\u27The Canon\u27 of Constitutional Law for Undergraduate Teaching: The Melding of Constitutional Theory, Law, and Interpretive/ Empirical Political Science

Symposium: The Canon(s) of Constitutional La

Neural Network Dynamics for Model-Based Deep Reinforcement Learning with Model-Free Fine-Tuning

Model-free deep reinforcement learning algorithms have been shown to be capable of learning a wide range of robotic skills, but typically require a very large number of samples to achieve good performance. Model-based algorithms, in principle, can provide for much more efficient learning, but have proven difficult to extend to expressive, high-capacity models such as deep neural networks. In this work, we demonstrate that medium-sized neural network models can in fact be combined with model predictive control (MPC) to achieve excellent sample complexity in a model-based reinforcement learning algorithm, producing stable and plausible gaits to accomplish various complex locomotion tasks. We also propose using deep neural network dynamics models to initialize a model-free learner, in order to combine the sample efficiency of model-based approaches with the high task-specific performance of model-free methods. We empirically demonstrate on MuJoCo locomotion tasks that our pure model-based approach trained on just random action data can follow arbitrary trajectories with excellent sample efficiency, and that our hybrid algorithm can accelerate model-free learning on high-speed benchmark tasks, achieving sample efficiency gains of 3-5x on swimmer, cheetah, hopper, and ant agents. Videos can be found at https://sites.google.com/view/mbm

Knockout Mice Challenge our Concepts of Glucose Homeostasis and the Pathogenesis of Diabetes

A central component of type 2 diabetes and the metabolic syndrome is insulin resistance. Insulin exerts a multifaceted and highly integrated series of actions via its intracellular signaling systems. Generation of mice carrying null mutations of the genes encoding proteins in the insulin signaling pathway provides a unique approach to determining the role of individual proteins in the molecular mechanism of insulin action and the pathogenesis of insulin resistance and diabetes. The role of the four major insulin receptor substrates (IRS1-4) in insulin and IGF-1 signaling have been examined by creating mice with targeted gene knockouts. Each produces a unique phenotype, indicating the complementary role of these signaling components. Combined heterozygous defects often produce synergistic or epistatic effects, although the final severity of the phenotype depends on the genetic background of the mice. Conditional knockouts of the insulin receptor have also been created using the Cre-lox system. These tissue specific knockouts have provide unique insights into the control of glucose homeostasis and the pathogenesis of type 2 diabetes, and have led to development of new hypotheses about the nature of the insulin action and development of diabetes