650 research outputs found
Predicting folding pathways between RNA conformational structures guided by RNA stacks
Background: Accurately predicting low energy barrier folding pathways between conformational secondary structures of an RNA molecule can provide valuable information for understanding its catalytic and regulatory functions. Most existing heuristic algorithms guide the construction of folding pathways by free energies of intermediate structures in the next move during the folding. However due to the size and ruggedness of RNA energy landscape, energy-guided search can become trapped in local optima. Results: In this paper, we propose an algorithm that guides the construction of folding pathways through the formation and destruction of RNA stacks. Guiding the construction of folding pathways by coarse grained movements of RNA stacks can help reduce the search space and make it easier to jump out of local optima. RNAEAPath is able to find lower energy barrier folding pathways between secondary structures of conformational switches and outperforms the existing heuristic algorithms in most test cases. Conclusions: RNAEAPath provides an alternate approach for predicting low-barrier folding pathways between RNA conformational secondary structures. The source code of RNAEAPath and the test data sets are available at http://genome.ucf.edu/RNAEAPath
Learning Unmanned Aerial Vehicle Control for Autonomous Target Following
While deep reinforcement learning (RL) methods have achieved unprecedented
successes in a range of challenging problems, their applicability has been
mainly limited to simulation or game domains due to the high sample complexity
of the trial-and-error learning process. However, real-world robotic
applications often need a data-efficient learning process with safety-critical
constraints. In this paper, we consider the challenging problem of learning
unmanned aerial vehicle (UAV) control for tracking a moving target. To acquire
a strategy that combines perception and control, we represent the policy by a
convolutional neural network. We develop a hierarchical approach that combines
a model-free policy gradient method with a conventional feedback
proportional-integral-derivative (PID) controller to enable stable learning
without catastrophic failure. The neural network is trained by a combination of
supervised learning from raw images and reinforcement learning from games of
self-play. We show that the proposed approach can learn a target following
policy in a simulator efficiently and the learned behavior can be successfully
transferred to the DJI quadrotor platform for real-world UAV control
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