Miracle-dz/UniFAR-FTUs huggingface dataset:
HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, research in humanoid robots is often bottlenecked by the costly and fragile hardware setups. To accelerate algorithmic research in humanoid robots, we present a high-dimensional, simulated robot learning benchmark, HumanoidBench, featuring a humanoid robot equipped with dexterous hands and a variety of challenging whole-body manipulation and locomotion tasks. Our findings reveal that state-of-the-art reinforcement learning algorithms struggle with most tasks, whereas a hierarchical learning baseline achieves superior performance when supported by robust low-level policies, such as walking or reaching. With HumanoidBench, we provide the robotics community with a platform to identify the challenges arising when solving diverse tasks with humanoid robots, facilitating prompt verification of algorithms and ideas. The open-source code is available at https://sferrazza.cc/humanoidbench_site.
Treatment Response Evaluation of Breast Cancer after Neoadjuvant Chemotherapy and Usefulness of the Imaging Parameters of MRI and PET/CT

This study was aimed to evaluate the ability of imaging parameters measured on dynamic contrast-enhanced magnetic resonance imaging (DCE-MRI), diffusion-weighted MRI (DWI) and positron emission tomography/computed tomography (PET/CT) to serve as response markers in breast cancer after neoadjuvant chemotherapy (NAC). In 20 patients with breast cancer, DCE-MRI and DWI using a 3 T scanner and PET/CT were performed before and after NAC. DCE-MRI was analyzed using an automatic computer-aided detection program (MR-CAD). The response imaging parameters were compared with the pathologic response. The areas under the curve (AUCs) for DCE-MRI using MR-CAD analysis, DWI and PET/CT were 0.77, 0.59 and 0.76, respectively. The combination of all parameters measured by MR-CAD showed the highest diagnostic performance and accuracy (AUC = 0.77, accuracy = 90%). The combined use of the parameters of PET/CT with DCE-MRI or DWI showed a trend toward improved specificity and negative predictive value (100%, 100%, accuracy = 87.5%). The use of DCE-MRI using MR-CAD parameters indicated better diagnostic performance in predicting the final pathological response compared with DWI and PET/CT, although no statistically significant difference was observed. The combined use of PET/CT with DCE-MRI or DWI may improve the specificity for predicting a pathological response. Graphical Abstract
Visualizing real-time multivariate data using preattentive processing

A new method is presented for visualizing data as they are generated from real-time applications. These techniques allow viewers to perform simple data analysis tasks such as detection of data groups and boundaries, target detection, and estimation. The goal is to do this rapidly and accurately on a dynamic sequence of data frames. Our techniques take advantage of an ability of the human visual system called preattentive processing. Preattentive processing refers to an initial organization of the visual system based on operations believed to be rapid, automatic, and spatially parallel. Examples of visual features that can be detected in this way include hue, orientation, intensity, size, curvature, and line length. We believe that studies from preattentive processing should be used to assist in the design of visualization tools, especially those for which high speed target, boundary, and region detection are important. Previous work has shown that results from research in preattentive processing can be used to build visualization tools that allow rapid and accurate analysis of individual, static data frames. We extend these techniques to a dynamic real-time environment. This allows users to perform similar tasks on dynamic sequences of frames, exactly like those generated by real-time systems such as visual interactive simulation. We studied two known preattentive features, hue and curvature. The primary question investigated was whether rapid and accurate target and boundary detection in dynamic sequences is possible using these features. Behavioral experiments were run that simulated displays from our preattentive visualization tools. Analysis of the results of the experiments showed that rapid and accurate target and boundary detection is possible with both hue and curvature. A second question, whether interactions occur between the two features in a real-time environment, was answered positively.
Mutual Information Bounded by Fisher Information

We derive a general upper bound to mutual information in terms of the Fisher information. The bound may be further used to derive a lower bound for Bayesian quadratic cost. These two provide alternatives to the Efroimovich and to the van Trees inequality that are useful also for classes of prior distributions where the latter ones give trivial bounds. We illustrate the usefulness of our bounds with a case study in quantum phase estimation. Here, they allow us to adapt to mutual information the known and highly nontrivial bounds for Fisher information in the presence of noise. This nicely complements quantum metrology, since Fisher information is useful to gauge local estimation strategies, whereas mutual information is useful for global strategies.
Pretreatment evaluation of peripheral vascular malformations using low-dose contrast-enhanced time-resolved 3D MR angiography: initial results in 22 patients.

OBJECTIVE The objective of our study was to assess the feasibility and diagnostic performance of time-resolved MR angiography (MRA) in the pretreatment evaluation of peripheral vascular malformations at 1.5 T. SUBJECTS AND METHODS Twenty-two consecutive patients (15 women and seven men; mean age, 22.1 ± 12.1 years) who were known or suspected to have vascular malformations were studied using time-resolved MRA with interleaved stochastic trajectories and parallel acquisition followed by conventional MRA (n = 12). All studies were performed on a 1.5-T whole-body MR system. Image sets of time-resolved and conventional MRA were independently reviewed by two observers for image quality, level of confidence and presence, location, and classification of vascular malformations. The interobserver agreement was calculated using conventional MRA as the standard of reference. RESULTS On the basis of time-resolved MRA, nine of the lesions were categorized as high-flow arteriovenous malformations (AVMs), the remaining 13 lesions were categorized as low-flow vascular malformations or hemangiomas. There was no significant difference in the image quality grading scores between the two observers for time-resolved MRA (p = 0.61) and conventional MRA (p = 0.54). The kappa coefficient revealed good agreement (κ = 0.76) between time-resolved MRA and conventional MRA. Both observers visualized fine vascular details with higher confidence in two patients on conventional MRA. The additional functional information regarding feeding artery and flow patterns provided by time-resolved MRA was confirmed by digital subtraction in all nine cases. CONCLUSION Time-resolved MRA provided the temporal information needed for the appropriate classification of vascular malformations, enabling visualization of both the arterial feeders and draining veins. Furthermore, time-resolved MRA has the potential to be used as an initial and screening diagnostic tool obviating conventional MRA to categorize these lesions and determine their extent to correctly guide treatment.
One-winged butterflies: mode selection for azimuthal magnetorotational instability by thermal convection

The effects of thermal convection on turbulence in accretion discs, and particularly its interaction with the magnetorotational instability (MRI), are of significant astrophysical interest. Despite extensive theoretical and numerical studies, such interactions have not been explored experimentally. We conduct linear analysis of the azimuthal version of MRI (AMRI) in the presence of convection and compare our findings with the experimental data. We show that AMRI sets in at lower critical Hartmann numbers ($Ha$) in the presence of convection. Importantly, convection breaks symmetry between the $m = \pm 1$ modes ($m$ is the azimuthal wavenumber). This preference for one mode over the other makes the AMRI-wave look like a"one-winged butterfly"observed in the experiments.
Patterns and Correlates of Linkage to Appropriate HIV Care After HIV Diagnosis in the US Medicaid Population

Background Timely linkage to appropriate care after human immunodeficiency virus (HIV) diagnosis is critical to optimizing patient outcomes. Medicaid is the largest source of health care coverage for patients with HIV in the United States, yet no studies of linkage to appropriate HIV care have focused solely on the Medicaid population. Methods This is a retrospective study using Medicaid claims data from 15 states. Study sample comprised patients aged 18 to 64 years with 1 or more HIV tests between January 1, 2003, to May 1, 2010, followed or accompanied by HIV diagnosis. The “Test Index” corresponded to the HIV test that was temporally proximate to first HIV diagnosis. Study end point was linkage to appropriate HIV care, defined as receipt of CD4 and viral load tests as per US treatment guidelines. Time-to-event analyses characterized patterns and correlates of linkage to appropriate care. Results This study included 6684 patients, with a mean age of 35 years, 70% female, and 47% black race. Overall, 21.0% of patients linked to appropriate care within 1 year of the Test Index and 26.4% within 5 years. Compared with whites, blacks had a significantly shorter time to linkage to HIV appropriate care (hazard ratio, 2.034; P < 0.001). Conclusions These findings in Medicaid patients newly diagnosed with HIV contrast with prior research show disparities in access to HIV care favoring whites. Overall, the proportion of patients who linked to appropriate HIV care was very low given the availability of effective treatment, suggesting a need for more effective interventions promoting timely linkage to appropriate care after diagnosis.
The existence and asymptotic stability of Plasma-Sheaths to the full Euler-Poisson system

The main concern of this paper is to study large-time behavior of the sheath to the full Euler-Poisson system. As is well known, the monotone stationary solution under the Bohm criterion can be referred to as the sheath which is formed by interactions of plasma with wall. So far, the existence and asymptotic stability of stationary solutions in one-dimensional half space to the full Euler-Poisson system have been proved in \cite{DYZ2021}. In the present paper, we extend the results in \cite{DYZ2021} to $N$-dimensional ($N$=1,2,3) half space. By assuming that the velocity of the positive ion satisfies the Bohm criterion at the far field, we establish the global unique existence and the large time asymptotic stability of the sheath in some weighted Sobolev spaces by weighted energy method. Moreover, the time-decay rates are also obtained. A key different point from \cite{DYZ2021} is to derive some boundary estimates on the derivative of the potential in the $x_1$-direction.
Supporting Online Material Materials and Methods Som Text Figs. S1 to S6 References Evidence for a Collective Intelligence Factor in the Performance of Human Groups

error) to allow typists to distinguish sources of errors and correct responses and, therefore, provide a stronger test of illusions of authorship. We asked 24 skilled typists (WPM = 70.7 T 16.4) to type 600 words, each of which was followed by a four-alternative explicit report screen. Typists typed 91.8% of the words correctly. Mean interkeystroke intervals, plotted in Fig. 3A, show post-error slowing for incorrect responses (F 1,138 = 117.7, p < 0.01) and corrected errors (F 1,138 = 120.0, p < 0.01), but not for inserted errors (F < 1.0), indicating that inner-loop detection distinguishes between actual errors and correct responses. Explicit detection probabilities, plotted in Fig. 3B, show good discrimination between correct and error responses. For correct responses, typists said " correct " more than " error " [t(23) = 97.29, p < 0.01]; for error responses, typists said " error " more than " correct " [t(23) = 8.22, p < 0.01]. Typists distinguished actual errors from inserted errors well, avoiding an illusion of authorship. They said " error " more than " inserted " for actual errors [t(23) = 7.06, p < 0.01] and " inserted " more than " error " for inserted errors [t(23) = 14.75, p < 0.01]. However, typists showed a strong illusion of authorship with corrected errors. They were just as likely to call them correct responses as corrected errors [t(23) = 1.38]. The post-error slowing and post-trial report data show a dissociation between inner-and outer-loop error detection. We assessed the dissociation further by comparing post-error slowing on trials in which typists did and did not experience illusions of authorship (21). The pattern of post-error slowing was the same for both sets of trials (fig. S6), suggesting that the pattern in Fig. 3A is representative of all trials. The three experiments found strong dissocia-tions between explicit error reports and post-error slowing. These dissociations are consistent with the hierarchical error-detection mechanism that we proposed, with an outer loop that mediates explicit reports and an inner loop that mediates post-error slowing. This nested-loop description of error detection is consistent with hierarchical models of cognitive control in typewriting (9, 10, 15–17) and with models of hierarchical control in other complex tasks (2, 8, 22). Speaking, playing music, and navigating through space may all involve inner loops that take care of the details of performance (e.g., uttering phonemes, playing notes, and walking) and outer …
The D5 Dopamine Receptor Mediates Large-Conductance, Calcium- and Voltage-Activated Potassium Channel Activation in Human Coronary Artery Smooth Muscle Cells

Large-conductance, calcium- and voltage-activated potassium (BKCa) channels hyperpolarize coronary artery smooth muscle cells, causing vasorelaxation. Dopamine activates BKCa channels by stimulating D1-like receptor-mediated increases in cAMP in porcine coronary artery myocytes. There are two D1-like receptors (R), D1R and D5R. We hypothesize that the specific D1-like receptor involved in BKCa channel activation in human coronary artery smooth muscle cells (HCASMCs) is the D5R and that activation occurs via cAMP cross-activation of cGMP-dependent protein kinase (PKG), rather than cAMP-dependent protein kinase (PKA). The effects of D1-like receptor agonists and antagonists on BKCa channel opening in HCASMCs were examined in the presence and absence of PKG/PKA inhibition by cell-attached patch clamp. In the absence of commercially available ligands specific for D1R or D5R, D1R or D5R protein was down-regulated by transfecting HCASMCs with human D1R or D5R antisense oligonucleotides, respectively: cells transfected with scrambled oligonucleotides and nontransfected HCASMCs served as controls. The predominant ion channel conducting outward currents in nontransfected HCASMCs was identified as the large-conductance, calcium- and voltage-activated potassium (BKCa) channel, which was activated by D1-like receptor agonists despite PKA inhibition with (9R,10S,12S)-2,3,9,10,11,12-hexahydro-10-hydroxy-9-methyl-1-oxo-9,12-epoxy-1H-diindolo[1,2,3-fg:3′,2′,1′-kl]pyrrolo[3,4-i][1,6]benzodiazocine-10-carboxylic acid (KT 5720) (300 nM), but was abolished by inhibiting PKG with 9-methoxy-9-methoxycarbonyl-8-methyl-2,3,9,10-tetrahydro-8,11-epoxy-1H,8H,11H-2,7b-11a-triazadibenzo(a,g) cycloocta(cde)-trinden-1-one (KT 5823) (300 nM). D1-like receptor agonists activated BKCa channels in all transfected cells except those transfected with D5R antisense oligonucleotides. Thus, the dopamine (D1-like) receptor mediates activation of BKCa channels in HCASMCs by D5R, not D1R, and via PKG, not PKA. This is the first report of differential D1-like receptor regulation of vascular smooth muscle function in human cells.
Revisiting Adversarial Training under Long-Tailed Distributions

Deep neural networks are vulnerable to adversarial attacks, often leading to erroneous outputs. Adversarial training has been recognized as one of the most effective methods to counter such attacks. However, existing adversarial training techniques have predominantly been tested on balanced datasets, whereas real-world data often exhibit a long-tailed distribution, casting doubt on the efficacy of these methods in practical scenarios. In this paper, we delve into adversarial training under long-tailed distributions. Through an analysis of the previous work"RoBal", we discover that utilizing Balanced Softmax Loss alone can achieve performance comparable to the complete RoBal approach while significantly reducing training overheads. Additionally, we reveal that, similar to uniform distributions, adversarial training under long-tailed distributions also suffers from robust overfitting. To address this, we explore data augmentation as a solution and unexpectedly discover that, unlike results obtained with balanced data, data augmentation not only effectively alleviates robust overfitting but also significantly improves robustness. We further investigate the reasons behind the improvement of robustness through data augmentation and identify that it is attributable to the increased diversity of examples. Extensive experiments further corroborate that data augmentation alone can significantly improve robustness. Finally, building on these findings, we demonstrate that compared to RoBal, the combination of BSL and data augmentation leads to a +6.66% improvement in model robustness under AutoAttack on CIFAR-10-LT. Our code is available at https://github.com/NISPLab/AT-BSL .
Invariant submanifolds for solutions to rough differential equations

In this paper we provide necessary and sufficient conditions for invariance of finite dimensional submanifolds for rough differential equations (RDEs) with values in a Banach space. Furthermore, we apply our findings to the particular situation of random RDEs driven by $Q$-Wiener processes and random RDEs driven by $Q$-fractional Brownian motion.
Risk factors for 30-day mortality in patients with carbapenem-resistant Acinetobacter baumannii during an outbreak in an intensive care unit

SUMMARY This study assessed risk factors for 30-day mortality in 66 patients with carbapenem-resistant Acinetobacter baumannii (CRAB) infection or colonization during an outbreak in an intensive-care unit. Clinical and demographic characteristics were evaluated. The overall 30-day mortality was 47·0%. In the multivariate Cox regression model, septic shock [adjusted hazard ratio (aHR) 5·01, 95% confidence interval (CI) 2·32–10·01] and APACHE II score at onset of infection (aHR 1·11, 95% CI 1·04–1·18) were significantly associated with 30-day mortality. Administration of appropriate therapy was a protective factor, but it was not statistically significant (aHR 0·48, 95% CI 0·21–1·12). A sample of isolates tested (n=27) carried the blaOXA-23 gene. Severity of baseline condition and severity of infection presentation were major risk factors for mortality during the outbreak. Patients who received appropriate therapy tended to have lower mortality rates, although therapy was started late and dosage was suboptimal in most cases.
A New Liquid Human Milk Fortifier and Linear Growth in Preterm Infants

OBJECTIVES: To evaluate the growth, tolerance, and safety of a new ultraconcentrated liquid human milk fortifier (LHMF) designed to provide optimal nutrients for preterm infants receiving human breast milk in a safe, nonpowder formulation. METHODS: Preterm infants with a body weight ≤1250 g fed expressed and/or donor breast milk were randomized to receive a control powder human milk fortifier (HMF) or a new LHMF for 28 days. When added to breast milk, the LHMF provided ∼20% more protein than the control HMF. Weight, length, head circumference, and serum prealbumin, albumin, blood urea nitrogen, electrolytes, and blood gases were measured. The occurrence of sepsis, necrotizing enterocolitis, and serious adverse events were monitored. RESULTS: This multicenter, third party–blinded, randomized controlled, prospective study enrolled 150 infants. Achieved weight and linear growth rate were significantly higher in the LHMF versus control groups (P = .04 and 0.03, respectively). Among infants who adhered closely to the protocol, the LHMF had a significantly higher achieved weight, length, head circumference, and linear growth rate than the control HMF (P = .004, P = .003, P = .04, and P = .01, respectively). There were no differences in measures of feeding tolerance or days to achieve full feeding volumes. Prealbumin, albumin, and blood urea nitrogen were higher in the LHMF group versus the control group (all P < .05). There was no difference in the incidence of confirmed sepsis or necrotizing enterocolitis. CONCLUSIONS: Use of a new LHMF in preterm infants instead of powder HMF is safe. Benefits of LHMF include improvements in growth and avoidance of the use of powder products in the NICU.
Reactive Oxygen Species Scavenger Inhibits STAT3 Activation After Transient Focal Cerebral Ischemia–Reperfusion Injury in Rats

BACKGROUND: Signal transducer and activator of transcription 3 (STAT3) activation in ischemic brain has been verified. However, the mechanism and the role of STAT3 activation after cerebral ischemia–reperfusion are poorly elucidated. In the present study, we sought to test the hypothesis that STAT3 activation after cerebral ischemia–reperfusion was related to reactive oxygen species (ROS) production. METHODS: Adult male Sprague–Dawley rats were subjected to focal cerebral ischemia induced by middle cerebral artery occlusion. STAT3 activation was evaluated by immunohistochemistry and Western blotting. Rats were subjected to permanent ischemia or ischemia–reperfusion to clarify the temporal profile of STAT3 activation. The role of ROS in inducing STAT3 activation was assessed by administration of the ROS scavenger dimethylthiourea (DMTU). The effects of DMTU and the STAT3 activation inhibitor AG490 administration on brain ischemic injuries were evaluated by neurologic behavior scores and brain infarct volumes. RESULTS: The activation of STAT3 after middle cerebral artery occlusion was significantly increased within peri-ischemia neurons and astrocytes. STAT3 activation mainly occurred in the reperfusion phase rather than in the ischemia phase. In addition, DMTU suppressed STAT3 activation in a dose-dependent manner, indicating that STAT3 activation may be a subsequent event after ROS production. DMTU and AG490 significantly reduced infarct sizes and improved neurologic outcomes. CONCLUSION: In comparison with ischemia, reperfusion is a more powerful stimulus for STAT3 activation. ROS scavenging is closely correlated with an inhibition of STAT3 activation. Neuroprotective effects are achieved through ROS scavenging and down-regulation of STAT3 activation.