Miracle-dz/UniFAR-FTUs huggingface dataset:
Reinforcement Learning for Parameterized Motor Primitives

One of the major challenges in both action generation for robotics and in the understanding of human motor control is to learn the "building blocks of movement generation", called motor primitives. Motor primitives, as used in this paper, are parameterized control policies such as splines or nonlinear differential equations with desired attractor properties. While a lot of progress has been made in teaching parameterized motor primitives using supervised or imitation learning, the selfimprovement by interaction of the system with the environment remains a challenging problem. In this paper, we evaluate different reinforcement learning approaches for improving the performance of parameterized motor primitives. For pursuing this goal, we highlight the difficulties with current reinforcement learning methods, and outline both established and novel algorithms for the gradient-based improvement of parameterized policies. We compare these algorithms in the context of motor primitive learning, and show that our most modern algorithm, the Episodic Natural Actor-Critic outperforms previous algorithms by at least an order of magnitude. We demonstrate the efficiency of this reinforcement learning method in the application of learning to hit a baseball with an anthropomorphic robot arm.
Regression of bladder tumors in mice treated with interleukin 2 gene- modified tumor cells [published erratum appears in J Exp Med 1993 Jun 1;177(6):following 1831]

This study explored the use of interleukin 2 (IL-2) and interferon gamma (IFN-gamma) gene-modified tumor cells as cellular vaccines for the treatment of bladder cancer. The mouse MBT-2 tumor used is an excellent model for human bladder cancer. This carcinogen-induced tumor of bladder origin resembles human bladder cancer in its etiology and histology, and responds to treatment in a manner similar to its human counterpart. Using retroviral vectors, the human IL-2 and mouse IFN- gamma genes were introduced and expressed in MBT-2 cells. The tumor- forming capacity of the cytokine gene-modified MBT-2 cells was significantly impaired, since no tumors formed in mice injected intradermally with either IL-2- or IFN-gamma-secreting cells, using cell doses far exceeding the minimal tumorigenic dose of parental MBT-2 cells. Furthermore, mice that rejected the IL-2- or IFN-gamma-secreting tumor cells became highly resistant to a subsequent challenge with parental MBT-2 cells, but not to 38C13 cells, a B cell lymphoma of the same genetic background. To approximate the conditions as closely as possible to the conditions prevailing in the cancer patient, inactivated cytokine-secreting cells were used to treat animals bearing tumors established by orthotopic implantation of MBT-2 cells into the bladder wall of the animal. Treatment of mice carrying a significant tumor burden with IL-2-secreting MBT-2 cells had a significant inhibitory effect on tumor progression with extended survival. Moreover, in 60% of the mice the tumor regressed completely and the animals remained alive and free of detectable tumor for the duration of the observation period. Treatment of tumor-bearing animals with IL-2- secreting MBT-2 cells was superior to the use of cisplatin, a chemotherapeutic agent used in the treatment of bladder cancer. The therapeutic effect of IFN-gamma-secreting cells was minimal and treatment with unmodified MBT-2 cells had no effect on tumor growth or survival, showing that the parental MBT-2 cells were nonimmunogenic in this experimental setting. Most importantly, mice that exhibited complete tumor regression after treatment with IL-2-secreting MBT-2 cells became resistant to a subsequent challenge with a highly tumorigenic dose of parental MBT-2 cells, indicating that long-term immunological memory was established in the "cured" mice.
Linear precoding based on switched relaying processing for multiuser MIMO relay systems

In this work, we propose a linear base station (BS) precoding strategy based on switched relaying (SR) processing for downlink multiuser multiple-input multiple-output (MIMO) relay systems. The BS and the MIMO relay station (RS) are both equipped with a codebook of interleaving matrices. For a given channel state information (CSI) the selection function at the BS chooses the optimum interleaving matrix from the codebook based on the maximum sum received signal-to-interference-plus-noise ratio (SINR) or sum rate to design the linear BS precoder. Prior to the payload transmission the BS sends the index corresponding to the selected interleaving matrix to the RS, where the optimum interleaving matrix is selected as the optimum relay processing matrix. The entries of the codebook are randomly generated unitary matrices. Simulation results show that the performance of the proposed techniques is significantly better than prior art in the case of perfect CSI.1
On the impact of uplink power control in network MIMO systems with MMSE and SIC receivers

Network multiple input, multiple output (MIMO) systems are built around a broadband backbone network that allows for the fast communication of channel state information (CSI) as well as user data between different base stations. Previous works have shown that multicell channel adaptive (opportunistic) power control can minimize the sum power or maximize the sum rate when the backbone is used for the exchange of CSI in network MIMO systems. In this work we investigate the gains of multicell opportunistic power control under per user fairness constraints when both CSI and user data are shared between multiple sites. We find that multicell opportunistic power control working in concert with uplink joint signal detection is an efficient means both for the capacity and the power control problems that not only minimizes sum power or maximizes overall capacity, but is also able to provide arbitrary level of fairness.
Knowledge Management in Communities and Networks of Practice: Challenges, Issues and Paradoxes

This research-in-progress paper investigates knowledge management activities in communities and networks of practice and the role and use of IT in such knowledge networks. Drawn from the network model including social-practice perspectives (Wenger 1998; Brown and Duguid 2000; Brown and Duguid 2001), social network theory (Granovetter 1973), and actor network theory (Law and Callon 1992; Latour 1996) and by reviewing existing literature, we develop five research questions. A case study with a university IT department is used to answer the five research questions.
Stellar Masses of Luminous Compact Blue Galaxies at Redshifts z = 0.4-1.2

We present stellar mass measurements for a sample of 36 luminous compact blue galaxies (LCBGs) at redshifts z = 0.4-1.2 in the flanking fields around the Hubble Deep Field-North. The technique is based on fitting a two-component galaxy population model to multi-broadband photometry. Best-fit models are found to be largely independent of the assumed values for the initial mass function (IMF) and the metallicity of the stellar populations, but they are sensitive to the amount of extinction and the extinction law adopted. On average, the best-fit model corresponds to a LMC extinction law with E(B-V) = 0.5. Stellar mass estimates, however, are remarkably independent of the final model choice. Using a Salpeter IMF, the derived median stellar mass for this sample is 5 × 109 M☉, i.e., ~2 times smaller than previous virial mass estimates. Despite uncertainties of a factor of 2-3, our results strengthen prior claims that L* CBGs at intermediate redshifts are, on average, about 10 times less massive than a typical L* galaxy today.
The Griffith Empathy Measure Does Not Validly Distinguish between Cognitive and Affective Empathy in Children

Objective To evaluate the construct validity of the Griffith Empathy Measure (GEM), specifically the validity of its separate “cognitive” and “affective” empathy scales. If these scales do distinguishably measure these separable constructs, then this would greatly complicate many past findings using the unidimensional Bryant Empathy Index, which is the original source of the scale items. If these scales are not valid as distinguishable measures of cognitive and affective empathy, however, then their growing use in this manner is not justified. Method In addition to a narrative theoretical review of the cognitive and affective scales of the GEM, I conducted a small meta‐analysis of the GEM's scales relationships with callous‐unemotional (CU) traits in children. CU traits are widely conceptualised as being associated with severe deficits in affective empathy, alongside minimal deficits in cognitive empathy. Results Across five studies, with a total of 3,496 children participants, CU traits were substantially negatively associated with the GEM cognitive empathy scale (r = −.40), but only weakly negatively associated with GEM affective empathy scores (r = −.12). Conclusion I argue that Dadds et al. erred in trying to derive valid measures of both cognitive and affective empathy from an item pool that was not designed for that kind of dual‐use purpose. More specifically, the GEM “cognitive” scale may primarily measure broader callousness, whereas the affective scale may primarily measure only a narrow range of affective empathy, namely emotional contagion.
‘Mum never loved me.’ How structural factors influence adolescent sexual and reproductive health through parent–child connectedness: A qualitative study in rural Tanzania

Research in high income countries shows parent–child connectedness to be protective against undesirable sexual and reproductive health (SRH) outcomes among young people. Little has been done to understand the nature of parent–child connectedness, the structural factors that impact on connectedness and parents’ understanding of how connectedness affects their children's sexual behaviour in sub-Saharan Africa and Tanzania in particular. Ethnographic research involved 30 days of observation in 10 households, 9 focus group discussions and 60 in-depth interviews. Thematic analysis was conducted using NVIVO qualitative data analysis software. The structural factors with greatest influence on connectedness were economic circumstances, gender, social status, state education, and globalisation. Economic circumstances impacted on parent–child connectedness through parents’ ability to provide for their children's material needs, and the time their occupation allowed for them to spend with their children and monitor their activities. Appropriate parent–child interactions were shaped by gender norms and by social status in the form of respectability, adolescents’ adherence to norms of respect/ obedience shaping their parents’ affection. State education affected parents’ preferences between children but also undermined parental authority, as did broader globalisation. Connectedness was related to SRH in a bi-directional way: lack of connectedness was linked to young people's low self-esteem and risky sexual behaviour while unplanned pregnancies seriously undermined young women's connectedness with their parents. Since material provision was perceived to be a central element of parent–child connectedness, structural factors limiting provision made transactional sex more likely both through direct material pathways and emotional ones. Motives for transactional sex were said to be material needs and to feel loved and cared for. An important pathway by which structural factors shape adolescent SRH outcomes is through parent–child connectedness, especially parents’ ability to spend time with their children and provide for their economic needs. Modifying these structural factors should facilitate parent–child connectedness, which may help delay early sexual intercourse, protect young people against unplanned pregnancy through encouraging communication on contraception use and, overall, promote healthy adolescent development.
Role of Transcriptional Regulation in Controlling Fluxes in Central Carbon Metabolism of Saccharomyces cerevisiae

In contrast to batch cultivation, chemostat cultivation allows the identification of carbon source responses without interference by carbon-catabolite repression, accumulation of toxic products, and differences in specific growth rate. This study focuses on the yeast Saccharomyces cerevisiae, grown in aerobic, carbon-limited chemostat cultures. Genome-wide transcript levels and in vivo fluxes were compared for growth on two sugars, glucose and maltose, and for two C2-compounds, ethanol and acetate. In contrast to previous reports on batch cultures, few genes (180 genes) responded to changes of the carbon source by a changed transcript level. Very few transcript levels were changed when glucose as the growth-limiting nutrient was compared with maltose (33 transcripts), or when acetate was compared with ethanol (16 transcripts). Although metabolic flux analysis using a stoichiometric model revealed major changes in the central carbon metabolism, only 117 genes exhibited a significantly different transcript level when sugars and C2-compounds were provided as the growth-limiting nutrient. Despite the extensive knowledge on carbon source regulation in yeast, many of the carbon source-responsive genes encoded proteins with unknown or incompletely characterized biological functions. In silico promoter analysis of carbon source-responsive genes confirmed the involvement of several known transcriptional regulators and suggested the involvement of additional regulators. Transcripts involved in the glyoxylate cycle and gluconeogenesis showed a good correlation with in vivo fluxes. This correlation was, however, not observed for other important pathways, including the pentose-phosphate pathway, tricarboxylic acid cycle, and, in particular, glycolysis. These results indicate that in vivo fluxes in the central carbon metabolism of S. cerevisiae grown in steadystate, carbon-limited chemostat cultures are controlled to a large extent via post-transcriptional mechanisms.
A randomized, placebo-controlled trial of late Na current inhibition (ranolazine) in coronary microvascular dysfunction (CMD): impact on angina and myocardial perfusion reserve

Abstract Aims The mechanistic basis of the symptoms and signs of myocardial ischaemia in patients without obstructive coronary artery disease (CAD) and evidence of coronary microvascular dysfunction (CMD) is unclear. The aim of this study was to mechanistically test short-term late sodium current inhibition (ranolazine) in such subjects on angina, myocardial perfusion reserve index, and diastolic filling. Materials and results Randomized, double-blind, placebo-controlled, crossover, mechanistic trial in subjects with evidence of CMD [invasive coronary reactivity testing or non-invasive cardiac magnetic resonance imaging myocardial perfusion reserve index (MPRI)]. Short-term oral ranolazine 500–1000 mg twice daily for 2 weeks vs. placebo. Angina measured by Seattle Angina Questionnaire (SAQ) and SAQ-7 (co-primaries), diary angina (secondary), stress MPRI, diastolic filling, quality of life (QoL). Of 128 (96% women) subjects, no treatment differences in the outcomes were observed. Peak heart rate was lower during pharmacological stress during ranolazine (−3.55 b.p.m., P < 0.001). The change in SAQ-7 directly correlated with the change in MPRI (correlation 0.25, P = 0.005). The change in MPRI predicted the change in SAQ QoL, adjusted for body mass index (BMI), prior myocardial infarction, and site (P = 0.0032). Low coronary flow reserve (CFR <2.5) subjects improved MPRI (P < 0.0137), SAQ angina frequency (P = 0.027), and SAQ-7 (P = 0.041). Conclusions In this mechanistic trial among symptomatic subjects, no obstructive CAD, short-term late sodium current inhibition was not generally effective for SAQ angina. Angina and myocardial perfusion reserve changes were related, supporting the notion that strategies to improve ischaemia should be tested in these subjects. Trial registration clinicaltrials.gov Identifier: NCT01342029.
Turn-Constrained Route Planning for Avoiding Hazardous Weather

We investigate the problem of algorithmically synthesizing turn-constrained routes that minimize exposure to hazardous weather. Such a problem is suitable to air traffic management automation and aircraft flight management systems. Our algorithm synthesizes routes that aircraft may follow from a specified start to finish location. Example applications include synthesizing routes (1) from airport metering fix locations to runway final approach fixes, and (2) from sector boundary crossing locations to airport metering fix locations. The algorithm takes into account aircraft dynamics limits on velocity and acceleration, pilot and controller workload considerations (e.g., the number of turn maneuvers), and other constraints (e.g., utilizing arrival vs. departure corridors or avoiding special use airspace regions). The solution approach is based on searching in an appropriate discretization of a geometric model of the airspace using a dynamic programming algorithm for optimal paths having a bounded number of t.
Contextual Classification of Image Patches with Latent Aspect Models

We present a novel approach for contextual classification of image patches in complex visual scenes, based on the use of histograms of quantized features and probabilistic aspect models. Our approach uses context in two ways: (1) by using the fact that specific learned aspects correlate with the semantic classes, which resolves some cases of visual polysemy often present in patch-based representations, and (2) by formalizing the notion that scene context is image-specific—what an individual patch represents depends on what the rest of the patches in the same image are. We demonstrate the validity of our approach on a man-made versus natural patch classification problem. Experiments on an image collection of complex scenes show that the proposed approach improves region discrimination, producing satisfactory results and outperforming two noncontextual methods. Furthermore, we also show that co-occurrence and traditional (Markov random field) spatial contextual information can be conveniently integrated for further improved patch classification.
Reversible Mapping for Tree Structured Quantum Computation

A hierarchical, reversible mapping between levels of tree structured computation, applicable for structuring the Quantum Computation algorithm for NP-complete problem is presented. It is proven that confining the state of a quantum computer to a subspace of the available Hilbert space, where states are consistent with the problem constraints, can be done in polynomial time. The proposed mapping, together with the method of state reduction can be potentially used for solving NP-complete problems in polynomial time.
Allelic exchange at the endogenous genomic locus in Plasmodium falciparum proves the role of dihydropteroate synthase in sulfadoxine‐resistant malaria

We have exploited the recently developed ability to trans‐ fect the malaria parasite Plasmodium falciparum to investigate the role of polymorphisms in the enzyme dihydropteroate synthase (DHPS), identified in sulfadoxine‐resistant field isolates. By using a truncated form of the dhps gene, specific mutations were introduced into the endogenous gene by allelic replacement such that they were under the control of the endogenous promoter. Using this approach a series of mutant dhps alleles that mirror P.falciparum variants found in field isolates were found to confer different levels of sulfadoxine resistance. This analysis shows that alteration of Ala437 to Gly (A437G) confers on the parasite a 5‐fold increase in sulfadoxine resistance and addition of further mutations increases the level of resistance to 24‐fold above that seen for the transfectant expressing the wild‐type dhps allele. This indicates that resistance to high levels of sulfadoxine in P.falciparum has arisen by an accumulation of mutations and that Gly437 is a key residue, consistent with its occurrence in most dhps alleles from resistant isolates. These studies provide proof that the mechanism of resistance to sulfadoxine in P.falciparum involves mutations in the dhps gene and determines the relative contribution of these mutations to this phenotype.
SSEES Centre for the Study of Economic and Social Change in Europe START-UP FINANCING : A COMPARATIVE PERSPECTIVE

We investigate the determinants of start-up financing in 41 countries, using the Global Entrepreneurship Monitor surveys for 1998-2003. High quality of property rights increases both the total volume of finance and the use of external finance for the individual start-up. The size of the formal financial sector affects the start-up finance via enhancing the volume of self-finance. In addition, the use of external finance by start-ups correlates with the extent of financial restrictions in a country in a non-linear way. Supply of informal finance may to some extent substitute for the use of formal finance.
Remarks on filtering of semi-markov data

This paper tries to give some insight about relationships between Viterbi and Forward backward algorithm (used in the context of hidden markov models) on one hand and Kalman filtering and Rauch-Tung-Striebel smoothing on the other. We give an unifying view which shows how those algorithms are related and give an example of an hybrid system which can be filtered through a mixed algorithm.
Sozial vermittelte Lernprozesse bei quantitativen Schätzaufgaben

The present thesis investigates social learning processes in quantitative estimation tasks with a focus on two different social contexts. The first part concentrates on interacting groups and examines G-I transfer, which denotes an increase in individual performance due to group interaction, for example, through acquiring certain skills or knowledge from the other group members. Whereas such G-I transfer has been successfully shown for problem-solving tasks, evidence for G-I transfer on quantitative estimation tasks is scarce. The present thesis addresses this research gap with a focus on how often a group has to interact in order to fully exploit the benefit of this learning effect. Results from two experiments support the idea that a single group interaction is sufficient to induce a stable G-I transfer. In contrast to nominal groups, both members of continuously interacting groups and members of groups with only one initial interaction exhibited stable G-I transfer, and the size of this transfer did not significantly differ between the latter two conditions. Based on the assumed simplicity of this learning process, the second part of the present thesis examines a social context without direct interaction, namely advice situations in the judge-advisor paradigm. Previous research in this paradigm has focused on how judges weight advice, and on the beneficial effect of receiving advice on judges’ post-advice final judgments. However, social learning processes could improve the accuracy of judges’ subsequent initial judgments as well. Hence, it is assumed that advice can induce individual performance enhancements that differ as a function of the advisor’s judgment accuracy. The results of three experiments support this hypothesis and indicate positive social learning particularly when participants receive high quality advice even without feedback about its quality. In general, the results suggest that interacting with others as well as receiving advice can have a positive effect on subsequent quantitative estimation in terms of social learning and hint at the importance of reference values for these learning processes.