Multi-Agent Behavior Retrieval: Retrieval-Augmented Policy Training for Cooperative Push Manipulation by Mobile Robots

Due to the complex interactions between agents, learning multi-agent control policy often requires a prohibited amount of data. This paper aims to enable multi-agent systems to effectively utilize past memories to adapt to novel collaborative tasks in a data-efficient fashion. We propose the Multi-Agent Coordination Skill Database, a repository for storing a collection of coordinated behaviors associated with key vectors distinctive to them. Our Transformer-based skill encoder effectively captures spatio-temporal interactions that contribute to coordination and provides a unique skill representation for each coordinated behavior. By leveraging only a small number of demonstrations of the target task, the database enables us to train the policy using a dataset augmented with the retrieved demonstrations. Experimental evaluations demonstrate that our method achieves a significantly higher success rate in push manipulation tasks compared with baseline methods like few-shot imitation learning. Furthermore, we validate the effectiveness of our retrieve-and-learn framework in a real environment using a team of wheeled robots

Supersymmetry on the lattice

Lattice results in supersymmetry are summarized. Past, present and future perspectives are discussed.Comment: 13 pages, 4 figures, Plenary Talk at Lattice 2002(plenary), MIT, USA. Typos correcte

Nonperturbative studies of supersymmetric matrix quantum mechanics with 4 and 8 supercharges at finite temperature

We investigate thermodynamic properties of one-dimensional U(N) supersymmetric gauge theories with 4 and 8 supercharges in the planar large-N limit by Monte Carlo calculations. Unlike the 16 supercharge case, the threshold bound state with zero energy is widely believed not to exist in these models. This led A.V. Smilga to conjecture that the internal energy decreases exponentially at low temperature instead of decreasing with a power law. In the 16 supercharge case, the latter behavior was predicted from the dual black 0-brane geometry and confirmed recently by Monte Carlo calculations. Our results for the models with 4 and 8 supercharges indeed support the exponential behavior, revealing a qualitative difference from the 16 supercharge case.Comment: 16 pages, 7 figures, LaTeX2e, minor corrections in section 3, final version accepted in JHE

Super Yang-Mills on the lattice with domain wall fermions

The dynamical N=1, SU(2) Super Yang-Mills theory is studied on the lattice using a new lattice fermion regulator, domain wall fermions. This formulation even at non-zero lattice spacing does not require fine-tuning, has improved chiral properties and can produce topological zero-mode phenomena. Numerical simulations of the full theory on lattices with the topology of a torus indicate the formation of a gluino condensate which is sustained at the chiral limit. The condensate is non-zero even for small volume and small supersymmetry breaking mass where zero mode effects due to gauge fields with fractional topological charge appear to play a role.Comment: LaTeX, 35 pages, 11 eps figures. A few changes in sec. 5.3, figure 11 added. To appear in Phys. Rev.

Swarm Body: Embodied Swarm Robots

The human brain's plasticity allows for the integration of artificial body parts into the human body. Leveraging this, embodied systems realize intuitive interactions with the environment. We introduce a novel concept: embodied swarm robots. Swarm robots constitute a collective of robots working in harmony to achieve a common objective, in our case, serving as functional body parts. Embodied swarm robots can dynamically alter their shape, density, and the correspondences between body parts and individual robots. We contribute an investigation of the influence on embodiment of swarm robot-specific factors derived from these characteristics, focusing on a hand. Our paper is the first to examine these factors through virtual reality (VR) and real-world robot studies to provide essential design considerations and applications of embodied swarm robots. Through quantitative and qualitative analysis, we identified a system configuration to achieve the embodiment of swarm robots

A Difficult Differential Diagnosis of Acute Cholecystitis in a Patient With Steroid-induced Diabetes

An impairment of gallbladder motility due to autonomic neuropathy may cause cholestasis and result in gallbladder stone formation. Diabetes is one of risk factors for acute cholecystitis. Diabetes and steroid use are associated with the susceptibility to bacterial infections, we are apt to diagnose steroid-induced diabetic patients manifesting symptoms of cholecystitis as having acute bacterial infective cholecystitis. Here, we report a very rare steroid-induced diabetic patient complicated with gallbladder torsion-induced necrotizing cholecystitis due to a floating gallbladder

The Physics of the B Factories

This work is on the Physics of the B Factories. Part A of this book contains a brief description of the SLAC and KEK B Factories as well as their detectors, BaBar and Belle, and data taking related issues. Part B discusses tools and methods used by the experiments in order to obtain results. The results themselves can be found in Part C

The cellular protrusions for inter-cellular material transfer: similarities between filopodia, cytonemes, tunneling nanotubes, viruses, and extracellular vesicles

Extracellular vesicles (EVs) are crucial for transferring bioactive materials between cells and play vital roles in both health and diseases. Cellular protrusions, including filopodia and microvilli, are generated by the bending of the plasma membrane and are considered to be rigid structures facilitating various cellular functions, such as cell migration, adhesion, and environment sensing. Compelling evidence suggests that these protrusions are dynamic and flexible structures that can serve as sources of a new class of EVs, highlighting the unique role they play in intercellular material transfer. Cytonemes are specialized filopodia protrusions that make direct contact with neighboring cells, mediating the transfer of bioactive materials between cells through their tips. In some cases, these tips fuse with the plasma membrane of neighboring cells, creating tunneling nanotubes that directly connect the cytosols of the adjacent cells. Additionally, virus particles can be released from infected cells through small bud-like of plasma membrane protrusions. These different types of protrusions, which can transfer bioactive materials, share common protein components, including I-BAR domain-containing proteins, actin cytoskeleton, and their regulatory proteins. The dynamic and flexible nature of these protrusions highlights their importance in cellular communication and material transfer within the body, including development, cancer progression, and other diseases