HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation

Transferring human motion skills to humanoid robots remains a significant challenge. In this study, we introduce a Wasserstein adversarial imitation learning system, allowing humanoid robots to replicate natural whole-body locomotion patterns and execute seamless transitions by mimicking human motions. First, we present a unified primitive-skeleton motion retargeting to mitigate morphological differences between arbitrary human demonstrators and humanoid robots. An adversarial critic component is integrated with Reinforcement Learning (RL) to guide the control policy to produce behaviors aligned with the data distribution of mixed reference motions. Additionally, we employ a specific Integral Probabilistic Metric (IPM), namely the Wasserstein-1 distance with a novel soft boundary constraint to stabilize the training process and prevent model collapse. Our system is evaluated on a full-sized humanoid JAXON in the simulator. The resulting control policy demonstrates a wide range of locomotion patterns, including standing, push-recovery, squat walking, human-like straight-leg walking, and dynamic running. Notably, even in the absence of transition motions in the demonstration dataset, robots showcase an emerging ability to transit naturally between distinct locomotion patterns as desired speed changes

Detection and Prevalence Patterns of Group I Coronaviruses in Bats, Northern Germany

The virus is probably maintained on the population level by amplification and transmission in maternity colonies

Distant Relatives of Severe Acute Respiratory Syndrome Coronavirus and Close Relatives of Human Coronavirus 229E in Bats, Ghana

Hipposideros spp. bats harbor a coronavirus that shares common ancestry with human viruses

Modular Mass Spectrometric Tool for Analysis of Composition and Phosphorylation of Protein Complexes

The combination of high accuracy, sensitivity and speed of single and multiple-stage mass spectrometric analyses enables the collection of comprehensive sets of data containing detailed information about complex biological samples. To achieve these properties, we combined two high-performance matrix-assisted laser desorption ionization mass analyzers in one modular mass spectrometric tool, and applied this tool for dissecting the composition and post-translational modifications of protein complexes. As an example of this approach, we here present studies of the Saccharomyces cerevisiae anaphase-promoting complexes (APC) and elucidation of phosphorylation sites on its components. In general, the modular concept we describe could be useful for assembling mass spectrometers operating with both matrix-assisted laser desorption ionization (MALDI) and electrospray ionization (ESI) ion sources into powerful mass spectrometric tools for the comprehensive analysis of complex biological samples

A Novel Diagnostic Target in the Hepatitis C Virus Genome

Christian Drosten and colleagues develop, validate, and make openly available a prototype hepatitis C virus assay based on the conserved 3' X-tail element, with potential for clinical use in developing countries