Coordinated Multi-Agent Imitation Learning

We study the problem of imitation learning from demonstrations of multiple coordinating agents. One key challenge in this setting is that learning a good model of coordination can be difficult, since coordination is often implicit in the demonstrations and must be inferred as a latent variable. We propose a joint approach that simultaneously learns a latent coordination model along with the individual policies. In particular, our method integrates unsupervised structure learning with conventional imitation learning. We illustrate the power of our approach on a difficult problem of learning multiple policies for fine-grained behavior modeling in team sports, where different players occupy different roles in the coordinated team strategy. We show that having a coordination model to infer the roles of players yields substantially improved imitation loss compared to conventional baselines.Comment: International Conference on Machine Learning 201

Localization of SSeCKS in unmyelinated primary sensory neurons

<p>Abstract</p> <p>Background</p> <p>SSeCKS (<it>S</it>rc <it>S</it>uppr<it>E</it>ssed <it>C K</it>inase <it>S</it>ubstrate) is a proposed protein kinase C substrate/A kinase anchoring protein (AKAP) that has recently been characterized in the rat peripheral nervous system. It has been shown that approximately 40% of small primary sensory neurons contain SSeCKS-immunoreactivity in a population largely separate from substance P (95.2%), calcitonin gene related peptide (95.3%), or fluoride resistant acid phosphatase (55.0%) labeled cells. In the spinal cord, it was found that SSeCKS-immunoreactive axon collaterals terminate in the dorsal third of lamina II outer in a region similar to that of unmyelinated C-, or small diameter myelinated Aδ-, fibers. However, the precise characterization of the anatomical profile of the primary sensory neurons containing SSeCKS remains to be determined. Here, immunohistochemical labeling at the light and ultrastructural level is used to clarify the myelination status of SSeCKS-containing sensory neuron axons and to further clarify the morphometric, and provide insight into the functional, classification of SSeCKS-IR sensory neurons.</p> <p>Methods</p> <p>Colocalization studies of SSeCKS with myelination markers, ultrastructural localization of SSeCKS labeling and ablation of largely unmyelinated sensory fibers by neonatal capsaicin administration were all used to establish whether SSeCKS containing sensory neurons represent a subpopulation of unmyelinated primary sensory C-fibers.</p> <p>Results</p> <p>Double labeling studies of SSeCKS with CNPase in the dorsal horn and Pzero in the periphery showed that SSeCKS immunoreactivity was observed predominantly in association with unmyelinated primary sensory fibers. At the ultrastructural level, SSeCKS immunoreactivity was most commonly associated with axonal membrane margins of unmyelinated fibers. In capsaicin treated rats, SSeCKS immunoreactivity was essentially obliterated in the dorsal horn while in dorsal root ganglia quantitative analysis revealed a 43% reduction in the number of SSeCKS-labeled cells. This attenuation is concomitant with a decrease in fluoride-resistant acid phosphatase labeled fibers in the spinal cord dorsal horn and small neuronal somata in sensory ganglia.</p> <p>Conclusion</p> <p>These results demonstrate that SSeCKS is primarily localized within a distinct subpopulation of small diameter, largely unmyelinated C-fiber primary sensory neurons putatively involved in nociception.</p

Correlation Between Student Collaboration Network Centrality and Academic Performance

We compute nodal centrality measures on the collaboration networks of students enrolled in three upper-division physics courses, usually taken sequentially, at the Colorado School of Mines. These are complex networks in which links between students indicate assistance with homework. The courses included in the study are intermediate Classical Mechanics, introductory Quantum Mechanics, and intermediate Electromagnetism. By correlating these nodal centrality measures with students' scores on homework and exams, we find four centrality measures that correlate significantly with students' homework scores in all three courses: in-strength, out-strength, closeness centrality, and harmonic centrality. These correlations suggest that students who not only collaborate often, but also collaborate significantly with many different people tend to achieve higher grades. Centrality measures between simultaneous collaboration networks (analytical vs. numerical homework collaboration) composed of the same students also correlate with each other, suggesting that students' collaboration strategies remain relatively stable when presented with homework assignments targeting different skills. Additionally, we correlate centrality measures between collaboration networks from different courses and find that the four centrality measures with the strongest relationship to students' homework scores are also the most stable measures across networks involving different courses. Correlations of centrality measures with exam scores were generally smaller than the correlations with homework scores, though this finding varied across courses.Comment: 10 pages, 4 figures, submitted to Phys. Rev. PE

Greater Strength Drives Difference in Power between Sexes in the Conventional Deadlift Exercise

Limited research exists comparing sex differences in muscular power. The primary purpose of this research was to determine if differences exist in power and velocity in the conventional deadlift (CDL). A secondary purpose was to examine the relationship among power, velocity, strength, and fat free mass (FFM). Eighteen strength trained athletes with ≥1 year CDL experience (women: n = 9, 29 ± 2 years, 162.3 ± 1.8 cm, 62 ± 2.4 kg, 23.3 ± 3.2 % body fat (%BF); men: n = 9, 29 ± 3 years, 175.6 ± 1.8 cm, 85.5 ± 1.4 kg, 14.8 ± 2.4 %BF), and ≥1.5 one repetition maximum (1-RM) CDL: body mass (BM) ratio (women: 1.6 ± 0.1 1-RM CDL: BM; men: 2.3 ± 0.1 1-RM CDL: BM), performed baseline (body composition, 1-RM CDL) and experimental sessions, in which velocity and power were measured at 30%, 60%, and 90% 1-RM. Repeated measures ANOVA and bivariate correlations were conducted. Men produced higher absolute average and peak power across all loads, but higher average velocity at only 30% 1-RM. When normalized to FFM, men produced higher peak and average power; however, women produced higher peak and average velocities across all loads. FFM and 1-RM were correlated with power. Greater power observed in men is driven by larger muscle mass, which contributes to greater strength

Reduction in Cholesterol Absorption Is Enhanced by Stearate-Enriched Plant Sterol Esters in Hamsters

Consumption of plant sterol esters reduces plasma LDL cholesterol concentration by inhibiting intestinal cholesterol absorption. Commercially available plant sterol esters are prepared by esterifying free sterols to fatty acids from edible plant oils such as canola, soybean, and sunflower. To determine the influence of the fatty acid moiety on cholesterol metabolism, plant sterol esters were made with fatty acids from soybean oil (SO), beef tallow (BT), or purified stearic acid (SA) and fed to male hamsters for 4 wk. A control group fed no plant sterol esters was also included. Hamsters fed BT and SA had significantly lower cholesterol absorption and decreased concentrations of plasma non-HDL cholesterol and liver esterified cholesterol, and significantly greater fecal sterol excretion than SO and control hamsters. Cholesterol absorption was lowest in hamsters fed SA (7.5%), whereas it was 72.9% in control hamsters. Cholesterol absorption was correlated with fecal sterol excretion (r = –0.72, P \u3c 0.001), liver cholesterol concentration (r = 0.88, P \u3c 0.001), and plasma non-HDL cholesterol concentration (r = 0.85, P \u3c 0.001). A multiple regression model that included each sterol ester type vs. cholesterol absorption indicated that intake of steryl stearate was the only dietary component that contributed significantly to the model (R2 = –0.75, P \u3c 0.001). Therefore, our results demonstrate that BT and SA are more effective than SO in reducing cholesterol absorption, liver cholesterol, and plasma non-HDL cholesterol concentration, suggesting that cardioprotective benefits can be achieved by consuming stearate-enriched plant sterol esters

Reconstituted B cell receptor signaling reveals carbohydrate-dependent mode of activation

Activation of immune cells (but not B cells) with lectins is widely known. We used the structurally defined interaction between influenza hemagglutinin (HA) and its cell surface receptor sialic acid (SA) to identify a B cell receptor (BCR) activation modality that proceeded through non-cognate interactions with antigen. Using a new approach to reconstitute antigen-receptor interactions in a human reporter B cell line, we found that sequence-defined BCRs from the human germline repertoire could be triggered by both complementarity to influenza HA and a separate mode of signaling that relied on multivalent ligation of BCR sialyl-oligosaccharide. The latter suggested a new mechanism for priming naïve B cell responses and manifested as the induction of SA-dependent pan-activation by peripheral blood B cells. BCR crosslinking in the absence of complementarity is a superantigen effect induced by some microbial products to subvert production of antigen-specific immune responses. B cell superantigen activity through affinity for BCR carbohydrate is discussed

Baryogenesis from Primordial Blackholes after Electroweak Phase Transition

Incorporating a realistic model for accretion of ultra-relativistic particles by primordial blackholes (PBHs), we study the evolution of an Einstein-de Sitter universe consisting of PBHs embedded in a thermal bath from the epoch $\sim 10^{-33}$ sec to $\sim 5\times 10^{-9}$ sec. In this paper we use Barrow et al's ansatz to model blackhole evaporation in which the modified Hawking temperature goes to zero in the limit of the blackhole attaining a relic state with mass $\sim m_{pl}$. Both single mass PBH case as well as the case in which blackhole masses are distributed in the range $8\times 10^2 - 3\times 10^5$ gm have been considered in our analysis. Blackholes with mass larger than $\sim 10^5$ gm appear to survive beyond the electroweak phase transition and, therefore, successfully manage to create baryon excess via $X-\bar X$ emissions, averting the baryon number wash-out due to sphalerons. In this scenario, we find that the contribution to the baryon-to-entropy ratio by PBHs of initial mass $m$ is given by $\sim \epsilon \zeta (m/1 {gm})^{-1}$, where $\epsilon$ and $\zeta$ are the CP-violating parameter and the initial mass fraction of the PBHs, respectively. For $\epsilon$ larger than $\sim 10^{-4}$, the observed matter-antimatter asymmetry in the universe can be attributed to the evaporation of PBHs.Comment: Latex2e file with seven figures included as postscript file