Learning a Unified Control Policy for Safe Falling

Being able to fall safely is a necessary motor skill for humanoids performing highly dynamic tasks, such as running and jumping. We propose a new method to learn a policy that minimizes the maximal impulse during the fall. The optimization solves for both a discrete contact planning problem and a continuous optimal control problem. Once trained, the policy can compute the optimal next contacting body part (e.g. left foot, right foot, or hands), contact location and timing, and the required joint actuation. We represent the policy as a mixture of actor-critic neural network, which consists of n control policies and the corresponding value functions. Each pair of actor-critic is associated with one of the n possible contacting body parts. During execution, the policy corresponding to the highest value function will be executed while the associated body part will be the next contact with the ground. With this mixture of actor-critic architecture, the discrete contact sequence planning is solved through the selection of the best critics while the continuous control problem is solved by the optimization of actors. We show that our policy can achieve comparable, sometimes even higher, rewards than a recursive search of the action space using dynamic programming, while enjoying 50 to 400 times of speed gain during online execution

Cell-type specific potent Wnt signaling blockade by bispecific antibody.

Cell signaling pathways are often shared between normal and diseased cells. How to achieve cell type-specific, potent inhibition of signaling pathways is a major challenge with implications for therapeutic development. Using the Wnt/β-catenin signaling pathway as a model system, we report here a novel and generally applicable method to achieve cell type-selective signaling blockade. We constructed a bispecific antibody targeting the Wnt co-receptor LRP6 (the effector antigen) and a cell type-associated antigen (the guide antigen) that provides the targeting specificity. We found that the bispecific antibody inhibits Wnt-induced reporter activities with over one hundred-fold enhancement in potency, and in a cell type-selective manner. Potency enhancement is dependent on the expression level of the guide antigen on the target cell surface and the apparent affinity of the anti-guide antibody. Both internalizing and non-internalizing guide antigens can be used, with internalizing bispecific antibody being able to block signaling by all ligands binding to the target receptor due to its removal from the cell surface. It is thus feasible to develop bispecific-based therapeutic strategies that potently and selectively inhibit signaling pathways in a cell type-selective manner, creating opportunity for therapeutic targeting

Judging in Europe: Do Legal Traditions Matter?

EU competition appeals typically involve applications by private businesses to annul decisions made by the European Commission. Moreover, these appeals are first assigned at random to a chamber, with a judge then designated as the rapporteur who will be most closely involved with the case. Using hand-collected original data on the background characteristics of EU judges and on competition judgments by the General Court between 1989 to 2015, we test the extent to which the legal origins of judges bear a statistically significant effect on case outcomes and that the rapporteur plays a crucial role in the decision-making process. In particular, if a rapporteur comes from a country whose administrative law has a strong French influence, the decision is more likely to favor the Commission than if he is from any other EU country. These results are robust to alternative political ideology variables, including left-right politics and a preference for European integration.link_to_subscribed_fulltex