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Pluripotent stem cell-derived organoids can recapitulate significant features of organ development in vitro. We hypothesized that creating human heart organoids by mimicking aspects of in utero gestation (e.g., addition of metabolic and hormonal factors) would lead to higher physiological and anatomical relevance. We find that heart organoids produced using this self-organization-driven developmental induction strategy are remarkably similar transcriptionally and morphologically to age-matched human embryonic hearts. We also show that they recapitulate several aspects of cardiac development, including large atrial and ventricular chambers, proepicardial organ formation, and retinoic acid-mediated anterior-posterior patterning, mimicking the developmental processes found in the post-heart tube stage primitive heart

HALO: A Unified Vision-Language-Action Model for Embodied Multimodal Chain-of-Thought Reasoning

The ability to handle single molecules as effectively as macroscopic building-blocks would enable the construction of complex supramolecular structures inaccessible to self-assembly. The fundamental c

Cooperative multi-robot tasks can benefit from heterogeneity in the robots' physical and behavioral traits. In spite of this, traditional Multi-Agent Reinforcement Learning (MARL) frameworks lack the

Reinforcement Learning is a promising tool for learning complex policies even in fast-moving and object-interactive domains where human teleoperation or hard-coded policies might fail. To effectively

Inspired by the necessity of morphological adaptation in animals, a growing body of work has attempted to expand robot training to encompass physical aspects of a robot's design. However, reinforcemen

Reinforcement learning (RL) is a popular technique that allows an agent to learn by trial and error while interacting with a dynamic environment. The traditional Reinforcement Learning (RL) approach h