The recurrent and recent global outbreak of the severe acute respiratory syndrome coronavirus-2 (SARS-CoV-2) has turned into a global concern which has infected more than 42 million people all over the globe, and this number is increasing in hours. Unfortunately, no vaccine or specific treatment is available, which makes it more deadly. A vaccine-informatics approach has shown significant breakthrough in peptide-based epitope mapping and opens the new horizon in vaccine development. In this study, we have identified a total of 15 antigenic peptides [including thymus cells (T-cells) and bone marrow or bursa-derived cells] in the surface glycoprotein (SG) of SARS-CoV-2 which is nontoxic and nonallergenic in nature, nonallergenic, highly antigenic and non-mutated in other SARS-CoV-2 virus strains. The population coverage analysis has found that cluster of differentiation 4 (CD4+) T-cell peptides showed higher cumulative population coverage over cluster of differentiation 8 (CD8+) peptides in the 16 different geographical regions of the world. We identified 12 peptides ((LTDEMIAQY, WTAGAAAYY, WMESEFRVY, IRASANLAA, FGAISSVLN, VKQLSSNFG, FAMQMAYRF, FGAGAALQI, YGFQPTNGVGYQ, LPDPSKPSKR, QTQTNSPRRARS and VITPGTNTSN) that are $80\hbox{--} 90\%$ identical with experimentally determined epitopes of SARS-CoV, and this will likely be beneficial for a quick progression of the vaccine design. Moreover, docking analysis suggested that the identified peptides are tightly bound in the groove of human leukocyte antigen molecules which can induce the T-cell response. Overall, this study allows us to determine potent peptide antigen targets in the SG on intuitive grounds, which opens up a new horizon in the coronavirus disease (COVID-19) research. However, this study needs experimental validation by in vitro and in vivo.

Modeling how a robot interacts with the environment around it is an important prerequisite for designing control and planning algorithms. In fact, the performance of controllers and planners is highly dependent on the quality of the model. One popular approach is to learn data driven models in order to compensate for inaccurate physical measurements and to adapt to systems that evolve over time. In this paper, we investigate a method to regularize model learning techniques to provide better error characteristics for traditional control and planning algorithms. This work proposes learning "Sufficiently Accurate" models of dynamics using a primal-dual method that can explicitly enforce constraints on the error in pre-defined parts of the state-space. The result of this method is that the error characteristics of the learned model is more predictable and can be better utilized by planning and control algorithms. The characteristics of Sufficiently Accurate models are analyzed through experiments on a simulated ball paddle system.

In this paper, we present a learning approach to goal assignment and trajectory planning for unlabeled robots operating in 2D, obstacle-filled workspaces. More specifically, we tackle the unlabeled multi-robot motion planning problem with motion constraints as a multi-agent reinforcement learning problem with some sparse global reward. In contrast with previous works, which formulate an entirely new hand-crafted optimization cost or trajectory generation algorithm for a different robot dynamic model, our framework is a general approach that is applicable to arbitrary robot models. Further, by using the velocity obstacle, we devise a smooth projection that guarantees collision free trajectories for all robots with respect to their neighbors and obstacles. The efficacy of our algorithm is demonstrated through varied simulations. A video describing our method and results can be found here.

In this paper, we propose a novel architecture and a self-supervised policy gradient algorithm, which employs unsupervised auxiliary tasks to enable a mobile robot to learn how to navigate to a given goal. The dependency on the global information is eliminated by providing only sparse range-finder measurements to the robot. The partially observable planning problem is addressed by splitting it into a hierarchical process. We use convolutional networks to plan locally, and a differentiable memory to provide information about past time steps in the trajectory. These modules, combined in our network architecture, produce globally consistent plans. The sparse reward problem is mitigated by our modified policy gradient algorithm. We model the robots uncertainty with unsupervised tasks to force exploration. The novel architecture we propose with the modified version of the policy gradient algorithm allows our robot to reach the goal in a sample efficient manner, which is orders of magnitude faster than the current state of the art policy gradient algorithm. Simulation and experimental results are provided to validate the proposed approach.