Interpretable Motion Planner for Urban Driving via Hierarchical Imitation Learning

Learning-based approaches have achieved remarkable performance in the domain of autonomous driving. Leveraging the impressive ability of neural networks and large amounts of human driving data, complex patterns and rules of driving behavior can be encoded as a model to benefit the autonomous driving system. Besides, an increasing number of data-driven works have been studied in the decision-making and motion planning module. However, the reliability and the stability of the neural network is still full of uncertainty. In this paper, we introduce a hierarchical planning architecture including a high-level grid-based behavior planner and a low-level trajectory planner, which is highly interpretable and controllable. As the high-level planner is responsible for finding a consistent route, the low-level planner generates a feasible trajectory. We evaluate our method both in closed-loop simulation and real world driving, and demonstrate the neural network planner has outstanding performance in complex urban autonomous driving scenarios.Comment: 6 pages, 8 figures, accepted by IROS202

Pengaruh Pendekatan Pembelajaran Matematika Realistik Terhadap Prestasi Belajar Matematika Ditinjau Dari Kemampuan Numerik Siswa Kelas VIII SMP Negeri 2 Amlapura

Penelitian ini bertujuan untuk mengetahui dan mendeskripsikan pengaruh pendekatan pembelajaran matematika realistik terhadap prestasi belajar matematika ditinjau dari kemampuan numerik siswa. Penelitian ini merupakan eksperimen semu dilaksanakan dengan menggunakan rancangan the post test only control group design. Populasinya adalah seluruh siswa kelas VIII SMP Negeri 2 Amlapura tahun pelajaran 2013-2014. Dari delapan kelas yang ada, empat kelas dipilih sebagai sampel yakni dua kelas sebagai kelas eksperimen dan dua kelas sebagai kelas kontrol yang diambil dengan teknik random. Data penelitian dikumpulkan menggunakan tes, yaitu tes kemampuan numerik dan tes prestasi belajar matematika. Data yang diperoleh dianalisis dengan analisis varians dua jalur dilanjutkan dengan uji Tukey. Berdasarkan hasil analisis data dan pembahasan, dapat disimpulkan, terdapat perbedaan yang signifikan prestasi belajar matematika antara siswa yang mengikuti pendekatan pembelajaran matematika realistik dengan siswa yang mengikuti pendekatan pembelajaran konvensional. Terdapat pengaruh interaksi antara pendekatan pembelajaran matematika realistik dan kemampuan numerik terhadap prestasi belajar matematika. Pada Siswa yang memiliki kemampuan numerik tinggi, prestasi belajar matematika siswa yang mengikuti pendekatan pembelajaran matematika realistik lebih baik daripada pendekatan konvensional. Pada siswa yang memiliki kemampuan numerik rendah, prestasi belajar matematika siswa yang mengikuti pendekatan pembelajaran matematika realistik tetap lebih tinggi dari siswa yang mengikuti pendekatan pembelajaran konvensional.Kata Kunci : pendekatan pembelajaran matematika realistik, kemampuan numerik, dan prestasi belajar matematika The study aimed at finding out and describing the contribution of realistic mathematic instructional approach towards mathematic learning achievement viewed from numeric skills. It was a quasi-experimental research by utilizing the post test only control group design. The study involved all students class VIII SMP Negeri 2 Amlapura in 2013-2014 as the population. Four classes of the students were chosen from eight parallel classes as the samples consisting of two classes as experimental and another two classes as control groups. They were determined based on random technique. The data were collected by testing, involving numeric ability and mathematic achievement tests. They were analysed based on two tailed variant analysis followed by Tukey-test. The results indicated that there was a significant difference between mathematic learning achievement of the students joining realistic mathematic instruction and those joining a conventional approach. There was an interactional contribution of realistic mathematic instructional approach and numeric ability towards mathematic learning achievement. The students having higher numeric skills, when joining realistic mathematic instruction approach their mathematic learning achievement was found better or higher than those joining a conventional approach. The students having lower numeric skills, when joining realistic mathematic instruction approach, their mathematic learning achievement was found better or higher than those joining a conventional approach

Function and expression of cystic fibrosis transmembrane conductance regulator after small intestinal transplantation in mice.

The secretion function of intestinal graft is one of the most important factors for successful intestinal transplantation. Cystic fibrosis transmembrane conductance regulator (CFTR) mediates HCO3(-) and Cl(-) secretions in intestinal epithelial cells. In this study, we made investigation on the expression and function of CFTR in an experimental model of murine small intestinal transplantation. Heterotopic intestinal transplantations were performed in syngeneic mice. The mRNA and protein expressions of CFTR were analyzed by real time PCR and western blot. Murine intestinal mucosal HCO3(-) and Cl(-) secretions were examined in vitro in Ussing chambers by the pH stat and short circuit current (I(sc)) techniques. The results showed that forskolin, an activator of CFTR, stimulated jejunal mucosal epithelial HCO3(-) and Cl(-) secretions in mice, but forskolin-stimulated HCO3(-) and Cl(-) secretions in donor and recipient jejunal mucosae of mice after heterotopic jejunal transplantation were markedly decreased, compared with controls (P<0.001). The mRNA and protein expression levels of CFTR in donor and recipient jejunal mucosae of mice were also markedly lower than those in controls (P<0.001), and the mRNA and protein expression levels of tumor necrosis factor α (TNFα) were markedly increased in donor jejunal mucosae of mice (P<0.001), compared with controls. Further experiments showed that TNFα down-regulated the expression of CFTR mRNA in murine jejunal mucosa. In conclusion, after intestinal transplantation, the function of CFTR was impaired, and its mRNA and protein expressions were down-regulated, which may be induced by TNFα

Band Engineering of Large-Twist-Angle Graphene/h-BN Moiré Superlattices with Pressure.

Graphene interfacing hexagonal boron nitride (h-BN) forms lateral moiré superlattices that host a wide range of new physical effects such as the creation of secondary Dirac points and band gap opening. A delicate control of the twist angle between the two layers is required as the effects weaken or disappear at large twist angles. In this Letter, we show that these effects can be reinstated in large-angle (∼1.8°) graphene/h-BN moiré superlattices under high pressures. A graphene/h-BN moiré superlattice microdevice is fabricated directly on the diamond culet of a diamond anvil cell, where pressure up to 8.3&nbsp;GPa is applied. The band gap at the primary Dirac point is opened by 40-60&nbsp;meV, and fingerprints of the second Dirac band gap are also observed in the valence band. Theoretical calculations confirm the band engineering with pressure in large-angle graphene/h-BN bilayers

Metformin potentiates the effect of arsenic trioxide suppressing intrahepatic cholangiocarcinoma: roles of p38 MAPK, ERK3, and mTORC1

Abstract Background Arsenic trioxide (ATO) is commonly used in the treatment of acute promyelocytic leukemia (APL), but does not benefit patients with solid tumors. When combined with other agents or radiation, ATO showed treatment benefits with manageable toxicity. Previously, we reported that metformin amplified the inhibitory effect of ATO on intrahepatic cholangiocarcinoma (ICC) cells more significantly than other agents. Here, we investigated the chemotherapeutic sensitization effect of metformin in ATO-based treatment in ICC in vitro and in vivo and explored the underlying mechanisms. Methods ICC cell lines (CCLP-1, RBE, and HCCC-9810) were treated with metformin and/or ATO; the anti-proliferation effect was evaluated by cell viability, cell apoptosis, cell cycle, and intracellular-reactive oxygen species (ROS) assays. The in vivo efficacy was determined in nude mice with CCLP-1 xenografts. The active status of AMPK/p38 MAPK and mTORC1 pathways was detected by western blot. In addition, an antibody array was used screening more than 200 molecules clustered in 12 cancer-related pathways in CCLP-1 cells treated with metformin and/or ATO. Methods of genetic modulation and pharmacology were further used to demonstrate the relationship of the molecule. Seventy-three tumor samples from ICC patients were used to detect the expression of ERK3 by immunohistochemistry. The correlation between ERK3 and the clinical information of ICC patients were further analyzed. Results Metformin and ATO synergistically inhibited proliferation of ICC cells by promoting cell apoptosis, inducing G0/G1 cell cycle arrest, and increasing intracellular ROS. Combined treatment with metformin and ATO efficiently reduced ICC growth in an ICC xenograft model. Mechanistically, the antibody array revealed that ERK3 exhibited the highest variation in CCLP-1 cells after treatment with metformin and ATO. Results of western blot confirm that metformin and ATO cooperated to inhibit mTORC1, activate AMP-activated protein kinase (AMPK), and upregulate ERK3. Metformin abrogated the activation of p38 MAPK induced by ATO, and this activity was partially dependent on AMPK activation. Inactivation of p38 MAPK by SB203580 or specific short interfering RNA (siRNA) promoted the inactivation of mTORC1 in ICC cells treated with metformin and ATO. Activation of p38 MAPK may be responsible for resistance to ATO in ICC. The relationship between p38 MAPK and ERK3 was not defined by our findings. Finally, AMPK is a newfound positive regulator of ERK3. Overexpression of EKR3 in ICC cells inhibited cell proliferation through inactivation of mTORC1. ERK3 expression is associated with a better prognosis in ICC patients. Conclusions Metformin sensitizes arsenic trioxide to suppress intrahepatic cholangiocarcinoma via the regulation of AMPK/p38 MAPK-ERK3/mTORC1 pathways. ERK3 is a newfound potential prognostic predictor and a tumor suppressor in ICC