260 research outputs found
INNOVATION OF PRODUCTION TECHNIQUE OF ZHUANG MUSICAL INSTRUMENT MAGUHU BASED ON CULTURAL SPIRIT INNOVATION
INNOVATION OF PRODUCTION TECHNIQUE OF ZHUANG MUSICAL INSTRUMENT MAGUHU BASED ON CULTURAL SPIRIT INNOVATION
Learning Perception-Aware Agile Flight in Cluttered Environments
Recently, neural control policies have outperformed existing model-based planning-and-control methods for autonomously navigating quadrotors through cluttered environments in minimum time. However, they are not perception aware, a crucial requirement in vision-based navigation due to the camera's limited field of view and the underactuated nature of a quadrotor. We propose a learning-based system that achieves perception-aware, agile flight in cluttered environments. Our method combines imitation learning with reinforcement learning (RL) by leveraging a privileged learning-by-cheating framework. Using RL, we first train a perception-aware teacher policy with full-state information to fly in minimum time through cluttered environments. Then, we use imitation learning to distill its knowledge into a vision-based student policy that only perceives the environment via a camera. Our approach tightly couples perception and control, showing a significant advantage in computation speed (10Ćfaster) and success rate. We demonstrate the closed-loop control performance using hardware-in-the-loop simulation
Adipose-derived mesenchymal stem cells attenuate ischemic brain injuries in rats by modulating miR-21-3p/MAT2B signaling transduction
Aim To explore the mechanism underlying the protective
effect of adipose-derived mesenchymal stem cells (ADMSCs)
against ischemic stroke by focusing on miR-21-3p/
MAT2B axis.
Methods Ischemic brain injury was induced in 126 rats
by middle cerebral artery occlusion (MCAO). The effect of
ADMSC administration on blood-brain barrier (BBB) condition,
apoptosis, inflammation, and the activity of miR-21-
3p/MAT2B axis was assessed. The role of miR-21-3p inhibition
in the function of ADMSCs was further validated in in
vitro neural cells.
Results ADMSCs administration improved BBB condition,
inhibited apoptosis, and suppressed inflammation. It also
reduced the abnormally high level of miR-21-3p in MCAO
rats. Dual luciferase assays showed that miR-21-3p directly
inhibited the MAT2B expression in neural cells, and miR-21
-3p inhibition by inhibitor or ADMSC-derived exosomes in
neurons attenuated hypoxia/reoxygenation-induced impairments
similarly to that of ADMSCs in vivo.
Conclusion This study confirmed the protective effect
of ADMSCs against ischemic brain injury exerted by suppressing
miR-21-3p level and up-regulating MAT2B level
Communication-Efficient Topologies for Decentralized Learning with Consensus Rate
Decentralized optimization is an emerging paradigm in distributed learning in
which agents achieve network-wide solutions by peer-to-peer communication
without the central server. Since communication tends to be slower than
computation, when each agent communicates with only a few neighboring agents
per iteration, they can complete iterations faster than with more agents or a
central server. However, the total number of iterations to reach a network-wide
solution is affected by the speed at which the agents' information is ``mixed''
by communication. We found that popular communication topologies either have
large maximum degrees (such as stars and complete graphs) or are ineffective at
mixing information (such as rings and grids). To address this problem, we
propose a new family of topologies, EquiTopo, which has an (almost) constant
degree and a network-size-independent consensus rate that is used to measure
the mixing efficiency.
In the proposed family, EquiStatic has a degree of , where
is the network size, and a series of time-dependent one-peer topologies,
EquiDyn, has a constant degree of 1. We generate EquiDyn through a certain
random sampling procedure. Both of them achieve an -independent consensus
rate. We apply them to decentralized SGD and decentralized gradient tracking
and obtain faster communication and better convergence, theoretically and
empirically. Our code is implemented through BlueFog and available at
\url{https://github.com/kexinjinnn/EquiTopo}Comment: NeurIPS 202
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