Miracle-dz/UniFAR-FTUs huggingface dataset:
Object-Centric Instruction Augmentation for Robotic Manipulation

Humans interpret scenes by recognizing both the identities and positions of objects in their observations. For a robot to perform tasks such as \enquote{pick and place}, understanding both what the objects are and where they are located is crucial. While the former has been extensively discussed in the literature that uses the large language model to enrich the text descriptions, the latter remains underexplored. In this work, we introduce the \textit{Object-Centric Instruction Augmentation (OCI)} framework to augment highly semantic and information-dense language instruction with position cues. We utilize a Multi-modal Large Language Model (MLLM) to weave knowledge of object locations into natural language instruction, thus aiding the policy network in mastering actions for versatile manipulation. Additionally, we present a feature reuse mechanism to integrate the vision-language features from off-the-shelf pre-trained MLLM into policy networks. Through a series of simulated and real-world robotic tasks, we demonstrate that robotic manipulator imitation policies trained with our enhanced instructions outperform those relying solely on traditional language instructions.
Probing Inert Triplet Model at a multi-TeV muon collider via vector boson fusion with forward muon tagging

This study investigates the potential of a multi-TeV Muon Collider (MuC) for probing the Inert Triplet Model (ITM), which introduces a triplet scalar field with hypercharge $Y=0$ to the Standard Model. The ITM stands out as a compelling Beyond the Standard Model scenario, featuring a neutral triplet $T^0$ and charged triplets $T^\pm$. Notably, $T^0$ is posited as a dark matter (DM) candidate, being odd under a $Z_2$ symmetry. Rigorous evaluations against theoretical, collider, and DM experimental constraints corner the triplet scalar mass to a narrow TeV-scale region, within which three benchmark points are identified, with $T^\pm$ masses of 1.2 TeV, 1.85 TeV, and 2.3 TeV, for the collider study. The ITM's unique $TTVV$ four-point vertex, differing from fermionic DM models, facilitates efficient pair production through Vector Boson Fusion (VBF). This characteristic positions the MuC as an ideal platform for exploring the ITM, particularly due to the enhanced VBF cross-sections at high collision energies. To address the challenge of the soft decay products of $T^\pm$ resulting from the narrow mass gap between $T^\pm$ and $T^0$, we propose using Disappearing Charged Tracks (DCTs) from $T^\pm$ and Forward muons as key signatures. We provide event counts for these signatures at MuC energies of 6 TeV and 10 TeV, with respective luminosities of 4 ab$^{-1}$ and 10 ab$^{-1}$. Despite the challenge of beam-induced backgrounds contaminating the signal, we demonstrate that our proposed final states enable the MuC to achieve a $5\sigma$ discovery for the identified benchmark points, particularly highlighting the effectiveness of the final state with one DCT and one Forward muon.
Fast-iTPN: Integrally Pre-Trained Transformer Pyramid Network with Token Migration

We propose integrally pre-trained transformer pyramid network (iTPN), towards jointly optimizing the network backbone and the neck, so that transfer gap between representation models and downstream tasks is minimal. iTPN is born with two elaborated designs: 1) The first pre-trained feature pyramid upon vision transformer (ViT). 2) Multi-stage supervision to the feature pyramid using masked feature modeling (MFM). iTPN is updated to Fast-iTPN, reducing computational memory overhead and accelerating inference through two flexible designs. 1) Token migration: dropping redundant tokens of the backbone while replenishing them in the feature pyramid without attention operations. 2) Token gathering: reducing computation cost caused by global attention by introducing few gathering tokens. The base/large-level Fast-iTPN achieve 88.75%/89.5% top-1 accuracy on ImageNet-1K. With 1x training schedule using DINO, the base/large-level Fast-iTPN achieves 58.4%/58.8% box AP on COCO object detection, and a 57.5%/58.7% mIoU on ADE20K semantic segmentation using MaskDINO. Fast-iTPN can accelerate the inference procedure by up to 70%, with negligible performance loss, demonstrating the potential to be a powerful backbone for downstream vision tasks. The code is available at: github.com/sunsmarterjie/iTPN.
Physical activity and sedentary time after lifestyle interventions at the Norwegian Healthy Life Centres

Abstract Aims: This study evaluates long-term changes in physical activity and its associations with various predictors after a behavior change program at the Norwegian Healthy Life Centers. Background: Physical activity is recommended and is part of public health strategies to prevent noncommunicable diseases. Methods: This longitudinal cohort, based on a controlled randomized trial, studies a population of 116 Healthy Life Center participants in South-Western Norway who wore SenseWear Armbands to measure time spent in moderate to vigorous physical activity and sedentary time based on metabolic equivalents. The measurements were obtained at baseline, immediately post-intervention, and 24 months after baseline. Linear mixed model analyses were performed to assess predictors for change in physical activity and sedentary time. Findings: High physical activity levels at baseline were maintained during the 24-month study period. Young, male participants with good self-rated health, utilizing local PA facilities were most active, and young participants utilizing local facilities were also less sedentary. The participants with higher levels of education were less active initially but caught up with the difference during follow-up. A high degree of controlled regulation, characterized by bad conscience and external pressure, predicted more sedentary behavior and a trend toward being less physically active. Autonomous motivation was associated with less time spent on sedentary behaviors. People with high self-efficacy for physical activity were more sedentary initially but showed a reduction in their sedentary behavior. The study supports the importance of attending local training facilities and adopting motivation for behavioral change that is not based on guilt and external rewards. Interventions aimed at improving physical activity among people at risk for noncommunicable diseases benefit from habitual use of local training facilities, strengthening their self-perceived health and the development of internalized motivation. However, it has not been shown to mitigate social health disparities.
Carbon- and oxygen-isotope records of mid-Cretaceous Tethyan pelagic sequences from the Umbria – Marche and Belluno Basins (Italy)

The late Albian – early Turonian time interval was marked by major environmental changes at regional to global scales. Oceanic Anoxic Events (OAE) 1d and OAE 2 and the mid-Cenomanian Event (MCE I) are all associated with ? 13C anomalies that indicate perturbations of the global carbon cycle. In this study, new carbon- and oxygen-isotope records are presented from four Italian Tethyan sections: Furlo, Le Brecce and Monte Petrano (Umbria – Marche Basin) and Cismon (Belluno Basin), deposited in pelagic settings characterized by the alternation of nannofossil-planktonic foraminiferal limestones, radiolarian-rich levels and shales. The ? 13C records exhibit a ? 1 ‰ positive excursion in ? 13Ccarb corresponding with OAE 1d and a much larger positive anomaly (? 3–4 ‰) in ? 13Corg corresponding with OAE 2 (Bonarelli Level). Between the strata that record these two events a double-spiked minor (? 0.7 ‰) positive excursion in ? 13Ccarb marks the MCE I. Locally, after deposition of the MCE I but before formation of the Bonarelli Level, sedimentation shifted to alternate dysoxic/anoxic and well-oxygenated conditions as represented by lithological rhythms of black shales/black chert bands and whitish limestones. 18O data indicate a progressive decrease in values from the upper Albian up to the Bonarelli Level (uppermost Cenomanian), suggesting an overall warming trend. Carbon-isotope stratigraphy, calibrated against biostratigraphy, provides a robust framework for dating and correlation, and allows identification of hiatuses in the studied sections. In particular, the high-resolution ? 13C profiles through the Bonarelli Level highlight the presence of hiatuses of variable extent that systematically affect the middle to upper part of the characteristic carbon-isotope excursion and part of the following interval in all of the studied sections. Locally, a hiatus may also be present at the base of the Bonarelli Level. Correlations with carbon-isotope reference curves from other localities allow the duration of the missing intervals to be estimated as between 160 and 510 kyr in the middle to latter part of OAE 2 and the succeeding interval, showing that the Bonarelli Level extends no higher than the uppermost Cenomanian, even though the isotopic definition of the oceanic anoxic event indicates continuation into the early Turonian. The origin of these stratigraphic gaps can be attributed to physical and/or chemical processes operating at the sea floor. Complete recovery from the peculiar physico-chemical conditions that characterized the deeper parts of the Tethys Ocean during OAE 2 took at least 1 million years.
Flow stability and sequence of bifurcations in a cubic cavity driven by a constant shear stress

Abstract The progressive destabilisation of the incompressible flow in a cubical cavity driven by a constant shear stress is investigated numerically. To that end, one of the square faces of the cube is subjected to a constant shear stress parallel to two opposite edges of that face. The three-dimensional steady basic flow loses its mirror symmetry through a supercritical pitchfork bifurcation leading to a pair of steady stable non-symmetric flow states that are antisymmetric to each other. Upon increase of the strength of the driving, these non-symmetric equilibria become unstable via a Hopf bifurcation resulting in two limit cycles. The bifurcations are investigated using classical linear stability analyses as well as nonlinear simulations. Upon a further increase of the driving shear stress, the limit cycles destabilise through bursts triggering a complex interplay between the unstable equilibria. The transition to turbulence resembles the Pomeau–Manneville scenario.
The S1 subunits of SARS-CoV-2 variants differentially trigger the IL-6 signaling pathway in human brain endothelial cells and downstream impact on microglia activation

Abstract Objectives Cerebrovascular complications are prevalent in COVID-19 infection and post-COVID conditions; therefore, interactions of SARS-CoV-2 with cerebral microvascular cells became an emerging concern. Methods We examined the inflammatory responses of human brain microvascular endothelial cells (HBMEC), the main structural element of the blood–brain barrier (BBB), following exposure to the S1 subunit of the spike protein of different SARS-CoV-2 variants. Specifically, we used the S1 subunit derived from the D614 variant of SARS-CoV-2, which started widely circulating in March of 2020, and from the Delta variant, which started widely circulating in early 2021. We then further examined the impact of the HBMEC secretome, produced in response to the S1 exposure, on microglial proinflammatory responses. Results Treatment with S1 derived from the D614 variant and from the Delta variant resulted in differential alterations of the IL-6 signaling pathway. Moreover, the HBMEC secretome obtained after exposure to the S1 subunit of the D614 variant activated STAT3 in microglial cells, indicating that proinflammatory signals from endothelial cells can propagate to other cells of the neurovascular unit. Overall, these results indicate the potential for different SARS-CoV-2 variants to induce unique cellular signatures and warrant individualized treatment strategies. The findings from this study also bring further awareness to proinflammatory responses involving brain microvasculature in COVID-19 and demonstrate how the surrounding microglia react to each unique variant derived response.
Microvilli regulate the release modes of alpha-tectorin to organize the domain-specific matrix architecture of the tectorial membrane

The tectorial membrane (TM) is an apical extracellular matrix (ECM) in the cochlea essential for auditory transduction. The TM exhibits highly ordered domain-specific architecture. Alpha-tectorin/TECTA is a glycosylphosphatidylinositol (GPI)-anchored ECM protein essential for TM organization. Here, we identified that TECTA is released by distinct modes: proteolytic shedding by TMPRSS2 and GPI-anchor-dependent release from the microvillus tip. In the medial/limbal domain, proteolytically shed TECTA forms dense fibers. In the lateral/body domain produced by the supporting cells displaying dense microvilli, the proteolytic shedding restricts TECTA to the microvillus tip and compartmentalizes the collagen-binding site. The tip-localized TECTA, in turn, is released in a GPI-anchor-dependent manner to form collagen-crosslinking fibers, required for maintaining the spacing and parallel organization of collagen fibrils. Overall, we showed that distinct release modes of TECTA determine the domain-specific organization pattern, and the microvillus coordinates the release modes along its membrane to organize the higher-order ECM architecture. Graphical Abstract
Post-zygotic reproductive isolation is not correlated with chromosome number in plants

The evolution of chromosome numbers is an important but not fully understood aspect of eukaryotic evolution. Although we understand the types of karyotypic changes that can lead to chromosome gain and loss, we still do not understand why chromosome numbers in many plants and animals have an average of n = 9. A recent hypothesis proposed that chromosome number reduction following whole genome duplication (WGD) in angiosperms is driven by an interaction between chromosome number and the strength of reproductive isolation among populations. Chromosome number is expected to determine the maximum number of independently assorting Bateson-Dobzhansky-Muller incompatibilities (BDMIs). Selection against restricted gene flow among populations would result in selection for reduced chromosome number. Here we test for an interaction between chromosome number and post-zygotic reproductive isolation across a broad sample of land plants. We additionally tested for the indirect effects of WGD in generating post-zygotic reproductive isolation. Such an effect is expected if reproductive isolation is driven largely by reciprocal gene loss of WGD-derived paralogs. We found no correlation between post-zygotic reproductive isolation and chromosome number, WGD age, or degree of fractionation, suggesting that the accumulation of genic incompatibilities is likely not a major driver of post-WGD chromosome number reduction.
Pathogen and host adapt pH responses during enteric infection

Enteric pathogens navigate distinct regional micro-environments within the intestine which cue important adaptive behaviours. We investigated the response of Citrobacter rodentium, a model of human pathogenic Escherichia coli infection, to regional gastrointestinal pH. We found that small intestinal pH (4.4-4.8) triggered virulence gene expression and altered cell morphology, supporting initial intestinal attachment, while higher pH, representative of C. rodentium’s replicative niches further along the intestine, supported pathogen growth. Gastric pH, a key barrier to intestinal colonization, caused significant accumulation of intra-bacterial reactive oxygen species, inhibiting growth of C. rodentium and related human pathogens. Within-host adaptation increased gastric acid survival, which may be due to a robust acid tolerance response induced at colonic pH. However, we also found that host gastric pH decreases post-infection, corresponding to increased serum gastrin levels and altered host expression of acid secretion-related genes. Similar responses following Salmonella infection may indicate a protective host response to limit further pathogen ingestion. Together, we highlight adaptive pH responses as an important component of host-pathogen co-evolution.
The volitional control of individual motor units is constrained within low-dimensional manifolds by common inputs

The implementation of low-dimensional movement control by the central nervous system has been debated for decades. In this study, we investigated the dimensionality of control signals received by spinal motor neurons in controlling one degree of freedom of either the ankle or knee joint. We hypothesized that the central nervous system would mainly adopt a rigid control of motor units; specifically, that the motor units active during these tasks would belong to a small number of synergies, each receiving common descending inputs. This hypothesis was tested using torque-matched isometric contractions, as well as with an operant-conditioning paradigm, where the firing activities of pairs of motor units were provided as visual feedback to the participants. The motor units of the gastrocnemius lateralis could be controlled largely independently from those of the gastrocnemius medialis during ankle plantarflexion. This dissociation of motor unit activity imposed similar behavior to the motor units that were not displayed in the feedback, leading to a two-dimensional control manifold, where each dimension represented a “synergistic” muscle. It was not possible to independently control the motor units within the gastrocnemius medialis muscle. During knee extension tasks, it was not possible to dissociate the activity of the motor units between the vastus lateralis and medialis muscles, which thus belonged to a one-dimensional manifold. Overall, individual motor units were never controlled independently of all others but rather belonged to synergistic groups. These results provide evidence for a synergistic low-dimensional control of motor units constrained by common inputs spanning one or more muscles.
Assessing White Matter Engagement in Brain Networks through Functional and Structural Connectivity Mapping

Understanding the intricate interplay between gray matter (GM) and white matter (WM) is crucial for deciphering the complex activities of the brain. While diffusion tensor imaging (DTI) has advanced the mapping of these structural pathways, the relationship between structural connectivity (SC) and functional connectivity (FC) remains inadequately understood. This study addresses the need for a more integrative approach by mapping the importance of the inter-GM functional link to its structural counterparts in WM. This mapping yields a spatial distribution of engagement that is not only highly reproducible but also aligns with direct structural, functional, and bioenergetic measures within WM, illustrating a notable interdependence between the function of GM and the characteristics of WM. Additionally, our research has uncovered a set of unique engagement modes through a clustering analysis of window-wise engagement maps, highlighting the dyanmic nature of the engagement. The engagement along with their temporal variations revealed significant differences across genders and age groups. These findings suggest the potential of WM engagement as a biomarker for neurological and cognitive conditions, offering a more nuanced understanding of individualized brain activity and connectivity patterns.
SanA is an inner membrane protein mediating the early stages of Salmonella infection

Bacterial membrane proteins, crucial for the interaction with the environment, encompass various functional molecules such as SanA. SanA is pivotal for the physicochemical properties of the bacterial membrane, influencing Salmonella’s antibiotic resistance and infection phenotype. Previous studies identified a link between sanA mutation and increased Salmonella invasiveness, but the mechanisms underlying this phenomenon remain largely unexplored. Therefore, our research investigates SanA’s role during Salmonella infection, examining its expression pattern, localization within the cell, and association with Salmonella Pathogenicity Island I (SPI-I). Using subcellular fractionation and Western Blotting we revealed that SanA is predominantly located in the inner membrane. Additionally, we utilized transcriptional fusion to monitor SanA expression under various environmental conditions. We observed that SanA plays a significant role during the late exponential and early stationary growth phase and remains important 24 hours after the bacteria enter host cells. Moreover, our invasion assays demonstrated that deletion of sanA in bacteria grown to early stationary phase significantly enhances their invasiveness, partly due to increased SPI-I expression, which is regulated in a nutrient availability-dependent manner. Our results highlight SanA’s essential role in Salmonella’s response to environmental stress, critical for its entry and survival in hostile environments. This research underscores the importance of inner membrane proteins in bacterial pathogenicity, particularly in the initial stages of infection.
Humans recognize affective cues in primate vocalizations: Acoustic and phylogenetic perspectives

Humans are adept in extracting affective information from the vocalisations of not only humans but also other animals. Current research has mainly focused on phylogenetic proximity to explain such cross-species emotion recognition abilities. However, because research protocols are inconsistent across studies, it remains unclear whether human recognition of vocal affective cues of other species is due to cross-taxa similarities between acoustic parameters, the phylogenetic distances between species, or a combination of both. To address this, we first analysed acoustic variation in 96 affective vocalizations, including agonistic and affiliative contexts, of humans and three other primate species – rhesus macaques, chimpanzees and bonobos – the latter two being equally phylogenetically distant from humans. Using Mahalanobis distances, we found that chimpanzee vocalizations were acoustically closer to those of humans than to those of bonobos, confirming a potential derived vocal evolution in the bonobo lineage. Second, we investigated whether 68 human participants recognized the affective basis of vocalisations through tasks by asking them to categorize (‘A vs B’) or discriminate (‘A vs non-A’) vocalisations based on their affective content. Results showed that participants could reliably categorize and discriminate most of the affective vocal cues expressed by other primates, except threat calls by bonobos and macaques. Overall, participants showed greatest accuracy in detecting chimpanzee vocalizations; but not bonobo vocalizations, which provides support for both the phylogenetic proximity and acoustic similarity hypotheses. Our results highlight for the first time the importance of both phylogenetic and acoustic parameter level explanations in cross-species affective perception, drawing a more complex picture to explain our natural understanding of animal signals.