Publications

We study a modular approach to tackle long-horizon mobile manipulation tasks for object rearrangement, which decomposes a full task into a sequence of subtasks. To tackle the entire task, prior work chains multiple stationary manipulation skills with a point-goal navigation skill, which are learned individually on subtasks. Although more effective than monolithic end-to-end RL policies, this framework suffers from compounding errors in skill chaining, e.g., navigating to a bad location where a stationary manipulation skill can not reach its target to manipulate. To this end, we propose that the manipulation skills should include mobility to have flexibility in interacting with the target object from multiple locations and at the same time the navigation skill could have multiple end points which lead to successful manipulation. We operationalize these ideas by implementing mobile manipulation skills rather than stationary ones and training a navigation skill trained with region goal instead of point goal. We evaluate our multi-skill mobile manipulation method M3 on 3 challenging long-horizon mobile manipulation tasks in the Home Assistant Benchmark (HAB), and show superior performance as compared to the baselines.

Abstract The unfolded protein response in the endoplasmic reticulum (UPR ER ) is involved in a number of metabolic diseases, including non-alcoholic fatty liver disease. Here, we characterize the UPR ER induced metabolic changes in mouse liver through in vivo metabolic labeling and mass spectrometric analysis of proteome and lipid fluxes. We induced ER stress in vivo via tunicamycin treatment and measured rates of proteome-wide protein synthesis, de novo lipogenesis and cholesterol synthesis serially over a three-day period, thereby generating a metabolic “signature” of the UPR ER over time. Synthesis of most proteins was suppressed under ER stress conditions, including proteins involved in lipogenesis, consistent with reduced de novo lipogenesis at 48 and 72 hours. Electron microscopy revealed striking morphological changes to ER and H&E staining showed lipid droplet enriched livers under ER stress. Pre-labeling of adipose tissue prior to ER stress induction revealed mobilization of lipids from adipose to the liver. Interestingly, the source of these lipids was uptake of free fatty acids, not whole triglycerides or phospholipids from lipoproteins, as demonstrated by replacement of the triglyceride-glycerol moiety in liver concurrently with increased incorporation of labeled palmitate from adipose. We also induced ER stress by a high-fat diet and observed similar metabolic flux signatures, suggesting that this mechanism may play a role in the progression of fatty liver disease. This flux-based approach provides a powerful tool to identify novel regulators of ER stress and potential targets for pharmacological intervention.

Objects manipulated by the hand (i.e., manipulanda) are particularly challenging to reconstruct from Internet videos. Not only does the hand occlude much of the object, but also the object is often only visible in a small number of image pixels. At the same time, two strong anchors emerge in this setting: (1) estimated 3D hands help disambiguate the location and scale of the object, and (2) the set of manipulanda is small relative to all possible objects. With these insights in mind, we present a scalable paradigm for hand-held object reconstruction that builds on recent breakthroughs in large language/vision models and 3D object datasets. Given a monocular RGB video, we aim to reconstruct hand-held object geometry in 3D, over time. In order to obtain the best performing single frame model, we first present MCC-Hand-Object (MCC-HO), which jointly reconstructs hand and object geometry given a single RGB image and inferred 3D hand as inputs. Subsequently, we prompt a text-to-3D generative model using GPT-4(V) to retrieve a 3D object model that matches the object in the image(s); we call this alignment Retrieval-Augmented Reconstruction (RAR). RAR provides unified object geometry across all frames, and the result is rigidly aligned with both the input images and 3D MCC-HO observations in a temporally consistent manner. Experiments demonstrate that our approach achieves state-of-the-art performance on lab and Internet image/video datasets. We make our code and models available on the project website: https://janehwu.github.io/mcc-ho

We report evidence of a recent burst of star formation located within 9 pc of the active nucleus of NGC 1097. The observational signatures of the starburst include UV absorption lines and continuum emission from young stars observed in a small-aperture Hubble Space Telescope spectrum. The burst is ≤ a few x10 6 yr old, has a mass of ∼10 6 Mʘ, an observed luminosity of 1.5x10 7Lʘ, and is obscured by Av ≈ 3 mag. The importance of V this finding is twofold: (1) the proximity of the starburst to the active nucleus and thus its possible association with it, and (2) its obscuration by and apparent association with a dusty absorbing medium, while the broad emission lines appear unobscured, suggesting that the starburst could be embedded in a circumnuclear torus as predicted in the unified model of active galactic nuclei.

Hot electron flow generated on colloid platinum nanoparticles during exothermic catalytic carbon monoxide oxidation was directly detected with Au/TiO2 diodes. Although Au/TiO2 diodes are not catalytically active, platinum nanoparticles on Au/TiO2 exhibit both chemicurrent and catalytic turnover rate. Hot electrons are generated on the surface of the metal nanoparticles and go over the Schottky energy barrier between Au and TiO2. The continuous Au layer ensures that the metal nanoparticles are electrically connected to the device. The overall thickness of the metal assembly (nanoparticles and Au thin film) is comparable to the mean free path of hot electrons, resulting in ballistic transport through the metal. The chemicurrent and chemical reactivity of nanoparticles with citrate, hexadecylamine, hexadecylthiol, and TTAB (tetradecyltrimethylammonium bromide) capping agents were measured during catalytic CO oxidation at pressures of 100 Torr O2 and 40 Torr CO at 373-513 K. We found that chemicurrent yield varies with each capping agent but always decreases with increasing temperature. We suggest that this inverse temperature dependence is associated with the influence of charging effects due to the organic capping layer during hot electron transport through the metal-oxide interface.

Providing life-support materials to crewed space exploration missions is pivotal for mission success. However, as missions become more distant and extensive, obtaining these materials from in situ resource utilization is paramount. The combination of microorganisms with electrochemical technologies offers a platform for the production of critical chemicals and materials from CO 2 and H 2 O, two compounds accessible on a target destination like Mars. One such potential commodity is poly(3-hydroxybutyrate) (PHB), a common biopolyester targeted for additive manufacturing of durable goods. Here, we present an integrated two-module process for the production of PHB from CO 2 . An autotrophic Sporomusa ovata (S. ovata) process converts CO 2 to acetate which is then directly used as the primary carbon source for aerobic PHB production by Cupriavidus basilensis (C. basilensis) . The S. ovata uses H 2 as a reducing equivalent to be generated through electrocatalytic solar-driven H 2 O reduction. Conserving and recycling media components is critical, therefore we have designed and optimized our process to require no purification or filtering of the cell culture media between microbial production steps which could result in up to 98% weight savings. By inspecting cell population dynamics during culturing we determined that C. basilensis suitably proliferates in the presence of inactive S. ovata . During the bioprocess 10.4 mmol acetate L –1 day –1 were generated from CO 2 by S. ovata in the optimized media. Subsequently, 12.54 mg PHB L –1 hour –1 were produced by C. basilensis in the unprocessed media with an overall carbon yield of 11.06% from acetate. In order to illustrate a pathway to increase overall productivity and enable scaling of our bench-top process, we developed a model indicating key process parameters to optimize.