Biped dynamic walking using reinforcement learning

This thesis presents a study of biped dynamic walking using reinforcement learning. A hardware biped robot was built. It uses low gear ratio DC motors in order to provide free leg movements. The Self Scaling Reinforcement learning algorithm was developed in order to deal with the problem of reinforcement learning in continuous action domains. A new learning architecture was designed to solve complex control problems. It uses different modules that consist of simple controllers and small neural networks. The architecture allows for easy incorporation of modules that represent new knowledge, or new requirements for the desired task. Control experiments were carried out using a simulator and the physical biped. The biped learned dynamic walking on flat surfaces without any previous knowledge about its dynamic model

Biped dynamic walking using reinforcement learning

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Low incidence of SARS-CoV-2, risk factors of mortality and the course of illness in the French national cohort of dialysis patients

International audienceThe aim of this study was to estimate the incidence of COVID-19 disease in the French national population of dialysis patients, their course of illness and to identify the risk factors associated with mortality. Our study included all patients on dialysis recorded in the French REIN Registry in April 2020. Clinical characteristics at last follow-up and the evolution of COVID-19 illness severity over time were recorded for diagnosed cases (either suspicious clinical symptoms, characteristic signs on the chest scan or a positive reverse transcription polymerase chain reaction) for SARS-CoV-2. A total of 1,621 infected patients were reported on the REIN registry from March 16th, 2020 to May 4th, 2020. Of these, 344 died. The prevalence of COVID-19 patients varied from less than 1% to 10% between regions. The probability of being a case was higher in males, patients with diabetes, those in need of assistance for transfer or treated at a self-care unit. Dialysis at home was associated with a lower probability of being infected as was being a smoker, a former smoker, having an active malignancy, or peripheral vascular disease. Mortality in diagnosed cases (21%) was associated with the same causes as in the general population. Higher age, hypoalbuminemia and the presence of an ischemic heart disease were statistically independently associated with a higher risk of death. Being treated at a selfcare unit was associated with a lower risk. Thus, our study showed a relatively low frequency of COVID-19 among dialysis patients contrary to what might have been assumed