Lifelike Agility and Play on Quadrupedal Robots using Reinforcement Learning and Generative Pre-trained Models

Summarizing knowledge from animals and human beings inspires robotic innovations. In this work, we propose a framework for driving legged robots act like real animals with lifelike agility and strategy in complex environments. Inspired by large pre-trained models witnessed with impressive performance in language and image understanding, we introduce the power of advanced deep generative models to produce motor control signals stimulating legged robots to act like real animals. Unlike conventional controllers and end-to-end RL methods that are task-specific, we propose to pre-train generative models over animal motion datasets to preserve expressive knowledge of animal behavior. The pre-trained model holds sufficient primitive-level knowledge yet is environment-agnostic. It is then reused for a successive stage of learning to align with the environments by traversing a number of challenging obstacles that are rarely considered in previous approaches, including creeping through narrow spaces, jumping over hurdles, freerunning over scattered blocks, etc. Finally, a task-specific controller is trained to solve complex downstream tasks by reusing the knowledge from previous stages. Enriching the knowledge regarding each stage does not affect the usage of other levels of knowledge. This flexible framework offers the possibility of continual knowledge accumulation at different levels. We successfully apply the trained multi-level controllers to the MAX robot, a quadrupedal robot developed in-house, to mimic animals, traverse complex obstacles, and play in a designed challenging multi-agent Chase Tag Game, where lifelike agility and strategy emerge on the robots. The present research pushes the frontier of robot control with new insights on reusing multi-level pre-trained knowledge and solving highly complex downstream tasks in the real world

Role of Scrib and Dlg in anterior-posterior patterning of the follicular epithelium during Drosophila oogenesis

<p>Abstract</p> <p>Background</p> <p>Proper patterning of the follicle cell epithelium over the egg chamber is essential for the <it>Drosophila </it>egg development. Differentiation of the epithelium into several distinct cell types along the anterior-posterior axis requires coordinated activities of multiple signaling pathways. Previously, we reported that <it>lethal(2)giant larvae </it>(<it>lgl</it>), a <it>Drosophila </it>tumor suppressor gene, is required in the follicle cells for the posterior follicle cell (PFC) fate induction at mid-oogenesis. Here we explore the role of another two tumor suppressor genes, <it>scribble </it>(<it>scrib</it>) and <it>discs large </it>(<it>dlg</it>), in the epithelial patterning.</p> <p>Results</p> <p>We found that removal of <it>scrib </it>or <it>dlg </it>function from the follicle cells at posterior terminal of the egg chamber causes a complete loss of the PFC fate. Aberrant specification and differentiation of the PFCs in the mosaic clones can be ascribed to defects in coordinated activation of the EGFR, JAK and Notch signaling pathways in the multilayered cells. Meanwhile, the clonal analysis revealed that loss-of-function mutations in <it>scrib/dlg </it>at the anterior domains result in a partially penetrant phenotype of defective induction of the stretched and centripetal cell fate, whereas specification of the border cell fate can still occur in the most anterior region of the mutant clones. Further, we showed that <it>scrib </it>genetically interacts with <it>dlg </it>in regulating posterior patterning of the epithelium.</p> <p>Conclusion</p> <p>In this study we provide evidence that <it>scrib </it>and <it>dlg </it>function differentially in anterior and posterior patterning of the follicular epithelium at oogenesis. Further genetic analysis indicates that <it>scrib </it>and <it>dlg </it>act in a common pathway to regulate PFC fate induction. This study may open another window for elucidating role of <it>scrib/dlg </it>in controlling epithelial polarity and cell proliferation during development.</p

Metabolomic Profiling and Assessment of Phenolic Compounds Derived from <i>Vitis davidii</i> Foex Cane and Stem Extracts

Phenolic extracts from berry seeds have been extensively studied for their health benefits. However, few studies have been conducted on the effects of phenolic extracts from Vitis L. canes and berry stems. The Chinese spine grape (V. davidii Foex) is an important and widely distributed wild species of Vitis L. The present study explored the metabolomic profile and evaluated the antioxidant activity of phenolic compounds in extracts from V. davidii Foex. canes and stems, with a focus on their role in preventing DNA damage caused by free radicals and inhibiting the growth of breast (MCF-7) and cervical (HeLa) cancer cells. Total phenolic compounds in the dried berry stems of spine grapes were higher than that in vine canes. Analysis of the extracts showed that proanthocyanins, epicatechin, catechin, and phenolic acid were the main phenolic compounds in V. davidii Foex, but in higher quantities in berry stems than in vine canes. However, trans-resveratrol and kaempferol 3-O-glucoside were present in the vine canes but not in the berry stems. Antioxidant analysis by FRAP and ABTS showed that extracts from berry stems and vine canes had a higher antioxidant activity than thinned young fruit shoots before flowering, leaves, peel, pulp, and seeds in V. davidii Foex. Moreover, the antioxidant activity of extracts from berry stems was higher than that in other grape species, except for muscadine. In vitro analyses further showed that the extracts significantly increased H2O2 scavenging ability and conferred a protective effect against DNA damage. Furthermore, a low concentration of phenolic compounds in extracts from the vine canes and berry stems of spine grapes inhibited the proliferation of the MCF-7 and Hela cancer cells. These research results provided some important useful information for the exploitation of V. davidii Foex canes and berry stems and indicated that canes and stems of V. davidii Foex had good antioxidant properties, anticancer activity and prevented DNA damage, providing evidence for medical utilization of V. davidii Foex

Functional analysis of the Nep1-like proteins from Plasmopara viticola

Necrosis and ethylene-inducing peptide 1 (Nep1) -like proteins (NLP) are secreted by multiple taxonomically unrelated plant pathogens (bacteria, fungi, and oomycete) and are best known for inducing cell death and immune responses in dicotyledonous plants. A group of putative NLP genes from obligate biotrophic oomycete Plasmopara viticola were predicted by RNA-Seq in our previous study, but their activity has not been established. Therefore, we analyzed the P. viticola NLP (PvNLP) family and identified seven PvNLP genes. They all belong to type 1 NLP genes and form a P. viticola-specific cluster when compared with other pathogen NLP genes. The expression of PvNLPs was induced during early infection process and the expression patterns could be categorized into two groups. Agrobacterium tumefaciens-mediated transient expression assays revealed that only PvNLP7 was cytotoxic and could induce Phytophthora capsici resistance in Nicotiana benthamiana. Functional analysis showed that PvNLP4, PvNLP5, PvNLP7, and PvNLP10 significantly improved disease resistance of Arabidopsis thaliana to Hyaloperonospora arabidopsidis. Moreover, the four genes caused an inhibition of plant growth which is typically associated with enhanced immunity when over-expressed in Arabidopsis. Further research found that PvNLP7 could activate the expression of defense-related genes and its conserved NPP1 domain was critical for cell death- and immunity-inducing activity. This record of NLP genes from P. viticola showed a functional diversification, laying a foundation for further study on pathogenic mechanism of the devastating pathogen

Comparative transcriptome analyses of a table grape ‘Summer Black’ and its early-ripening mutant ‘Tiangong Moyu’ identify candidate genes potentially involved in berry development and ripening

Early ripening is an important desirable attribute for fruit crops. ‘Tiangong Moyu’, a bud mutant of the grape cultivar ‘Summer Black’ (Vitis vinifera L.× Vitis labrusca L.), ripens nearly 10 days earlier and shows earlier increase in fresh weight, sugar accumulation, and color change and faster decrease in titratable acid than ‘Summer Black’. To identify the genes controlling early fruit development and ripening in ‘Tiangong Moyu’, RNA-Seq profiles of the two cultivars were compared at five different berry developmental stages. Based on GO annotation and KEGG pathway enrichment analysis, the differentially expressed genes were clustered into various functional groups, including plant hormone signal transduction, transcription factors, anthocyanin-associated biosynthesis pathway, phenylpropanoid biosynthesis, plant–pathogen associated and plant–pathogen interaction, and ripening-related protein genes. Our results provided a global transcriptional profile of candidate genes involved in regulating berry development and ripening and a genetic basis for the understanding of grape berry ripening

The complete chloroplast genome sequence of Vitis champinii

Vitis champinii is a grapevine rootstock species and widely used in vineyards and in rootstock breeding programs for regions with high nematode populations or saline soils. Here, the complete chloroplast genome of V. champinii was reported. The length of the chloroplast genome was 160,657 bp with a large single copy region of 89,217 bp, a small single copy region of 19,504 bp and two separated inverted regions of 51,936 bp, respectively. In total, 130 unique genes were identified of this genome, including 85 protein-coding genes, 37 tRNA genes, and 8 rRNA genes. Phylogenetic analysis indicates that V. champinii is closely related to Vitis acerifolia

Integrated mRNA and miRNA transcriptome analysis of grape in responses to salt stress

Salt stress is an important factor which may negatively affect plant growth and development. High concentrations of Na+ ions can destroy the ion balance in plant somatic cells, as well as destroying cell membranes and forming a large number of reactive oxygen species (ROS) and other damage mechanisms. However, plants have evolved numerous defense mechanisms in response to the damages caused by salt stress conditions. Grape (Vitis vinifera L.), a type of economic crop, is widely planted throughout the world. It has been found that salt stress is an important factor affecting the quality and growth of grape crops. In this study, a high-throughput sequencing method was used to identify the differentially expressed miRNAs and mRNAs in grapes as responses to salt stress. A total of 7,856 differentially expressed genes under the salt stress conditions were successfully identified, of which 3,504 genes were observed to have up-regulated expressions and 4,352 genes had down-regulated expressions. In addition, this study also identified 3,027 miRNAs from the sequencing data using bowtie and mireap software. Among those, 174 were found to be highly conserved, and the remaining miRNAs were less conserved. In order to analyze the expression levels of those miRNAs under salt stress conditions, a TPM algorithm and DESeq software were utilized to screen the differentially expressed miRNAs among different treatments. Subsequently, a total of thirty-nine differentially expressed miRNAs were identified, of which fourteen were observed to be up-regulated miRNAs and twenty-five were down-regulated under the salt stress conditions. A regulatory network was built in order to examine the responses of grape plants to salt stress, with the goal of laying a solid foundation for revealing the molecular mechanism of grape in responses to salt stress

The complete chloroplast genome sequence of Vitis berlandieri

Vitis berlandieri, a species of grape native to the southern North America, is known for good tolerance against soils with a high content of lime and was almost used for rootstock breeding. Here, we report the complete chloroplast genome of V. berlandieri. The chloroplast genome was 161,028 bp in length, harboring a large single-copy region (89,228 bp) and a small single-copy region (19,028 bp) separated by two inverted repeat regions. A total of 130 unique genes were identified from this genome, including 85 protein-coding genes (PCGs), 37 tRNA genes, and 8 rRNA genes. Chloroplast phylogenetic analysis revealed that V. berlandieri is closely related to V. cordifolia