Reproducibility of results obtained using ribonucleic acid (RNA) data across labs remains a major hurdle in cancer research. Often, molecular predictors trained on one dataset cannot be applied to another due to differences in RNA library preparation and quantification, which inhibits the validation of predictors across labs. While current RNA correction algorithms reduce these differences, they require simultaneous access to patient-level data from all datasets, which necessitates the sharing of training data for predictors when sharing predictors. Here, we describe SpinAdapt, an unsupervised RNA correction algorithm that enables the transfer of molecular models without requiring access to patient-level data. It computes data corrections only via aggregate statistics of each dataset, thereby maintaining patient data privacy. Despite an inherent trade-off between privacy and performance, SpinAdapt outperforms current correction methods, like Seurat and ComBat, on publicly available cancer studies, including TCGA and ICGC. Furthermore, SpinAdapt can correct new samples, thereby enabling unbiased evaluation on validation cohorts. We expect this novel correction paradigm to enhance research reproducibility and to preserve patient privacy.

Planning realizable and stable grasps on 3D objects is crucial for many robotics applications, but grasp planners often ignore the relative sizes of the robotic hand and the object being grasped or do not account for physical joint and positioning limitations. We present a grasp planner that can consider the full range of parameters of a real hand and an arbitrary object, including physical and material properties as well as environmental obstacles and forces, and produce an output grasp that can be immediately executed. We do this by decomposing a 3D model into a superquadric 'decomposition tree' which we use to prune the intractably large space of possible grasps into a subspace that is likely to contain many good grasps. This subspace can be sampled and evaluated in GraspIt!, our 3D grasping simulator, to find a set of highly stable grasps, all of which are physically realizable. We show grasp results on various models using a Barrett hand.

Finding appropriate stable grasps for a hand (either robotic or human) on an arbitrary object has proved to be a challenging and difficult problem. The space of grasping parameters coupled with the degrees-of-freedom and geometry of the object to be grasped creates a high-dimensional, non-smooth manifold. Traditional search methods applied to this manifold are typically not powerful enough to find appropriate stable grasping solutions, let alone optimal grasps. We address this issue in this paper, which attempts to find optimal grasps of objects using a grasping simulator. Our unique approach to the problem involves a combination of numerical methods to recover parts of the grasp quality surface with any robotic hand, and contemporary machine learning methods to interpolate that surface, in order to find the optimal grasp.