This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and simplicity in motion planning (MP), they are not well-suited for TAMP problems that involve both abstracted and geometrical state variables. To address this challenge, we propose a hierarchical sampling strategy, which first generates an abstracted task plan using Monte Carlo tree search (MCTS) and then fills in the details with a geometrically feasible motion trajectory. Moreover, we show that the performance of the proposed method can be significantly enhanced by selecting an appropriate reward for MCTS and by using a pre-generated goal state that is guaranteed to be geometrically feasible. A comparative study using TAMP benchmark problems demonstrates the effectiveness of the proposed approach.

We report Tensorial Tomographic Differential Phase-Contrast microscopy (T2DPC), a quantitative label-free tomographic imaging method for simultaneous measurement of phase and anisotropy. T2DPC extends differential phase-contrast microscopy, a quantitative phase imaging technique, to highlight the vectorial nature of light. The method solves for permittivity tensor of anisotropic samples from intensity measurements acquired with a standard microscope equipped with an LED matrix, a circular polarizer, and a polarization-sensitive camera. We demonstrate accurate volumetric reconstructions of refractive index, birefringence, and orientation for various validation samples, and show that the reconstructed polarization structures of a biological specimen are predictive of pathology.

This paper introduces a new method of data-driven microscope design for virtual fluorescence microscopy. We use a deep neural network (DNN) to effectively design optical patterns for specimen illumination that substantially improve upon the ability to infer fluorescence image information from unstained microscope images. To achieve this design, we include an illumination model within the DNN’s first layers that is jointly optimized during network training. We validated our method on two different experimental setups, with different magnifications and sample types, to show a consistent improvement in performance as compared to conventional microscope imaging methods. Additionally, to understand the importance of learned illumination on the inference task, we varied the number of illumination patterns being optimized (and thus the number of unique images captured) and analyzed how the structure of the patterns changed as their number increased. This work demonstrates the power of programmable optical elements at enabling better machine learning algorithm performance and at providing physical insight into next generation of machine-controlled imaging systems.

Recent machine learning techniques have dramatically changed how we process digital images. However, the way in which we capture images is still largely driven by human intuition and experience. This restriction is in part due to the many available degrees of freedom that alter the image acquisition process (lens focus, exposure, filtering, etc). Here we focus on one such degree of freedom - illumination within a microscope - which can drastically alter information captured by the image sensor. We present a reinforcement learning system that adaptively explores optimal patterns to illuminate specimens for immediate classification. The agent uses a recurrent latent space to encode a large set of variably-illuminated samples and illumination patterns. We train our agent using a reward that balances classification confidence with image acquisition cost. By synthesizing knowledge over multiple snapshots, the agent can classify on the basis of all previous images with higher accuracy than from naively illuminated images, thus demonstrating a smarter way to physically capture task-specific information.