Learning Hybrid System Models for Supervisory Decoding of Discrete State, with applications to the Parietal Reach Region

Based on Gibbs sampling, a novel method to identify mathematical models of neural activity in response to temporal changes of behavioral or cognitive state is presented. This work is motivated by the developing field of neural prosthetics, where a supervisory controller is required to classify activity of a brain region into suitable discrete modes. Here, neural activity in each discrete mode is modeled with nonstationary point processes, and transitions between modes are modeled as hidden Markov models. The effectiveness of this framework is first demonstrated on a simulated example. The identification algorithm is then applied to extracellular neural activity recorded from multi-electrode arrays in the parietal reach region of a rhesus monkey, and the results demonstrate the ability to decode discrete changes even from small data sets

Prominences in SDO/EVE spectra: contributions from large solar structures

The EVE instrument on SDO is making accurate measurements of the solar spectral irradiance in the EUV between 30 and 1069 Å, with 1 Å spectral resolution and 10 s sampling rate. These data define solar variability in the “Sun-as-a-star” mode and reveal many interesting kinds of variation. Its high sensitivity also makes it suitable for spectroscopic diagnostics of solar features such as flares. Here we present EVE's potential contribution to the diagnostics of large-scale, slowly evolving features such as prominences and active regions, and what we can learn from this

A quantum de Finetti theorem in phase space representation

The quantum versions of de Finetti's theorem derived so far express the convergence of n-partite symmetric states, i.e., states that are invariant under permutations of their n parties, towards probabilistic mixtures of independent and identically distributed (i.i.d.) states. Unfortunately, these theorems only hold in finite-dimensional Hilbert spaces, and their direct generalization to infinite-dimensional Hilbert spaces is known to fail. Here, we address this problem by considering invariance under orthogonal transformations in phase space instead of permutations in state space, which leads to a new type of quantum de Finetti's theorem that is particularly relevant to continuous-variable systems. Specifically, an n-mode bosonic state that is invariant with respect to this continuous symmetry in phase space is proven to converge towards a probabilistic mixture of i.i.d. Gaussian states (actually, n identical thermal states).Comment: 5 page

Guided Curriculum Learning for Walking Over Complex Terrain

Reliable bipedal walking over complex terrain is a challenging problem, using a curriculum can help learning. Curriculum learning is the idea of starting with an achievable version of a task and increasing the difficulty as a success criteria is met. We propose a 3-stage curriculum to train Deep Reinforcement Learning policies for bipedal walking over various challenging terrains. In the first stage, the agent starts on an easy terrain and the terrain difficulty is gradually increased, while forces derived from a target policy are applied to the robot joints and the base. In the second stage, the guiding forces are gradually reduced to zero. Finally, in the third stage, random perturbations with increasing magnitude are applied to the robot base, so the robustness of the policies are improved. In simulation experiments, we show that our approach is effective in learning walking policies, separate from each other, for five terrain types: flat, hurdles, gaps, stairs, and steps. Moreover, we demonstrate that in the absence of human demonstrations, a simple hand designed walking trajectory is a sufficient prior to learn to traverse complex terrain types. In ablation studies, we show that taking out any one of the three stages of the curriculum degrades the learning performance.Comment: Submitted to Australasian Conference on Robotics and Automation (ACRA) 202

Stability of Bott--Samelson Classes in Algebraic Cobordism

In this paper, we construct stable Bott--Samelson classes in the projective limit of the algebraic cobordism rings of full flag varieties, upon an initial choice of a reduced word in a given dimension. Each stable Bott--Samelson class is represented by a bounded formal power series modulo symmetric functions in positive degree. We make some explicit computations for those power series in the case of infinitesimal cohomology. We also obtain a formula of the restriction of Bott--Samelson classes to smaller flag varieties.Comment: 23 pages. Comments are welcom

Learning When to Switch: Composing Controllers to Traverse a Sequence of Terrain Artifacts

Legged robots often use separate control policiesthat are highly engineered for traversing difficult terrain suchas stairs, gaps, and steps, where switching between policies isonly possible when the robot is in a region that is commonto adjacent controllers. Deep Reinforcement Learning (DRL)is a promising alternative to hand-crafted control design,though typically requires the full set of test conditions to beknown before training. DRL policies can result in complex(often unrealistic) behaviours that have few or no overlappingregions between adjacent policies, making it difficult to switchbehaviours. In this work we develop multiple DRL policieswith Curriculum Learning (CL), each that can traverse asingle respective terrain condition, while ensuring an overlapbetween policies. We then train a network for each destinationpolicy that estimates the likelihood of successfully switchingfrom any other policy. We evaluate our switching methodon a previously unseen combination of terrain artifacts andshow that it performs better than heuristic methods. Whileour method is trained on individual terrain types, it performscomparably to a Deep Q Network trained on the full set ofterrain conditions. This approach allows the development ofseparate policies in constrained conditions with embedded priorknowledge about each behaviour, that is scalable to any numberof behaviours, and prepares DRL methods for applications inthe real worl

Leadership and Change in Asia-Pacific: Where Does Political Will Come From?

We introduce this thematic issue by exploring the role of leadership in social and political change. In current times, the importance of leadership and choice has proved as important as ever. Leadership is often the critical variable separating success or failure, legitimacy and sustainability or collapse. This thematic issue explores a range of in-depth case studies across the Asia-Pacific region that help illustrate the critical elements of leadership. Collectively they demonstrate that leadership is best understood as a collective process involving motivated agents overcoming barriers to cooperation to form coalitions that have enough power, legitimacy and influence to transform institutions. Five themes emerge from the thematic issue as a whole: leadership is political; the centrality of gender relations; the need for a more critical localism; scalar politics; and the importance of understanding informal processes of leadership and social change

Behaviour of molecular hydrogen emission in three solar flares

We have systematically investigated ultraviolet (UV) emission from molecular hydrogen (H$_{2}$) using the Interface Region Imaging Spectrometer (IRIS), during three X-ray flares of C5.1, C9.7 and X1.0 classes on Oct. 25, 2014. Significant emission from five H$_{2}$ spectral lines appeared in the flare ribbons, interpreted as photo-excitation (fluorescence) due to the absorption of UV radiation from two Si IV spectral lines. The H$_{2}$ profiles were broad and consisted of two non-stationary components in red and in the blue wings of the line in addition to the stationary component. The red (blue) wing components showed small redshifts (blue shifts) of ~5-15 km s$^{-1}$ (~5-10 km s$^{-1}$). The nonthermal velocities were found to be ~5-15 km s$^{-1}$. The interrelation between intensities of H$_{2}$ lines and their branching ratios confirmed that H$_{2}$ emission formed under optically thin plasma conditions. There is a strong spatial and temporal correlation between Si IV and H$_{2}$ emission, but the H$_{2}$ emission is more extended and diffuse, further suggesting H$_{2}$ fluorescence, and - by analogy with flare ''back-warming'' providing a means to estimate the depth from which the H$_{2}$ emission originates. We find that this is 1871$\pm$157 km and 1207$\pm$112 km below the source of the Si IV emission, in two different ribbon locations.Comment: 14 pages, 12 figures, accepted for publication in MNRA