade-offs to maximize the key rate while minimizing the cost and development needed. Our detailed design and feasibility study can be readily used as a template for global scale Q.Com.Comment: 24 pages, 9 figures, 2 tables. Fixed tables and figure

Photonic entanglement during a zero-g flight

Quantum technologies have matured to the point that we can test fundamental quantum phenomena under extreme conditions. Specifically, entanglement, a cornerstone of modern quantum information theory, can be robustly produced and verified in various adverse environments. We take these tests further and implement a high-quality Bell experiment during a parabolic flight, transitioning from microgravity to hypergravity of 1.8 g while continuously observing Bell violation, with Bell-CHSH parameters between $S=-2.6202$ and $-2.7323$, an average of $\overline{S} = -2.680$, and average standard deviation of $\overline{\Delta S} = 0.014$. This violation is unaffected both by uniform and non-uniform acceleration. This experiment demonstrates the stability of current quantum communication platforms for space-based applications and adds an important reference point for testing the interplay of non-inertial motion and quantum information.Comment: 10+12 pages, 18 figure

Perfect alignment and preferential orientation of nitrogen-vacancy centers during CVD growth of diamond on (111) surfaces

Synthetic diamond production is key to the development of quantum metrology and quantum information applications of diamond. The major quantum sensor and qubit candidate in diamond is the nitrogen-vacancy (NV) color center. This lattice defect comes in four different crystallographic orientations leading to an intrinsic inhomogeneity among NV centers that is undesirable in some applications. Here, we report a microwave plasma-assisted chemical vapor decomposition (MPCVD) diamond growth technique on (111)-oriented substrates that yields perfect alignment ($94\pm2$) of as-grown NV centers along a single crystallographic direction. In addition, clear evidence is found that the majority ($74\pm4$) of the aligned NV centers were formed by the nitrogen being first included in the (111) growth surface and then followed by the formation of a neighboring vacancy on top. The achieved homogeneity of the grown NV centers will tremendously benefit quantum information and metrology applications.Comment: 6 pages, 4 figures, changes to previous version: added acknowledgemen

Killer immunoglobulin-like receptor 2DS5 is associated with recovery from coronavirus disease 2019

Background Despite numerous advances in the identification of risk factors for the development of severe coronavirus disease 2019 (COVID-19), factors that promote recovery from COVID-19 remain unknown. Natural killer (NK) cells provide innate immune defense against viral infections and are known to be activated during moderate and severe COVID-19. Killer immunoglobulin-like receptors (KIR) mediate NK cell cytotoxicity through recognition of an altered MHC-I expression on infected target cells. However, the influence of KIR genotype on outcome of patients with COVID-19 has not been investigated so far. We retrospectively analyzed the outcome associations of NK cell count and KIR genotype of patients with COVID-19 related severe ARDS treated on our tertiary intensive care unit (ICU) between February and June 2020 and validated our findings in an independent validation cohort of patients with moderate COVID-19 admitted to our tertiary medical center. Results Median age of all patients in the discovery cohort (n = 16) was 61 years (range 50–71 years). All patients received invasive mechanical ventilation; 11 patients (68%) required extracorporeal membrane oxygenation (ECMO). Patients who recovered from COVID-19 had significantly higher median NK cell counts during the whole observational period compared to patients who died (121 cells/µL, range 16–602 cells/µL vs 81 cells/µL, range 6–227 cells/µL, p-value = 0.01). KIR2DS5 positivity was significantly associated with shorter time to recovery (21.6 ± 2.8 days vs. 44.6 ± 2.2 days, p-value = 0.01). KIR2DS5 positivity was significantly associated with freedom from transfer to ICU (0% vs 9%, p-value = 0.04) in the validation cohort which consisted of 65 patients with moderate COVID-19. Conclusion NK cells and KIR genotype might have an impact on recovery from COVID-19

Asymmetric synthesis of propargylamines as amino acid surrogates in peptidomimetics

Wünsch M, Schröder DC, Fröhr T, et al. Asymmetric synthesis of propargylamines as amino acid surrogates in peptidomimetics. Beilstein Journal of Organic Chemistry. 2017;13:2428-2441.The amide moiety of peptides can be replaced for example by a triazole moiety, which is considered to be bioisosteric. Therefore, the carbonyl moiety of an amino acid has to be replaced by an alkyne in order to provide a precursor of such peptidomimetics. As most amino acids have a chiral center at C-alpha, such amide bond surrogates need a chiral moiety. Here the asymmetric synthesis of a set of 24 N-sulfinyl propargylamines is presented. The condensation of various aldehydes with Ellman's chiral sulfinamide provides chiral N-sulfinylimines, which were reacted with (trimethylsilyl) ethynyllithium to afford diastereomerically pure N-sulfinyl propargylamines. Diverse functional groups present in the propargylic position resemble the side chain present at the Ca of amino acids. Whereas propargylamines with (cyclo) alkyl substituents can be prepared in a direct manner, residues with polar functional groups require suitable protective groups. The presence of particular functional groups in the side chain in some cases leads to remarkable side reactions of the alkyne moiety. Thus, electron-withdrawing substituents in the C-alpha-position facilitate a base induced rearrangement to alpha, beta-unsaturated imines, while azide-substituted propargylamines form triazoles under surprisingly mild conditions. A panel of propargylamines bearing fluoro or chloro substituents, polar functional groups, or basic and acidic functional groups is accessible for the use as precursors of peptidomimetics

Tumor infiltration in enhancing and non-enhancing parts of glioblastoma: A correlation with histopathology

To correlate histopathologic findings from biopsy specimens with their corresponding location within enhancing areas, non-enhancing areas and necrotic areas on contrast enhanced T1-weighted MRI scans (cT1).In 37 patients with newly diagnosed glioblastoma who underwent stereotactic biopsy, we obtained a correlation of 561 1mm3 biopsy specimens with their corresponding position on the intraoperative cT1 image at 1.5 Tesla. Biopsy points were categorized as enhancing (CE), non-enhancing (NE) or necrotic (NEC) on cT1 and tissue samples were categorized as "viable tumor cells", "blood" or "necrotic tissue (with or without cellular component)". Cell counting was done semi-automatically.NE had the highest content of tissue categorized as viable tumor cells (89% vs. 60% in CE and 30% NEC, respectively). Besides, the average cell density for NE (3764 ± 2893 cells/mm2) was comparable to CE (3506 ± 3116 cells/mm2), while NEC had a lower cell density with 2713 ± 3239 cells/mm2. If necrotic parts and bleeds were excluded, cell density in biopsies categorized as "viable tumor tissue" decreased from the center of the tumor (NEC, 5804 ± 3480 cells/mm2) to CE (4495 ± 3209 cells/mm2) and NE (4130 ± 2817 cells/mm2).The appearance of a glioblastoma on a cT1 image (circular enhancement, central necrosis, peritumoral edema) does not correspond to its diffuse histopathological composition. Cell density is elevated in both CE and NE parts. Hence, our study suggests that NE contains considerable amounts of infiltrative tumor with a high cellularity which might be considered in resection planning