Differentiable Algorithm Networks for Composable Robot Learning

This paper introduces the Differentiable Algorithm Network (DAN), a composable architecture for robot learning systems. A DAN is composed of neural network modules, each encoding a differentiable robot algorithm and an associated model; and it is trained end-to-end from data. DAN combines the strengths of model-driven modular system design and data-driven end-to-end learning. The algorithms and models act as structural assumptions to reduce the data requirements for learning; end-to-end learning allows the modules to adapt to one another and compensate for imperfect models and algorithms, in order to achieve the best overall system performance. We illustrate the DAN methodology through a case study on a simulated robot system, which learns to navigate in complex 3-D environments with only local visual observations and an image of a partially correct 2-D floor map.Comment: RSS 2019 camera ready. Video is available at https://youtu.be/4jcYlTSJF4

Foreign direct investment and spillovers : gradualism may be better

The definitive version is available at www3.interscience.wiley.comThe standard argument says that in the presence of positive spillovers foreign direct investment should be promoted and subsidized. In contrast, this paper claims that the very existence of spillovers may require temporarily restricting FDI. Our argument is based on two features of spillovers: they are limited by the economy's absorptive capacity and they take time to materialize. By letting in capital more gradually, initial investment has the time to create spillovers – and upgrade the economy's absorptive capacity – before further investment occurs. The economy converges to a steady state with a superior technology and a greater capital stockPublicad

Use and Outcomes Associated With Perioperative Amiodarone in Cardiac Surgery

Background: In randomized controlled trials, perioperative administration of amiodarone has been shown to reduce the incidence of postoperative atrial arrhythmias and length of stay (LOS) among patients undergoing coronary bypass surgery. However, little is known about the use or effectiveness of perioperative amiodarone in routine clinical practice. Methods and Results: We studied patients \u3e /=18 years old without a previous history of atrial or ventricular arrhythmias who underwent elective coronary bypass surgery between 2013 and 2014 within a network of 235 US hospitals. Perioperative amiodarone was defined as receipt of amiodarone either on the day of or the day preceding surgery. We used covariate-adjusted modeling and instrumental variable methods to examine the association between receipt of amiodarone and the development of atrial arrhythmias, in-hospital mortality, readmission, LOS, and cost. Of 12 758 patients, 2195 (17.2%) received perioperative amiodarone, 3330 (26.1%) developed atrial arrhythmias postoperatively, and the average LOS was 6.4 days (+/-2.6 days). Instrumental variable analysis showed that receipt of perioperative amiodarone was associated with lower risk of atrial arrhythmias (risk difference -11 percentage points, 95% CI -19 to -4 percentage points; P=0.002) and a shorter LOS (-0.7 day, 95% CI -1.39 to -0.01 days; P=0.048). There was no association between receipt of perioperative amiodarone and in-hospital mortality, cost, or readmission. Conclusions: Among patients undergoing coronary bypass surgery without previous arrhythmias, perioperative amiodarone is associated with a lower risk of atrial arrhythmias and shorter LOS. These findings are consistent with previous randomized trials and lend support to current guideline recommendations

An MHC class Ib–restricted CD8 T cell response confers antiviral immunity

Although immunity against intracellular pathogens is primarily provided by CD8 T lymphocytes that recognize pathogen-derived peptides presented by major histocompatibility complex (MHC) class Ia molecules, MHC class Ib–restricted CD8 T cells have been implicated in antiviral immunity. Using mouse polyoma virus (PyV), we found that MHC class Ia–deficient (Kb−/−Db−/−) mice efficiently control this persistently infecting mouse pathogen. CD8 T cell depletion mitigates clearance of PyV in Kb−/−Db−/− mice. We identified the ligand for PyV-specific CD8 T cells in Kb−/−Db−/− mice as a nonamer peptide from the VP2 capsid protein presented by Q9, a member of the β2 microglobulin–associated Qa-2 family. Using Q9-VP2 tetramers, we monitored delayed but progressive expansion of these antigen-specific CD8αβ T cells in Kb−/−Db−/− mice. Importantly, we demonstrate that Q9-VP2–specific CD8 T cells more effectively clear wild-type PyV than a VP2 epitopenull mutant PyV. Finally, we show that wild-type mice also generate Q9-restricted VP2 epitope–specific CD8 T cells to PyV infection. To our knowledge, this is the first evidence for a defined MHC class Ib–restricted antiviral CD8 T cell response that contributes to host defense. This study motivates efforts to uncover MHC class Ib–restricted CD8 T cell responses in other viral infections, and given the limited polymorphism of MHC class Ib molecules, it raises the possibility of developing peptide-based viral vaccines having broad coverage across MHC haplotypes

Agreement in the scoring of respiratory events and sleep among international sleep centers.

To access publisher's full text version of this article. Please click on the hyperlink in Additional Links field.Abstract STUDY OBJECTIVES: The American Academy of Sleep Medicine (AASM) guidelines for polysomnography (PSG) scoring are increasingly being adopted worldwide, but the agreement among international centers in scoring respiratory events and sleep stages using these guidelines is unknown. We sought to determine the interrater agreement of PSG scoring among international sleep centers. DESIGN: Prospective study of interrater agreement of PSG scoring. SETTING: Nine center-members of the Sleep Apnea Genetics International Consortium (SAGIC). MEASUREMENTS AND RESULTS: Fifteen previously recorded deidentified PSGs, in European Data Format, were scored by an experienced technologist at each site after they were imported into the locally used analysis software. Each 30-sec epoch was manually scored for sleep stage, arousals, apneas, and hypopneas using the AASM recommended criteria. The computer-derived oxygen desaturation index (ODI) was also recorded. The primary outcome for analysis was the intraclass correlation coefficient (ICC) of the apnea-hypopnea index (AHI). The ICCs of the respiratory variables were: AHI = 0.95 (95% confidence interval: 0.91-0.98), total apneas = 0.77 (0.56-0.87), total hypopneas = 0.80 (0.66-0.91), and ODI = 0.97 (0.93-0.99). The kappa statistics for sleep stages were: wake = 0.78 (0.77-0.79), nonrapid eye movement = 0.77 (0.76-0.78), N1 = 0.31 (0.30-0.32), N2 = 0.60 (0.59-0.61), N3 = 0.67 (0.65-0.69), and rapid eye movement = 0.78 (0.77-0.79). The ICC of the arousal index was 0.68 (0.50-0.85). CONCLUSION: There is strong agreement in the scoring of respiratory events among the SAGIC centers. There is also substantial epoch-by-epoch agreement in scoring sleep variables. Our results suggest that centralized scoring of PSGs may not be necessary in future research collaboration among international sites where experienced, well-trained scorers are involved.NHLBI P01 HL094307 HL093463 Tzagournis Medical Research Endowment Funds of The Ohio State Universit

The Ksar Ghilane 002 shergottite-The 100th registered Martian meteorite fragment

We report on the discovery of a new shergottite from Tunisia, Ksar Ghilane (KG) 002. This single stone, weighing 538 g, is a coarse-grained basaltic shergottite, mainly composed of maskelynitized plagioclase (approximately 52 vol%) and pyroxene (approximately 37 vol%). It also contains Fe-rich olivine (approximately 4.5 vol%), large Ca-phosphates, including both merrillites and Cl-apatites (approximately 3.4 vol%), minor amounts of silica or SiO_2-normative K-rich glass, pyrrhotite, Ti-magnetite, ilmenite, and accessory baddeleyite. The largest crystals of pyroxene and plagioclase reach sizes of approximately 4 to 5 mm. Pyroxenes (Fs_(26–96)En_(5–50)Wo_(2–41)). They typically range from cores of about Fs_(29)En_(41)Wo_(30) to rims of about Fs_(68)En_(14)Wo_(17). Maskelynite is Ab_(41–49)An_(39–58)Or_(1–7) in composition, but some can be as anorthitic as An_(93). Olivine (Fa_(91–96)) occurs mainly within symplectitic intergrowths, in paragenesis with ilmenite, or at neighboring areas of symplectites. KG 002 is heavily shocked (S5) as indicated by mosaic extinction of pyroxenes, maskelynitized plagioclase, the occurrence of localized shock melt glass pockets, and low radiogenic He concentration. Oxygen isotopes confirm that it is a normal member of the SNC suite. KG 002 is slightly depleted in LREE and shows a positive Eu anomaly, providing evidence for complex magma genesis and mantle processes on Mars. Noble gases with a composition thought to be characteristic for Martian interior is a dominant component. Measurements of ^(10)Be, ^(26)Al, and ^(53)Mn and comparison with Monte Carlo calculations of production rates indicate that KG 002 has been exposed to cosmic rays most likely as a single meteoroid body of 35–65 cm radius. KG 002 strongly resembles Los Angeles and NWA 2800 basaltic shergottites in element composition, petrography, and mineral chemistry, suggesting a possible launch-pairing. The similar CRE ages of KG 002 and Los Angeles may suggest an ejection event at approximately 3.0 Ma

Derivation and Validation of an Inâ Hospital Mortality Prediction Model Suitable for Profiling Hospital Performance in Heart Failure

Peer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/142499/1/jah32925_am.pdfhttps://deepblue.lib.umich.edu/bitstream/2027.42/142499/2/jah32925.pd

A synthesis of automated planning and reinforcement learning for efficient, robust decision-making

Automated planning and reinforcement learning are characterized by complementary views on decision making: the former relies on previous knowledge and computation, while the latter on interaction with the world, and experience. Planning allows robots to carry out different tasks in the same domain, without the need to acquire knowledge about each one of them, but relies strongly on the accuracy of the model. Reinforcement learning, on the other hand, does not require previous knowledge, and allows robots to robustly adapt to the environment, but often necessitates an infeasible amount of experience. We present Domain Approximation for Reinforcement LearnING (DARLING), a method that takes advantage of planning to constrain the behavior of the agent to reasonable choices, and of reinforcement learning to adapt to the environment, and increase the reliability of the decision making process. We demonstrate the effectiveness of the proposed method on a service robot, carrying out a variety of tasks in an office building. We find that when the robot makes decisions by planning alone on a given model it often fails, and when it makes decisions by reinforcement learning alone it often cannot complete its tasks in a reasonable amount of time. When employing DARLING, even when seeded with the same model that was used for planning alone, however, the robot can quickly learn a behavior to carry out all the tasks, improves over time, and adapts to the environment as it changes

Exploring Human/Animal Intersections: Converging Lines of Evidence in Comparative Models of Aging

At a symposium convened on March 8, 2007 by the Institute on Aging at the University of Pennsylvania, researchers from the University’s Schools of Medicine and Veterinary Medicine explored the convergence of aging research emerging from the two schools. Studies in human patients, animal models, and companion animals have revealed different but complementary aspects of the aging process, ranging from fundamental biologic aspects of aging to the treatment of age-related diseases, both experimentally and in clinical practice. Participants concluded that neither animal nor human research alone will provide answers to most questions about the aging process. Instead, an optimal translational research model supports a bidirectional flow of information from animal models to clinical research

The need to promote sleep health in public health agendas across the globe.

Healthy sleep is essential for physical and mental health, and social wellbeing; however, across the globe, and particularly in developing countries, national public health agendas rarely consider sleep health. Sleep should be promoted as an essential pillar of health, equivalent to nutrition and physical activity. To improve sleep health across the globe, a focus on education and awareness, research, and targeted public health policies are needed. We recommend developing sleep health educational programmes and awareness campaigns; increasing, standardising, and centralising data on sleep quantity and quality in every country across the globe; and developing and implementing sleep health policies across sectors of society. Efforts are needed to ensure equity and inclusivity for all people, particularly those who are most socially and economically vulnerable, and historically excluded