Aging precipitation behavior and mechanical properties of Inconel 617 superalloy aged at 760℃ for up to 10000 h were investigated. The results showed that the precipitates of the aged alloy are M23C6 and M6C carbides...Aging precipitation behavior and mechanical properties of Inconel 617 superalloy aged at 760℃ for up to 10000 h were investigated. The results showed that the precipitates of the aged alloy are M23C6 and M6C carbides and γ phase. The carbide particles precipitated both at the grain boundaries and within grains, and the γ phase particles were situated at intragranular sites in the process of aging. The carbide particles were discontinuously dispersed at grain boundaries after aging for 3000 h, while after aged for 5000 h the carbide particles are merged. The precipitates inside grains remained stable even after aging for 10000 h. The hardness was increased for the alloy aged for 300 h up to 3000 h, which was resulted primarily from the precipitation of carbides as discrete particles both at the grain boundaries and inside grains. Small quantity γ precipitates were formed inside grains, to some extent, which contributed to an enhanced hardness. However, a decrease of the hardness was observed after aging for 5000 h. A significant drop in toughness of the alloy aged for 300 h was attributed to the reduction of the bonding interface strength when carbides precipitated at grain boundaries. Thereafter, the toughness decreased slowly with the prolonged aging time. The high temperature tensile properties of the aged alloy are rather stable even aged for 300-3000 h.展开更多
Narrowband light-emitting materials play critical roles in improving the color gamut and energy consumption of electroluminescence. Herein we demonstrated that by regulating the ground state resonance structure form o...Narrowband light-emitting materials play critical roles in improving the color gamut and energy consumption of electroluminescence. Herein we demonstrated that by regulating the ground state resonance structure form of emitters with polycyclic aromatic heterocycles, the high-energy vibration of the C–C bond can be effectively suppressed, resulting in narrow emission like classical cyanine dyes. The designed compounds consist of twist and planar conformation, while having differences in the orientation of the positioning electron-donating(nitrogen) and electron-accepting(carbonyl) groups in the polycyclic aromatic hydrocarbon skeleton. The resulting compound Ac-Ph-Ac with a dominated zwitterionic resonance structure exhibits a relatively wide electroluminescent profile with the full width at half maximum(FWHM) of 42 nm and moderate device performance. In contrast, the “soliton transition” of 2Ac Ph based on the cyanine limit character effectively suppresses C–C stretching vibration in the polycyclic aromatic heterocycle skeleton, leading to a narrow electroluminescent profile with FWHM of 30 nm(0.16 e V)associated with an impressively high external quantum efficiency of 28.52%, which is among the highest efficiencies of so far reported non-sensitized organic light-emitting diodes.展开更多
The fabrication of Si_(3)N_(4) ceramics typically requires high temperatures(above 1700℃)and prolonged sintering time to achieve densification,resulting in high energy consumption and increased manufacturing costs.Mo...The fabrication of Si_(3)N_(4) ceramics typically requires high temperatures(above 1700℃)and prolonged sintering time to achieve densification,resulting in high energy consumption and increased manufacturing costs.Moreover,reports on the fabrication of dense Si_(3)N_(4) ceramics with good mechanical properties under MPa-level pressure and low temperatures are rare.In this work,we propose a low-temperature rapid spark plasma sintering strategy involving the introduction of fine-grainedβ-Si_(3)N_(4) powder with high lattice strain energy as an“additive”.Dense biphasic Si_(3)N_(4) ceramics,predominantlyα-Si_(3)N_(4),were successfully fabricated at a mechanical pressure of 200 MPa and a temperature of 1300℃,achieving a relative density of 97%.The application of high pressure promoted particle rearrangement and uniform liquid‒phase distribution,providing additional driving forces for sintering.The introduction ofβ-Si_(3)N_(4) seeds facilitated an in-situ solution–reprecipitation process,enabling rapid densification with a minimal liquid phase and without significant grain growth,resulting in nanometer-scale grains.The Si_(3)N_(4) sample prepared at 1350℃ exhibited a desirable combination of high hardness(18.5±0.3 GPa)and fracture toughness(6.7±0.2 MPa·m_(1/2)).The results demonstrate that by adjusting the sintering temperature and time,the phase composition and mechanical properties of the ceramics can be flexibly tailored.This work holds significant potential for industrial manufacturing and provides valuable insights into low-temperature strategies for ceramic fabrication.展开更多
The development of efficient contrast agents for tumor-targeted imaging remains a critical challenge in the clinic.Herein,we proposed a tumor-derived extracellular vesicle(EV)-mediated targeting approach to improve in...The development of efficient contrast agents for tumor-targeted imaging remains a critical challenge in the clinic.Herein,we proposed a tumor-derived extracellular vesicle(EV)-mediated targeting approach to improve in vivo tumor imaging using ternary downconversion nanoparticles(DCNPs)with strong near infrared II(NIR-II)luminescence at 1,525 nm.The EVs were metabolically engineered with azide group,followed by in vivo labeling of DCNPs through copper-free click chemistry.By taking advantage of the homologous targeting property of tumor derived EVs,remarkable improvement in the tumor accumulation(6.5%injection dose(ID)/g)was achieved in the subcutaneous colorectal cancer model when compared to that of individual DCNPs via passive targeting(1.1%ID/g).Importantly,such bioorthogonal labeling significantly increased NIR-II luminescence signals and prolonged the retention at tumor sites.Our work demonstrates the great potential of EVs-mediated bioorthogonal approach for in vivo labeling of NIR-II optical probes,which provides a robust tool for tumor-specific imaging and targeted therapy.展开更多
Mechanoluminescent(ML) smart materials are expected to be used in stress sensors, new displays, and advanced flexible optoelectronic devices, because of their unique mechanical-to-light energy conversion properties. H...Mechanoluminescent(ML) smart materials are expected to be used in stress sensors, new displays, and advanced flexible optoelectronic devices, because of their unique mechanical-to-light energy conversion properties. However,the narrow-range ML emission characteristics of single materials limit their application scope. In this work, we report on the broadband multimodal emission in Sb-doped Ca Zn OS layered semiconductors. A series of Ca Zn OS layer-structured powders with different Sb^(3+) doping concentrations were synthesised using a high-temperature solid-phase method. The Ca Zn OS:Sb^(3+) phosphor achieved a wide range of ML spectra(400–900 nm), adjustable photoluminescence with double luminescent peaks located at 465 and 620 nm, and the X-rayinduced luminescence characteristics were systematically studied. We have also achieved ultra-broad warm white light ML emission of Sb^(3+) and Bi^(3+) co-doped samples. Therefore, it can be expected that these ML phosphors will be used in smart lighting, displays, visible stress sensors, and X-ray imaging and detections.展开更多
Synthetic zircon(ZrSiO_(4))ceramics are typically fabricated at elevated temperatures(over 1500℃),which would lead to high manufacturing cost.Meanwhile,reports about preparing ZrSiO_(4)-based ceramic composites via c...Synthetic zircon(ZrSiO_(4))ceramics are typically fabricated at elevated temperatures(over 1500℃),which would lead to high manufacturing cost.Meanwhile,reports about preparing ZrSiO_(4)-based ceramic composites via controlling the solid-state reaction between zirconia(ZrO_(2))and silica(SiO_(2))are limited.In this work,we proposed a low-temperature strategy to flexibly design and fabricate ZrSiO_(4)-based ceramic composites via doping and tuning the solid-state reaction.Two ceramic composites and ZrSiO_(4) ceramics were in-situ prepared by reactive fast hot pressing(FHP)at approximately 1250℃ based on the proposed strategy,i.e.,a ZrSiO_(4)-SiO_(2) dual-phase composite with bicontinuous interpenetrating and hierarchical microstructures,a ZrSiO_(4)-ZrO_(2) dual-phase composite with a microstructure of ZrO_(2) submicron-and nano-particles embedded in a micron ZrSiO_(4) matrix,and ZrSiO_(4) ceramics with a small amount of residual ZrO_(2) nanoparticles.The results showed that the phase compositions,microstructure configurations,mechanical properties,and wear resistance of the materials can be flexibly regulated by the proposed strategy.Hence,ZrSiO_(4)-based ceramic composites with different properties can be easily fabricated based on different application scenarios.These findings would offer useful guidance for researchers to flexibly fabricate ZrSiO_(4)-based ceramic composites at low temperatures and tailor their microstructures and properties through doping and tuning the solid-state reaction.展开更多
When exposed to moderate to high temperatures,nanomaterials typically suffer from severe grain coarsening,which has long been a major concern that prevents their wider applications.Here,we proposed an effective strate...When exposed to moderate to high temperatures,nanomaterials typically suffer from severe grain coarsening,which has long been a major concern that prevents their wider applications.Here,we proposed an effective strategy to inhibit grain coarsening by constructing grain boundary(GB)complexions with multiple codoped dopants,which hindered coarsening from both energetic and kinetic perspectives.To demonstrate the feasibility of this strategy,multiple selected dopants were doped into a ZrO_(2)-SiO_(2)nanocrystalline glass ceramic(NCGC)to form GB complexions.The results showed that NCGC was predominantly composed of ZrO_(2)nanocrystallites(NCs)distributed in an amorphous SiO_(2)matrix.Ultrathin layers of GB complexions(~2.5 nm)were formed between adjacent ZrO_(2)NCs,and they were crystalline superstructures with co-segregated dopants.In addition,a small amount of quartz solid solution was formed,and it adhered to the periphery of ZrO_(2)NCs and bridged the adjacent NCs,acting as a“bridging phase”.The GB complexions and the“bridging phase”synergistically enhanced the coarsening resistance of ZrO_(2)NCs up to 1000°C.These findings are important for understanding GB complexions and are expected to provide new insights into the design of nanomaterials with excellent thermodynamic stability.展开更多
In applications such as parallel mesh refinement,it remains a challenging issue to ensure the refined surface respects the original Computer-Aided Design(CAD)model accurately.In this paper,an ultralight geometry proce...In applications such as parallel mesh refinement,it remains a challenging issue to ensure the refined surface respects the original Computer-Aided Design(CAD)model accurately.In this paper,an ultralight geometry processing library is developed to resolve this issue effectively and efficiently.Here,we say the kernel is ultralight because it has a very small set of data-structures and algorithms by comparison with industrial-level geometry kernels.Within the library,a simplified surface boundary representation(B-rep)and a radial edge structure are developed respectively to depict the geometry model and the surface mesh,plus hash tables that record the connections between the geometry model and the surface mesh.Based on these data structures,a set of efficient algorithms are developed,which initializes the connection tables,projects a point back to the original geometry,etc.With these data-structure and algorithmic infrastructures set up,the callings of eight well-designed Application Programming Interfaces(APIs)are powerful enough to enable the parallel mesh refinement algorithm outputs a mesh respecting the input CAD model accurately.Numerical experiments will be finally presented to evaluate the performance of the overall parallel mesh refinement algorithm and the algorithms in relation with the developed library.展开更多
Object navigation,whose goal is to let the agent to reach some places(or objects),has been a popular topic in embodied Artificial Intelligence(AI)researches.However,in our real-world applications,it is more practical ...Object navigation,whose goal is to let the agent to reach some places(or objects),has been a popular topic in embodied Artificial Intelligence(AI)researches.However,in our real-world applications,it is more practical to find the targets with particular goals,raising the new requirements of finding the places to achieve the particular functions.In this paper,we define a new task of affordance navigation,whose goal is to find possible places to accomplish the required functions,achieving some particular effects.We first introduce a new dataset for affordance navigation,collected by the proposed affordance algorithm.In order to avoid the high cost of labor,the groundtruth of each episode which is annotated with the interaction data provided by the AI2-THOR simulator.In addition,we also propose an affordance navigation framework,where an Object-to-Manipulation Graph(OMG)is constructed and optimized to emphasize the corresponding nodes(including object nodes and manipulation nodes).Finally,a navigation policy is implemented(trained by reinforcement learning)to guide the navigation to the target places.Experimental results on AI2-THOR simulator illustrate the effectiveness of the proposed approach,which achieves significant gains of 14.0%and 11.7%(on success rate and Success weighted by Path Length(SPL),respectively)over the baseline model.展开更多
基金supported by the CSEE Youth Science & Technology Innovation Project (No.003)National Energy Applied Technology Research & Demonstration Project (No.NY20110102-1)
文摘Aging precipitation behavior and mechanical properties of Inconel 617 superalloy aged at 760℃ for up to 10000 h were investigated. The results showed that the precipitates of the aged alloy are M23C6 and M6C carbides and γ phase. The carbide particles precipitated both at the grain boundaries and within grains, and the γ phase particles were situated at intragranular sites in the process of aging. The carbide particles were discontinuously dispersed at grain boundaries after aging for 3000 h, while after aged for 5000 h the carbide particles are merged. The precipitates inside grains remained stable even after aging for 10000 h. The hardness was increased for the alloy aged for 300 h up to 3000 h, which was resulted primarily from the precipitation of carbides as discrete particles both at the grain boundaries and inside grains. Small quantity γ precipitates were formed inside grains, to some extent, which contributed to an enhanced hardness. However, a decrease of the hardness was observed after aging for 5000 h. A significant drop in toughness of the alloy aged for 300 h was attributed to the reduction of the bonding interface strength when carbides precipitated at grain boundaries. Thereafter, the toughness decreased slowly with the prolonged aging time. The high temperature tensile properties of the aged alloy are rather stable even aged for 300-3000 h.
基金supported by the National Key R&D Program of China (2020YFA0714604)the Guangdong Major Project of Basic and Applied Basic Research (2019B030302007)+3 种基金the China Postdoctoral Science Foundation (2023M731163)the Fund of Guangdong Provincial Key Laboratory of Luminescence from Molecular Aggregates (2023B1212060003)the Fundamental Research Funds of State Key Laboratory of Luminescent Materials and Devices (Skllmd-2023-09)the SSL Sci-tech Commissioner Program (20234383-01KCJ-G)。
文摘Narrowband light-emitting materials play critical roles in improving the color gamut and energy consumption of electroluminescence. Herein we demonstrated that by regulating the ground state resonance structure form of emitters with polycyclic aromatic heterocycles, the high-energy vibration of the C–C bond can be effectively suppressed, resulting in narrow emission like classical cyanine dyes. The designed compounds consist of twist and planar conformation, while having differences in the orientation of the positioning electron-donating(nitrogen) and electron-accepting(carbonyl) groups in the polycyclic aromatic hydrocarbon skeleton. The resulting compound Ac-Ph-Ac with a dominated zwitterionic resonance structure exhibits a relatively wide electroluminescent profile with the full width at half maximum(FWHM) of 42 nm and moderate device performance. In contrast, the “soliton transition” of 2Ac Ph based on the cyanine limit character effectively suppresses C–C stretching vibration in the polycyclic aromatic heterocycle skeleton, leading to a narrow electroluminescent profile with FWHM of 30 nm(0.16 e V)associated with an impressively high external quantum efficiency of 28.52%, which is among the highest efficiencies of so far reported non-sensitized organic light-emitting diodes.
基金supported by the National Natural Science Foundation of China(Nos.52425204,U20A20241,and U23A20566).
文摘The fabrication of Si_(3)N_(4) ceramics typically requires high temperatures(above 1700℃)and prolonged sintering time to achieve densification,resulting in high energy consumption and increased manufacturing costs.Moreover,reports on the fabrication of dense Si_(3)N_(4) ceramics with good mechanical properties under MPa-level pressure and low temperatures are rare.In this work,we propose a low-temperature rapid spark plasma sintering strategy involving the introduction of fine-grainedβ-Si_(3)N_(4) powder with high lattice strain energy as an“additive”.Dense biphasic Si_(3)N_(4) ceramics,predominantlyα-Si_(3)N_(4),were successfully fabricated at a mechanical pressure of 200 MPa and a temperature of 1300℃,achieving a relative density of 97%.The application of high pressure promoted particle rearrangement and uniform liquid‒phase distribution,providing additional driving forces for sintering.The introduction ofβ-Si_(3)N_(4) seeds facilitated an in-situ solution–reprecipitation process,enabling rapid densification with a minimal liquid phase and without significant grain growth,resulting in nanometer-scale grains.The Si_(3)N_(4) sample prepared at 1350℃ exhibited a desirable combination of high hardness(18.5±0.3 GPa)and fracture toughness(6.7±0.2 MPa·m_(1/2)).The results demonstrate that by adjusting the sintering temperature and time,the phase composition and mechanical properties of the ceramics can be flexibly tailored.This work holds significant potential for industrial manufacturing and provides valuable insights into low-temperature strategies for ceramic fabrication.
基金supported by the China Postdoctoral Science Foundation(No.2022M712157)China National Postdoctoral Program for Innovative Talents(No.BX20220215)+5 种基金China Scientific Research Foundation of Peking University Shenzhen Hospital(No.KYQD202100X)the National Natural Science Foundation of China(No.32101074)Shenzhen Science and Technology Innovation Committee Discipline Layout Project(No.JCYJ20170816105345191)National University of Singapore Start-up Grant(No.NUHSRO/2020/133/Startup/08)NUS School of Medicine Nanomedicine Translational Research Programme(No.NUHSRO/2021/034/TRP/09/Nanomedicine)the National Medical Research Council(NMRC)Centre Grant Programme(No.CG21APR1005).
文摘The development of efficient contrast agents for tumor-targeted imaging remains a critical challenge in the clinic.Herein,we proposed a tumor-derived extracellular vesicle(EV)-mediated targeting approach to improve in vivo tumor imaging using ternary downconversion nanoparticles(DCNPs)with strong near infrared II(NIR-II)luminescence at 1,525 nm.The EVs were metabolically engineered with azide group,followed by in vivo labeling of DCNPs through copper-free click chemistry.By taking advantage of the homologous targeting property of tumor derived EVs,remarkable improvement in the tumor accumulation(6.5%injection dose(ID)/g)was achieved in the subcutaneous colorectal cancer model when compared to that of individual DCNPs via passive targeting(1.1%ID/g).Importantly,such bioorthogonal labeling significantly increased NIR-II luminescence signals and prolonged the retention at tumor sites.Our work demonstrates the great potential of EVs-mediated bioorthogonal approach for in vivo labeling of NIR-II optical probes,which provides a robust tool for tumor-specific imaging and targeted therapy.
基金supported by the National Natural Science Foundation of China (61875136 and 52002246)the Fundamental Research Project of Guangdong Province (2020A1515011315)+2 种基金Shenzhen Fundamental Research Project (JCYJ20190808170601664)the Science and Technology Innovation Project of Shenzhen Excellent Talents (RCBS20200714114919006)the Scientific Research Foundation as Phase II construction of high-level University for the Youth Scholars of Shenzhen University 2019 (000002110223)。
文摘Mechanoluminescent(ML) smart materials are expected to be used in stress sensors, new displays, and advanced flexible optoelectronic devices, because of their unique mechanical-to-light energy conversion properties. However,the narrow-range ML emission characteristics of single materials limit their application scope. In this work, we report on the broadband multimodal emission in Sb-doped Ca Zn OS layered semiconductors. A series of Ca Zn OS layer-structured powders with different Sb^(3+) doping concentrations were synthesised using a high-temperature solid-phase method. The Ca Zn OS:Sb^(3+) phosphor achieved a wide range of ML spectra(400–900 nm), adjustable photoluminescence with double luminescent peaks located at 465 and 620 nm, and the X-rayinduced luminescence characteristics were systematically studied. We have also achieved ultra-broad warm white light ML emission of Sb^(3+) and Bi^(3+) co-doped samples. Therefore, it can be expected that these ML phosphors will be used in smart lighting, displays, visible stress sensors, and X-ray imaging and detections.
基金the financial support of the National Natural Science Foundation of China(52102084)Natural Science Foundation of Hunan Province(2022JJ30718)+1 种基金the financial support of the Youth Innovation Promotion Association Chinese Academy of Sciences(CAS)(2022428)the Science Fund of Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing(AMGM2021A08).
文摘Synthetic zircon(ZrSiO_(4))ceramics are typically fabricated at elevated temperatures(over 1500℃),which would lead to high manufacturing cost.Meanwhile,reports about preparing ZrSiO_(4)-based ceramic composites via controlling the solid-state reaction between zirconia(ZrO_(2))and silica(SiO_(2))are limited.In this work,we proposed a low-temperature strategy to flexibly design and fabricate ZrSiO_(4)-based ceramic composites via doping and tuning the solid-state reaction.Two ceramic composites and ZrSiO_(4) ceramics were in-situ prepared by reactive fast hot pressing(FHP)at approximately 1250℃ based on the proposed strategy,i.e.,a ZrSiO_(4)-SiO_(2) dual-phase composite with bicontinuous interpenetrating and hierarchical microstructures,a ZrSiO_(4)-ZrO_(2) dual-phase composite with a microstructure of ZrO_(2) submicron-and nano-particles embedded in a micron ZrSiO_(4) matrix,and ZrSiO_(4) ceramics with a small amount of residual ZrO_(2) nanoparticles.The results showed that the phase compositions,microstructure configurations,mechanical properties,and wear resistance of the materials can be flexibly regulated by the proposed strategy.Hence,ZrSiO_(4)-based ceramic composites with different properties can be easily fabricated based on different application scenarios.These findings would offer useful guidance for researchers to flexibly fabricate ZrSiO_(4)-based ceramic composites at low temperatures and tailor their microstructures and properties through doping and tuning the solid-state reaction.
基金the financial support of the National Natural Science Foundation of China(No.52102084)the Natural Science Foundation of Hunan Province(No.2022JJ30718)Kathryn Grandfield acknowledges funding from the Natural Sciences and Engineering Research Council of Canada(NSERC)discovery grant and research chair programs.
文摘When exposed to moderate to high temperatures,nanomaterials typically suffer from severe grain coarsening,which has long been a major concern that prevents their wider applications.Here,we proposed an effective strategy to inhibit grain coarsening by constructing grain boundary(GB)complexions with multiple codoped dopants,which hindered coarsening from both energetic and kinetic perspectives.To demonstrate the feasibility of this strategy,multiple selected dopants were doped into a ZrO_(2)-SiO_(2)nanocrystalline glass ceramic(NCGC)to form GB complexions.The results showed that NCGC was predominantly composed of ZrO_(2)nanocrystallites(NCs)distributed in an amorphous SiO_(2)matrix.Ultrathin layers of GB complexions(~2.5 nm)were formed between adjacent ZrO_(2)NCs,and they were crystalline superstructures with co-segregated dopants.In addition,a small amount of quartz solid solution was formed,and it adhered to the periphery of ZrO_(2)NCs and bridged the adjacent NCs,acting as a“bridging phase”.The GB complexions and the“bridging phase”synergistically enhanced the coarsening resistance of ZrO_(2)NCs up to 1000°C.These findings are important for understanding GB complexions and are expected to provide new insights into the design of nanomaterials with excellent thermodynamic stability.
文摘In applications such as parallel mesh refinement,it remains a challenging issue to ensure the refined surface respects the original Computer-Aided Design(CAD)model accurately.In this paper,an ultralight geometry processing library is developed to resolve this issue effectively and efficiently.Here,we say the kernel is ultralight because it has a very small set of data-structures and algorithms by comparison with industrial-level geometry kernels.Within the library,a simplified surface boundary representation(B-rep)and a radial edge structure are developed respectively to depict the geometry model and the surface mesh,plus hash tables that record the connections between the geometry model and the surface mesh.Based on these data structures,a set of efficient algorithms are developed,which initializes the connection tables,projects a point back to the original geometry,etc.With these data-structure and algorithmic infrastructures set up,the callings of eight well-designed Application Programming Interfaces(APIs)are powerful enough to enable the parallel mesh refinement algorithm outputs a mesh respecting the input CAD model accurately.Numerical experiments will be finally presented to evaluate the performance of the overall parallel mesh refinement algorithm and the algorithms in relation with the developed library.
基金supported by the Beijing Natural Science Foundation(No.JQ22012)in part by the National Natural Science Foundation of China(Nos.62125207,62032022,62272443,and U23B2012).
文摘Object navigation,whose goal is to let the agent to reach some places(or objects),has been a popular topic in embodied Artificial Intelligence(AI)researches.However,in our real-world applications,it is more practical to find the targets with particular goals,raising the new requirements of finding the places to achieve the particular functions.In this paper,we define a new task of affordance navigation,whose goal is to find possible places to accomplish the required functions,achieving some particular effects.We first introduce a new dataset for affordance navigation,collected by the proposed affordance algorithm.In order to avoid the high cost of labor,the groundtruth of each episode which is annotated with the interaction data provided by the AI2-THOR simulator.In addition,we also propose an affordance navigation framework,where an Object-to-Manipulation Graph(OMG)is constructed and optimized to emphasize the corresponding nodes(including object nodes and manipulation nodes).Finally,a navigation policy is implemented(trained by reinforcement learning)to guide the navigation to the target places.Experimental results on AI2-THOR simulator illustrate the effectiveness of the proposed approach,which achieves significant gains of 14.0%and 11.7%(on success rate and Success weighted by Path Length(SPL),respectively)over the baseline model.
