A Universal Semantic-Geometric Representation for Robotic Manipulation

Robots rely heavily on sensors, especially RGB and depth cameras, to perceive and interact with the world. RGB cameras record 2D images with rich semantic information while missing precise spatial information. On the other side, depth cameras offer critical 3D geometry data but capture limited semantics. Therefore, integrating both modalities is crucial for learning representations for robotic perception and control. However, current research predominantly focuses on only one of these modalities, neglecting the benefits of incorporating both. To this end, we present Semantic-Geometric Representation (SGR), a universal perception module for robotics that leverages the rich semantic information of large-scale pre-trained 2D models and inherits the merits of 3D spatial reasoning. Our experiments demonstrate that SGR empowers the agent to successfully complete a diverse range of simulated and real-world robotic manipulation tasks, outperforming state-of-the-art methods significantly in both single-task and multi-task settings. Furthermore, SGR possesses the unique capability to generalize to novel semantic attributes, setting it apart from the other methods

Spatial-Temporal Data Mining for Ocean Science: Data, Methodologies, and Opportunities

With the increasing amount of spatial-temporal~(ST) ocean data, numerous spatial-temporal data mining (STDM) studies have been conducted to address various oceanic issues, e.g., climate forecasting and disaster warning. Compared with typical ST data (e.g., traffic data), ST ocean data is more complicated with some unique characteristics, e.g., diverse regionality and high sparsity. These characteristics make it difficult to design and train STDM models. Unfortunately, an overview of these studies is still missing, hindering computer scientists to identify the research issues in ocean while discouraging researchers in ocean science from applying advanced STDM techniques. To remedy this situation, we provide a comprehensive survey to summarize existing STDM studies in ocean. Concretely, we first summarize the widely-used ST ocean datasets and identify their unique characteristics. Then, typical ST ocean data quality enhancement techniques are discussed. Next, we classify existing STDM studies for ocean into four types of tasks, i.e., prediction, event detection, pattern mining, and anomaly detection, and elaborate the techniques for these tasks. Finally, promising research opportunities are highlighted. This survey will help scientists from the fields of both computer science and ocean science have a better understanding of the fundamental concepts, key techniques, and open challenges of STDM in ocean

Identification of Volatile and Non-Volatile Components in Taiping Houkui Tea Made from ‘Shidacha’ and Non-‘Shidacha’ Tea Varieties and Phylogenetic Analysis

Taiping Houkui green tea is mainly made from the young shoots of the sextual tea line ‘Shidacha’. In the present study, the differences in the quality and genetic evolution of green tea made from the young shoots of five ‘Shidacha’ varieties (Gaojiazao, Huangzhong, Shidacha No.2, Shidacha No.6, and Guangyangzao) and two non-‘Shidacha’ tea varieties (Fuzao No.2 and Shuchazao) were explored. The volatile and non-volatile metabolites of the seven tea samples were analyzed, and the differences in genome-wide transcriptional levels and genetic background among the seven tea varieties were analyzed using RNA sequencing (RNA-seq). No significant differences in catechin content or the total content of free amino acids were found among all tea samples except Shuchazao, whereas caffeine content differed significantly among all samples. The contents of floral aroma compounds such as linalool, linalool oxide, geraniol and jasmone were relatively high in the infusion of ‘Shidacha’ green tea. RNA sequencing results showed that the genome-wide transcriptional level of Guangyangzao was close to that of the non-‘Shidacha’ tea varieties. In principal component analysis (PCA), Guangyangzao and the other ‘Shidacha’ varieties were distributed in different quadrants. Phylogenetic analysis showed that the non-‘Shidacha’ tea varieties had a close genetic relationship with each other as well as Gaojiazao and Huangzhong, but was far away from the other ‘Shidacha’ varieties. The transcriptional levels of most of the key enzyme genes involved in the biosynthesis of linalool, indole, nerolidol and jasmone lactone were higher in the ‘Shidacha’ tea varieties than in the non-‘Shidacha’ ones. This study provides important theoretical support for the breeding of excellent ‘Shidacha’ varieties and provides a theoretical basis for follow-up research on the formation mechanism of floral aroma compounds in tea leaves

Contribution of Stems and Leaves to the Quality of Keemun Black Tea

In order to understand the contribution of stems and leaves to the quality of Keemun black tea, this study analyzed the differences in aroma, taste quality and metabolites among black tea manufactured from tender leaves, tender stems, single buds and intact buds with leaves (mainly one bud with two leaves) from the tea variety ‘Fuzao 2’ by gas chromatography-mass spectrometry (GC-MS), liquid chromatography-mass spectrometry (LC-MS), sensory evaluation, and preference evaluation. The results showed that all four black teas were sweet aroma type, and the bud-leaf tea had a strong sweet aroma. The single-bud tea had a fresh and brisk taste. The tender-stem tea scored highest in preference evaluation. Metabolite analysis showed the content of catechins was the highest in the single-bud black tea and the lowest in the tender-stem black tea, while free amino acids were significantly enriched in the tender-stem black tea, reaching up to 80 mg/g. The contents of quercetin and rutin were higher in the stem black tea, while the contents of kaempferol-3-O-glucoside and kaempferol-3-O-rutinoside were the highest in the leaf black tea. The ratio of thearubigins to theaflavins was 11.6, 9.4, 14.6, and 8.2 in black tea made from intact buds with leaves, buds, leaves, and tender stems, respectively. The total amount of volatile compounds in the tender-stem black tea (32.37 μg/g) was significantly lower than that in the bud (100.01 μg/g), leaf (95.67 μg/g), and bud-leaf black tea (92.42 μg/g). The contents of benzaldehyde, benzeneacetaldehyde and indole were higher in the tender stem black tea, while the contents of β-ionone, α-ionone and linalool oxide in the leaf black tea were higher than those in the other three black teas. This study shows that high contents of theanine in tender stems and glycoside aroma precursors in tea leaves contribute primarily to the formation of the quality of Keemun black tea

Extracts of Salvia-Nelumbinis Naturalis Ameliorate Nonalcoholic Steatohepatitis via Inhibiting Gut-Derived Endotoxin Mediated TLR4/NF- κ

Nonalcoholic steatohepatitis (NASH) is featured by the presence of hepatic steatosis combined with inflammation and hepatocellular injury. Gut-derived endotoxin plays a crucial role in the pathogenesis of NASH. Salvia-Nelumbinis naturalis (SNN), a formula of Traditional Chinese Medicine, has been identified to be effective for NASH, but the mechanisms were not thoroughly explored. In the present study, a NASH model was generated using C57BL/6 mice fed a high fat diet (HFD) supplemented periodically with dextran sulfate sodium (DSS) in drinking water for 12 weeks. Mice fed HFD alone (without DSS) or chow diet were used as controls. The NASH mice were given the SNN extracts in the following 4 weeks, while control mice were provided with saline. Mice fed HFD developed steatosis, and DSS supplementation resulted in NASH. The SNN extracts significantly improved metabolic disorders including obesity, dyslipidemia, and liver steatosis and reduced hepatic inflammation, circulating tumor necrosis factor-α (TNF-α), and lipopolysaccharide (LPS) levels. The beneficial effect of the SNN extracts was associated with restoration of intestinal conditions (microbiota, integrity of intestinal barrier) and inhibition of TLR4/NF-κB activation. These results suggest that the SNN extracts ameliorate NASH progression, possibly through blocking endotoxin related TLR4/NF-κB activation

AgentBench: Evaluating LLMs as Agents

Large Language Models (LLMs) are becoming increasingly smart and autonomous, targeting real-world pragmatic missions beyond traditional NLP tasks. As a result, there has been an urgent need to evaluate LLMs as agents on challenging tasks in interactive environments. We present AgentBench, a multi-dimensional evolving benchmark that currently consists of 8 distinct environments to assess LLM-as-Agent's reasoning and decision-making abilities in a multi-turn open-ended generation setting. Our extensive test over 27 API-based and open-sourced (OSS) LLMs shows that, while top commercial LLMs present a strong ability of acting as agents in complex environments, there is a significant disparity in performance between them and OSS competitors. We identify the typical reasons of failures in environments and LLMs, showing that poor long-term reasoning, decision-making, and instruction following abilities are the main obstacles for developing usable LLM agents. Training on code and high quality multi-turn alignment data could improve agent performance. Datasets, environments, and an integrated evaluation package for AgentBench are released at \url{https://github.com/THUDM/AgentBench}.Comment: 55 page

Reperfusion status and postoperative blood pressure in acute stroke patients after endovascular treatment

Background and purposeAn aggressive lowering of blood pressure (BP) could lead to neurological worsening, particularly of the area that has not been reperfused in acute stroke patients with large vessel occlusion (LVO). We sought to investigate the association of reperfusion status and BP course following mechanical thrombectomy (MT) with outcomes in LVO.Materials and methodsConsecutive patients with LVO treated with MT between Jan 2020 to Jun 2021 were enrolled in a retrospective cohort study. Hourly systolic BP (SBP) and diastolic BP (DBP) were recorded for 72 h following MT and maximum SBP and DBP levels were identified. The Extended Thrombolysis in Cerebral Infarction (eTICI) scale was used to assess reperfusion extent. LVO patients were stratified in 2 groups based on reperfusion status: complete reperfusion (eTICI 3) and incomplete reperfusion (eTICI 2b/c). Three-month functional independence was defined as a modified Rankin Scale score of 0–2.ResultsA total of 263 acute ischemic stroke patients with LVO were retrospectively evaluated. Complete reperfusion was achieved in 210 patients (79.8%). Post-MT maximum SBP over 160 mmHg was significantly related to worse functional outcome (38.1% vs. 55.7%, p = 0.006), higher likelihood of in-hospital mortality and 3-month mortality (19.0% vs. 6.9%, p = 0.004, 27.4% vs. 14.3%, p = 0.012). No statistical correlation was found between reperfusion status and blood pressure level (p > 0.05). In patients with complete reperfusion, patients with an average BP 120-140 mmHg tends to have worse functional outcome compared with 100-120 mmHg (OR = 1.77, 95%CI: 0.97–3.23, p = 0.061).ConclusionHigh maximum SBP levels following MT are associated with an increased likelihood of 3-month functional dependence and mortality. An average BP of 100–120 mmHg tends to have better functional independence in completely reperfused patients. The effect of intensive BP control on incomplete reperfusion still warrants further investigations

Sensitivities of Ozone Air Pollution in the Beijing-Tianjin-Hebei Area to Local and Upwind Precursor Emissions Using Adjoint Modeling

Effective mitigation of surface ozone pollution entails detailed knowledge of the contributing precursors' sources. We use the GEOS-Chem adjoint model to analyze the precursors contributing to surface ozone in the Beijing-Tianjin-Hebei area (BTH) of China on days of different ozone pollution severities in June 2019. We find that BTH ozone on heavily polluted days is sensitive to local emissions, as well as to precursors emitted from the provinces south of BTH (Shandong, Henan, and Jiangsu, collectively the SHJ area). Heavy ozone pollution in BTH can be mitigated effectively by reducing NOx (from industrial processes and transportation), ≥C3 alkenes (from on-road gasoline vehicles and industrial processes), and xylenes (from paint use) emitted from both BTH and SHJ, as well as by reducing CO (from industrial processes, transportation, and power generation) and ≥C4 alkanes (from industrial processes, paint and solvent use, and on-road gasoline vehicles) emissions from SHJ. In addition, reduction of NOx, xylene, and ≥C3 alkene emissions within BTH would effectively decrease the number of BTH ozone-exceedance days. Our analysis pinpoint the key areas and activities for locally and regionally coordinated emission control efforts to improve surface ozone air quality in BTH