scholarly journals O2A: One-Shot Observational Learning with Action Vectors

2021 ◽  
Vol 8 ◽  
Author(s):  
Leo Pauly ◽  
Wisdom C. Agboh ◽  
David C. Hogg ◽  
Raul Fuentes
Keyword(s):  
Robotic Manipulation ◽  
Reward Function ◽  
Learning Domains ◽  
Comparable Performance ◽  
Third Person ◽  
Novel Method ◽  
Real Robot ◽  
3D Cnn ◽  
Demonstration Video ◽  
First Time

We present O2A, a novel method for learning to perform robotic manipulation tasks from a single (one-shot) third-person demonstration video. To our knowledge, it is the first time this has been done for a single demonstration. The key novelty lies in pre-training a feature extractor for creating a perceptual representation for actions that we call “action vectors”. The action vectors are extracted using a 3D-CNN model pre-trained as an action classifier on a generic action dataset. The distance between the action vectors from the observed third-person demonstration and trial robot executions is used as a reward for reinforcement learning of the demonstrated task. We report on experiments in simulation and on a real robot, with changes in viewpoint of observation, properties of the objects involved, scene background and morphology of the manipulator between the demonstration and the learning domains. O2A outperforms baseline approaches under different domain shifts and has comparable performance with an Oracle (that uses an ideal reward function). Videos of the results, including demonstrations, can be found in our: project-website.

Organic Reactivity Control by Means of Neighboring Groups and Organometallics. A Personal Account

1994 ◽  
Vol 59 (1) ◽  
pp. 1-74 ◽  
Author(s):  
Pavel Kočovský
Keyword(s):  
Transition Metals ◽  
Cyclopropane Ring ◽  
Allylic Substitutions ◽  
Recent Developments ◽  
Cardioactive Drug ◽  
Novel Method ◽  
Metal Catalyzed ◽  
Electrophilic Additions ◽  
Near Future ◽  
First Time

This review summarizes the main topics of our research and covers the period of the last 15 years. The prime interest is focused on various ways of controlling the regio- and stereoselectivity of selected organic reactions, in particular electrophilic additions, cleavage of cyclopropane rings, and allylic substitutions by means of neighboring groups and/or transition and non-transition metals. In the first part, the factors governing the course of electrophilic additions are assessed, culminating in the formulation of selection rules for the reactivity of cyclohexene systems, and in a concise synthesis of the natural cardioactive drug, strophanthidin. These studies also contribute to a better understanding of the mechanisms of electrophilic additions. The second part describes recent developments in the stereo- and regiocontrolled cleavage of cyclopropane rings by non-transition metals (Tl and Hg), and the reactivity and transmetalation (with Pd) of the primary products. This methodology has resulted in novel routes to unique polycyclic structures, and will have synthetic applications in the near future. Evidence for the stereospecific "corner" cleavage of the cyclopropane ring has been provided for the first time for Tl and later for Hg. The third part deals with transition metal-catalyzed allylic substitution. Evidence for a new "syn" mechanism for the formation of the intermediate (π-allyl)palladium complex has been provided, which runs counter to the generally accepted "anti" mechanism. A novel method for a Pd-catalyzed allylic oxidation has been developed and employed in the synthesis of natural sesquiterpenes. The increasing importance of transition and non-transition metals for synthetic organic chemistry is demonstrated by their unique reactivity in a number of the papers included in this review.

Ionized AGN outflows are less powerful than assumed: A multi-wavelength census of outflows in type II AGN

2019 ◽  
Vol 15 (S356) ◽  
pp. 225-225
Author(s):  
Dalya Baron
Keyword(s):  
Optical Emission ◽  
Infrared Emission ◽  
Type Ii ◽  
Ionized Gas ◽  
Kinetic Coupling ◽  
Mass Outflow ◽  
Multi Wavelength ◽  
Novel Method ◽  
First Time ◽  
Ionization Parameter

AbstractIn this talk I will show that multi-wavelength observations can provide novel constraints on the properties of ionized gas outflows in AGN. I will present evidence that the infrared emission in active galaxies includes a contribution from dust which is mixed with the outflow and is heated by the AGN. We detect this infrared component in thousands of AGN for the first time, and use it to constrain the outflow location. By combining this with optical emission lines, we constrain the mass outflow rates and energetics in a sample of 234 type II AGN, the largest such sample to date. The key ingredient of our new outflow measurements is a novel method to estimate the electron density using the ionization parameter and location of the flow. The inferred electron densities, ∼104.5 cm−3, are two orders of magnitude larger than found in most other cases of ionized outflows. We argue that the discrepancy is due to the fact that the commonly-used [SII]-based method underestimates the true density by a large factor. As a result, the inferred mass outflow rates and kinetic coupling efficiencies are 1–2 orders of magnitude lower than previous estimates, and 3–4 orders of magnitude lower than the typical requirement in hydrodynamic cosmological simulations. These results have significant implications for the relative importance of ionized outflows feedback in this population.

Graphite/UPE Nanocomposite: Transport, Thermal, Mechanical and Viscoelastic Properties

2019 ◽  
Vol 23 ◽  
pp. 201-212
Author(s):  
Shivkumari Panda ◽  
Dibakar Behera ◽  
Tapan Kumar Bastia
Keyword(s):  
Transport Properties ◽  
Unsaturated Polyester ◽  
Homogeneous Distribution ◽  
Thermo Gravimetric ◽  
New Class ◽  
The Matrix ◽  
Novel Method ◽  
Water Transport Properties ◽  
First Time

This chapter presents the preparation and characterization of some unique properties of nanocomposites by dispersing graphite flakes in commercial unsaturated polyester (UPE) matrix. The composite was prepared by a novel method with the use of solvent swelling technique. Three different specimens of UPE/graphite nanocomposites were fabricated with addition of 1, 2 and 3 wt% of graphite flakes. Except mechanical, viscoelastic and thermo gravimetric properties, transport properties like electrical conductivity, thermal conductivity and water transport properties were studied for the first time. Graphite flakes propose enhanced properties to the composites suggesting homogeneous distribution of the nanofiller in the matrix and strong interaction with the matrix. 2wt% nanofiller loading showed superior essential characteristics and after that the properties reduced may be due to the nucleating tendency of the nanofiller particles. The XRD pattern showed the compatibility of the graphite flakes by introducing a peak around 26.550 in the nanocomposites. SEM Properties are also in agreement with the compatibility. Nanocomposite with 2wt% graphite also showed remarkable enhancement in transport, mechanical, viscoelastic and thermo gravimetric properties. So by introduction of a small quantity of graphite endow the new class of multiphase nanocomposites with inimitable structure and tremendous application.

scholarly journals Precision measurements on oxygen formation in stellar helium burning with gamma-ray beams and a Time Projection Chamber

2021 ◽  
Author(s):  
Robin Smith ◽  
Moshe Gai ◽  
Sarah Stern ◽  
Deran Schweitzer ◽  
Mohammad Ahmed
Keyword(s):  
Time Projection Chamber ◽  
Gamma Ray ◽  
Nuclear Reactions ◽  
Angular Distributions ◽  
Helium Burning ◽  
Low Energies ◽  
Important Input ◽  
Novel Method ◽  
Time Projection ◽  
First Time

Abstract Stellar Evolution theory relies on our knowledge of nuclear reactions, with the carbon/oxygen (C/O) ratio, at the end of helium burning, being the single most important input. However, the C/O ratio is still not known with sufficient accuracy, due to large uncertainties in the cross section for the fusion of helium with 12C to form 16O, denoted as the 12C(α,γ)16O reaction. We present initial results at moderately low energies using a novel method, which is significantly different from the experimental efforts of the past four decades. Precise angular distributions of the 12C(α,γ)16O reaction were obtained by measuring the inverse 16O(γ,α)12C reaction with gamma-beams and a Time Projection Chamber detector. These allowed us to measure, for the first time, the interference angle of the l = 1 and 2 partial waves contributing to this reaction (φ12), which agrees with predictions based on the unitarity of the scattering matrix.

scholarly journals A Novel Method for the Quantification of Quinic Acid in Food Using Stable Isotope Dilution Analysis

2009 ◽  
Vol 92 (3) ◽  
pp. 730-733 ◽  
Author(s):  
Thomas Erk ◽  
Hannah Bergmann ◽  
Elke Richling
Keyword(s):  
Stable Isotope ◽  
Isotope Dilution ◽  
Quinic Acid ◽  
Isotope Dilution Analysis ◽  
Red Wines ◽  
Stable Isotope Dilution Analysis ◽  
Selective Method ◽  
Stable Isotope Dilution ◽  
Novel Method ◽  
First Time

Abstract Organic acids play an important role in the flavor and taste of plant-derived foods. Quinic acid (QA) is one of the major acids. In the past, several methods like HPLC/UV, GC, and capillary electrophoresis were used for identification and quantification of QA. For the first time, a novel, sensitive, and selective method for the quantification of QA in food using stable isotope dilution analysis with HPLC/MS/MS has been established. Uniformly labeled 13C-QA was used as a standard to reduce sample preparations and to overcome matrix and ionization effects. The method was used to determine the QA content of red wines, instant coffees, and cloudy apple juices. QA contents of instant coffees were 64.4 and 63.6 g/kg powder. The concentrations in red wines were 24.0 and 25.1 mg/L, and 1493.3 and 1705.2 mg/L in cloudy apple juices.

scholarly journals Optimal Stopping for Processes with Independent Increments, and Applications

2009 ◽  
Vol 46 (04) ◽  
pp. 1130-1145 ◽  
Author(s):  
G. Deligiannidis ◽  
H. Le ◽  
S. Utev
Keyword(s):  
Optimal Stopping ◽  
Optimization Problems ◽  
Infinite Horizon ◽  
Unified Approach ◽  
Reward Function ◽  
Finance Industry ◽  
Independent Increments ◽  
Reward Functions ◽  
First Time ◽  
The Value Function

In this paper we present an explicit solution to the infinite-horizon optimal stopping problem for processes with stationary independent increments, where reward functions admit a certain representation in terms of the process at a random time. It is shown that it is optimal to stop at the first time the process crosses a level defined as the root of an equation obtained from the representation of the reward function. We obtain an explicit formula for the value function in terms of the infimum and supremum of the process, by making use of the Wiener–Hopf factorization. The main results are applied to several problems considered in the literature, to give a unified approach, and to new optimization problems from the finance industry.

Layer-by-layer self-assembly of polydopamine/gold nanoparticle/thiol coating as the stationary phase for open tubular capillary electrochromatography

2015 ◽  
Vol 7 (19) ◽  
pp. 8227-8234 ◽  
Author(s):  
Xiu-Ju Li ◽  
Qi-Feng Fu ◽  
Qi-Hui Zhang ◽  
Xue-Mei Jiang ◽  
Feng-Qing Yang ◽  
...  
Keyword(s):  
Gold Nanoparticles ◽  
Stationary Phase ◽  
Gold Nanoparticle ◽  
Self Assembly ◽  
Capillary Electrochromatography ◽  
Phase Ratio ◽  
Layer By Layer ◽  
Novel Method ◽  
First Time ◽  
High Phase

A novel method for the preparation of permanent coating columns with a high phase ratio based on the multiple properties of PDA and LBL self-assembly of polydopamine/gold nanoparticles/thiols has been developed for the first time.

Origin and stabilization of axial chirality in the construction of naphthyl-C2-indoles: a DFT study

2020 ◽  
Vol 7 (20) ◽  
pp. 3166-3173
Author(s):  
Qianqian Deng ◽  
Yang Wang ◽  
Shi-Jun Li ◽  
Ling-Bo Qu ◽  
Yu Lan ◽  
...  
Keyword(s):  
Dft Study ◽  
Axial Chirality ◽  
Novel Method ◽  
First Time

A novel method for predicting the stabilization of axial chirality in the construction of naphthyl-C2-indoles has been suggested for the first time.

scholarly journals Q-BERT: Hessian Based Ultra Low Precision Quantization of BERT

2020 ◽  
Vol 34 (05) ◽  
pp. 8815-8821 ◽  
Author(s):  
Sheng Shen ◽  
Zhen Dong ◽  
Jiayu Ye ◽  
Linjian Ma ◽  
Zhewei Yao ◽  
...  
Keyword(s):  
Language Processing ◽  
Fine Tuning ◽  
Model Parameters ◽  
Quantization Scheme ◽  
Performance Loss ◽  
Extensive Analysis ◽  
Constrained Environments ◽  
Comparable Performance ◽  
Novel Method ◽  
Tuning Strategy

Transformer based architectures have become de-facto models used for a range of Natural Language Processing tasks. In particular, the BERT based models achieved significant accuracy gain for GLUE tasks, CoNLL-03 and SQuAD. However, BERT based models have a prohibitive memory footprint and latency. As a result, deploying BERT based models in resource constrained environments has become a challenging task. In this work, we perform an extensive analysis of fine-tuned BERT models using second order Hessian information, and we use our results to propose a novel method for quantizing BERT models to ultra low precision. In particular, we propose a new group-wise quantization scheme, and we use Hessian-based mix-precision method to compress the model further. We extensively test our proposed method on BERT downstream tasks of SST-2, MNLI, CoNLL-03, and SQuAD. We can achieve comparable performance to baseline with at most 2.3% performance degradation, even with ultra-low precision quantization down to 2 bits, corresponding up to 13× compression of the model parameters, and up to 4× compression of the embedding table as well as activations. Among all tasks, we observed the highest performance loss for BERT fine-tuned on SQuAD. By probing into the Hessian based analysis as well as visualization, we show that this is related to the fact that current training/fine-tuning strategy of BERT does not converge for SQuAD.

scholarly journals MIDAS: A Benchmarking Multi-Criteria Method for the Identification of Defective Anemometers in Wind Farms

Energies ◽  
2018 ◽  
Vol 12 (1) ◽  
pp. 28 ◽  
Author(s):  
Arkaitz Rabanal ◽  
Alain Ulazia ◽  
Gabriel Ibarra-Berastegi ◽  
Jon Sáenz ◽  
Unai Elosegui
Keyword(s):  
Wind Farm ◽  
Principal Component ◽  
Wind Farms ◽  
General Purpose ◽  
Wind Data ◽  
Kolmogorov Smirnov ◽  
Clear Identification ◽  
Novel Method ◽  
Verification Techniques ◽  
First Time

A novel multi-criteria methodology for the identification of defective anemometers is shown in this paper with a benchmarking approach: it is called MIDAS: multi-technique identification of defective anemometers. The identification of wrong wind data as provided by malfunctioning devices is very important, because the actual power curve of a wind turbine is conditioned by the quality of its anemometer measurements. Here, we present a novel method applied for the first time to anemometers’ data based on the kernel probability density function and the recent reanalysis ERA5. This estimation improves classical unidimensional methods such as the Kolmogorov–Smirnov test, and the use of the global ERA5’s wind data as the first benchmarking reference establishes a general method that can be used anywhere. Therefore, adopting ERA5 as the reference, this method is applied bi-dimensionally for the zonal and meridional components of wind, thus checking both components at the same time. This technique allows the identification of defective anemometers, as well as clear identification of the group of anemometers that works properly. After that, other verification techniques were used versus the faultless anemometers (Taylor diagrams, running correlation and R M S E , and principal component analysis), and coherent results were obtained for all statistical techniques with respect to the multidimensional method. The developed methodology combines the use of this set of techniques and was able to identify the defective anemometers in a wind farm with 10 anemometers located in Northern Europe in a terrain with forests and woodlands. Nevertheless, this methodology is general-purpose and not site-dependent, and in the future, its performance will be studied in other types of terrain and wind farms.

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