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

Detector-Free Optimization of Traffic Signal Offsets with Connected Vehicle Data

It has recently been shown that signal offset optimization is feasible using vehicle trajectory data at low levels of market penetration. This study performs offset optimization on two corridors using this type ofdata. Six weeks oftrajectory splines were processed for two corridors including 25 signalized intersections, in order to create vehicle arrival profiles, using a proposed procedure called virtual detection. After processing and filtering the data, penetration rates between 0.09-0.80% were observed, varying by approach. The arrival profiles were statistically compared against those measured with physical detectors, with the majority of the approaches showing statistically significant goodness-of-fit at a 90% confidence level. Finally, the virtual detection arrival profiles were used to optimize offsets, and compared against a solution derived from physical detector arrival profiles. The results demonstrate that virtual detection can produce good quality offsets with current market penetration rates of probe data. The study also includes a sensitivity analysis to the sample period, which shows that two weeks of data may be sufficient for data collection at current penetration rates

Using Connected Vehicle Data to Reassess Dilemma Zone Performance of Heavy Vehicles

The rate of fatalities at signalized intersections involving heavy vehicles is nearly five times higher than for passenger vehicles in the US. Previous studies in the US have found that heavy vehicles are twice as likely to violate a red light compared with passenger vehicles. Current technologies leverage setback detection to extend green time for a particular phase and are based upon typical deceleration rates for passenger cars. Furthermore, dilemma zone detectors are not effective when the max out time expires and forces the onset of yellow. This study proposes the use of connected vehicle (CV) technology to trigger force gap out (FGO) before a vehicle is expected to arrive within the dilemma zone limit at max out time. The method leverages position data from basic safety messages (BSMs) to map-match virtual waypoints located up to 1,050 ft in advance of the stop bar. For a 55 mph approach, field tests determined that using a 6 ft waypoint radius at 50 ft spacings would be sufficient to match 95% of BSM data within a 5% lag threshold of 0.59 s. The study estimates that FGOs reduce dilemma zone incursions by 34% for one approach and had no impact for the other. For both approaches, the total dilemma zone incursions decreased from 310 to 225. Although virtual waypoints were used for evaluating FGO, the study concludes by recommending that trajectory-based processing logic be incorporated into controllers for more robust support of dilemma zone and other emerging CV applications

Cultivating compassion through compassion circles: learning from experience in mental health care in the NHS

Purpose: This paper aims to discuss the importance of compassion in health care and experiences of Compassion Circles (CCs) in supporting it, placing this into the national policy context of the National Health Service (NHS), whilst focusing on lessons from using the practice in mental health care. Design/methodology/approach: This conceptual paper is a discussion of the context of compassion in health care and a description of model and related concepts of CCs. This paper also discusses lessons from implementation of CCs in mental health care. Findings: CCs were developed from an initial broad concern with the place of compassion and well-being in communities and organisations, particularly in health and social care after a number of scandals about failures of care. Through experience CCs have been refined into a flexible model of supporting staff in mental health care settings. Experience to date suggests they are a valuable method of increasing compassion for self and others, improving relationships between team members and raising issues of organisational support to enable compassionate practice. Research limitations/implications: This paper is a discussion of CCs and their conceptual underpinnings and of insights and lessons from their adoption to date, and more robust evaluation is required. Practical implications: As an emergent area of practice CCs have been seen to present a powerful and practical approach to supporting individual members of staff and teams. Organisations and individuals might wish to join the community of practice that exists around CCs to consider the potential of this intervention in their workplaces and add to the growing body of learning about it. It is worth further investigation to examine the impact of CCs on current concerns with maintaining staff well-being and engagement, and, hence, on stress, absence and the sustainability of work environments over time. Social implications: CCs present a promising means of developing a culture and practice of more compassion in mental health care and other care contexts. Originality/value: CCs have become supported in national NHS guidance and more support to adopt, evaluate and learn from this model is warranted. This paper is a contribution to developing a better understanding of the CCs model, implementation lessons and early insights into impact

The challenges of OER to Academic Practice

The degree to which Open Educational Resources (OER) reflect the values of its institutional provider depends on questions of economics and the level of support amongst its academics. For project managers establishing OER repositories, the latter question - how to cultivate, nurture and maintain academic engagement - is critical. Whilst participating in the HEFCE funded institutional OER programme (2009-10), the team at the University of Exeter encountered a range of academic opinions on OER, and followed many as they rode the peaks and troughs of opportunities and challenges that this kind of work entails. This paper discusses the potential motivators for academics in providing OER material, as an understanding of these is helpful when introducing the subject to new contributors, and when informing planning decisions - both procedural and financial - so that key incentives are protected. We will also look at the reasons for some academic scepticism surrounding OER and how these views can be - if not tempered - then at least understood with a view to informing future policy.The enthusiastic advocacy that some academics possess in relation to OER is borne of their vision of its use. It is important to ensure that the high priority objective of obtaining academic support does not overlook instances where there is tension between this vision, and what can be achieved with available resources. We will discuss the key information that OER managers need in order to mitigate this scenario. OER projects do not work in isolation from internal competition and it has been essential to be sensitive to the conflicting pressures that academics have to contend with in their work profile. We will discuss the value of establishing where an OER project sits within an institution’s educational and research strategies, and its financial framework, the questions to ask and the signs to spot to obtain this information, and how managers can use this knowledge to make decisions, avoid pitfalls and garner support.  This will involve addressing academic initiatives and reward schemes, including a discussion of how IPR and copyright can not only present challenges but also play an important role in motivating and demonstrating academic engagement. This paper draws upon formal and informal engagement with a range of stakeholders who have been involved in the project, including the many colleagues who attended several staff development sessions

The Grizzly, February 14, 2019

Drone Policy Brings Safer Skies • A Quick Word on Wellness • The New V.P.\u27s Agenda • Ashley Henderson Joins IIE • Job, Internship and Networking Fair • LGBTea Time: A Safe, Open, and Supportive Event • Opinions: Elitism of Davos is Repulsive and Out-of-Touch; Climate Denial is More Malicious Than Ignorant • Love and Basketball and Tennis • Men\u27s Lax Prepped for Start of Seasonhttps://digitalcommons.ursinus.edu/grizzlynews/1612/thumbnail.jp