Predictive Sampling: Real-time Behaviour Synthesis with MuJoCo

We introduce MuJoCo MPC (MJPC), an open-source, interactive application and software framework for real-time predictive control, based on MuJoCo physics. MJPC allows the user to easily author and solve complex robotics tasks, and currently supports three shooting-based planners: derivative-based iLQG and Gradient Descent, and a simple derivative-free method we call Predictive Sampling. Predictive Sampling was designed as an elementary baseline, mostly for its pedagogical value, but turned out to be surprisingly competitive with the more established algorithms. This work does not present algorithmic advances, and instead, prioritises performant algorithms, simple code, and accessibility of model-based methods via intuitive and interactive software. MJPC is available at: github.com/deepmind/mujoco_mpc, a video summary can be viewed at: dpmd.ai/mjpc.Comment: Minor fixes and formattin

RoboPianist: A Benchmark for High-Dimensional Robot Control

We introduce a new benchmarking suite for high-dimensional control, targeted at testing high spatial and temporal precision, coordination, and planning, all with an underactuated system frequently making-and-breaking contacts. The proposed challenge is mastering the piano through bi-manual dexterity, using a pair of simulated anthropomorphic robot hands. We call it RoboPianist, and the initial version covers a broad set of 150 variable-difficulty songs. We investigate both model-free and model-based methods on the benchmark, characterizing their performance envelopes. We observe that while certain existing methods, when well-tuned, can achieve impressive levels of performance in certain aspects, there is significant room for improvement. RoboPianist provides a rich quantitative benchmarking environment, with human-interpretable results, high ease of expansion by simply augmenting the repertoire with new songs, and opportunities for further research, including in multi-task learning, zero-shot generalization, multimodal (sound, vision, touch) learning, and imitation. Supplementary information, including videos of our control policies, can be found at https://kzakka.com/robopianist

Adaptation to divergent larval diets in the medfly, Ceratitis capitata

Variation in diet can influence the timing of major life history events and can drive population diversification and ultimately speciation. Proximate responses of life histories to diet have been well studied. However, there are scant experimental data on how organisms adapt to divergent diets over the longer term. We focused on this omission by testing the responses of a global pest, the Mediterranean fruitfly, to divergent selection on larval diets of different nutritional profiles. Tests conducted before and after 30 generations of nutritional selection revealed a complex interplay between the effects of novel larval dietary conditions on both plastic and evolved responses. There were proximate-only responses to the larval diet in adult male courtship and the frequency of copulation. Males on higher calorie larval diets consistently engaged in more bouts of energetic courtship. In contrast, following selection, larval development time and egg to adult survival showed evidence of evolved divergence between diet regimes. Adult body size showed evidence for adaptation, with flies being significantly heavier when reared on their ‘own’ diet. The results show the multifaceted responses of individuals to dietary selection and are important in understanding the extreme generalism exhibited by the medfly

Volunteering for Development within the New Ecosystem of International Development

This article explores the ways in which volunteering for development is changing in the context of the shifting wider ecology of international development. It draws on a two?year, action research project into the value of volunteering undertaken by volunteer researchers in Kenya, Mozambique, Nepal and the Philippines. The article frames this research and the articles in this IDS Bulletin in the key debates – past, current and emerging – around the role, identity and value of volunteers in development processes. It identifies critical characteristics of effective volunteering for development as: the insider–outsider relationship; participatory processes, long?term programming; and a sustained focus on the poorest and most marginalised. The authors draw attention to the relevance of volunteering to achieving the Sustainable Development Goals (SDGs), and call for better understanding of indigenous informal volunteering and how ‘outsider’ volunteers can support it

Does Random Treatment Assignment Cause Harm to Research Participants?

BACKGROUND: Some argue that by precluding individualized treatment, randomized clinical trials (RCTs) provide substandard medical care, while others claim that participation in clinical research is associated with improved patient outcomes. However, there are few data to assess the impact of random treatment assignment on RCT participants. We therefore performed a systematic review to quantify the differences in health outcomes between randomized trial participants and eligible non-participants. METHODS AND FINDINGS: Studies were identified by searching Medline, the Web of Science citation database, and manuscript references. Studies were eligible if they documented baseline characteristics and clinical outcomes of RCT participants and eligible non-participants, and allowed non-participants access to the same interventions available to trial participants. Primary study outcomes according to patient group (randomized trial participants versus eligible non-participants) were extracted from all eligible manuscripts. For 22 of the 25 studies (88%) meeting eligibility criteria, there were no significant differences in clinical outcomes between patients who received random assignment of treatment (RCT participants) and those who received individualized treatment assignment (eligible non-participants). In addition, there was no relation between random treatment assignment and clinical outcome in 15 of the 17 studies (88%) in which randomized and nonrandomized patients had similar health status at baseline. CONCLUSIONS: These findings suggest that randomized treatment assignment as part of a clinical trial does not harm research participants

The Making of a Compound Inflorescence in Tomato and Related Nightshades

Variation in the branching of plant inflorescences determines flower number and, consequently, reproductive success and crop yield. Nightshade (Solanaceae) species are models for a widespread, yet poorly understood, program of eudicot growth, where short side branches are initiated upon floral termination. This “sympodial” program produces the few-flowered tomato inflorescence, but the classical mutants compound inflorescence (s) and anantha (an) are highly branched, and s bears hundreds of flowers. Here we show that S and AN, which encode a homeobox transcription factor and an F-box protein, respectively, control inflorescence architecture by promoting successive stages in the progression of an inflorescence meristem to floral specification. S and AN are sequentially expressed during this gradual phase transition, and the loss of either gene delays flower formation, resulting in additional branching. Independently arisen alleles of s account for inflorescence variation among domesticated tomatoes, and an stimulates branching in pepper plants that normally have solitary flowers. Our results suggest that variation of Solanaceae inflorescences is modulated through temporal changes in the acquisition of floral fate, providing a flexible evolutionary mechanism to elaborate sympodial inflorescence shoots

Population-specific demography and invasion potential in medfly

Biological invasions are constantly gaining recognition as a significant component of global change. The Mediterranean fruit fly (medfly) constitutes an ideal model species for the study of biological invasions due to its (1) almost cosmopolitan geographic distribution, (2) huge economic importance, and (3) well-documented invasion history. Under a common garden experimental set up, we tested the hypothesis that medfly populations obtained from six global regions [Africa (Kenya), Pacific (Hawaii), Central America (Guatemala), South America (Brazil), Extra–Mediterranean (Portugal), and Mediterranean (Greece)] have diverged in important immature life-history traits such as preadult survival and developmental times. We also tested the hypothesis that medfly populations from the above regions exhibit different population growth rates. For this purpose, data on the life history of immatures were combined with adult survival and reproduction data derived from an earlier study in order to calculate population parameters for the above six populations. Our results clearly show that medfly populations worldwide exhibit significant differences in preadult survival, developmental rates of immatures and important population parameters such as the intrinsic rate of increase. Therefore, geographically isolated medfly populations may share different invasion potential, since population growth rates could influence basic population processes that operate mostly during the last two stages of an invasion event, such as establishment and spread. Our findings provide valuable information for designing population suppression measures and managing invasiveness of medfly populations worldwide