Bipedal locomotion skills are challenging to develop. Control strategies often use local linearization of the dynamics in conjunction with reduced-order abstractions to yield tractable solutions. In these model-based control strategies, the controller is often not fully aware of many details, including torque limits, joint limits, and other non-linearities that are necessarily excluded from the...

An energy management strategy (EMS) is important for hybrid electric vehicles (HEVs) since it plays a decisive role on the performance of the vehicle. However, the variation of future driving conditions deeply influences the effectiveness of the EMS. Most existing EMS methods simply follow predefined rules that are not adaptive to different driving conditions online. Therefore, it is useful tha...

Mobile network that millions of people use every day is one of the most complex systems in real world. Optimization of mobile network to meet exploding customer demand and reduce CAPEX/OPEX poses greater challenges than in prior works. Actually, learning to solve complex problems in real world to benefit everyone and make the world better has long been ultimate goal of AI. However, it still rem...

Dexterous multi-fingered hands are extremely versatile and provide a generic way to perform multiple tasks in human-centric environments. However, effectively controlling them remains challenging due to their high dimensionality and large number of potential contacts. Deep reinforcement learning (DRL) provides a model-agnostic approach to control complex dynamical systems, but has not been show...

PURPOSE We characterized the foveal avascular zone (FAZ) and the parafoveal capillary network in healthy subjects using swept source OCT optical microangiography (OMAG). METHODS We acquired OMAG images of the macula of 19 eyes (13 healthy individuals) using a prototype swept source laser OCT. En face images of the retinal vasculature were generated for superficial and deep inner retinal layer...

Panoramic video provides immersive and interactive experience by enabling humans to control the field of view (FoV) through head movement (HM). Thus, HM plays a key role in modeling human attention on panoramic video. This paper establishes a database collecting subjects’ HM positions on panoramic video sequences. From this database, we find that the HM data are highly consistent across subject...

The NMDA receptor antagonist MK-801 produces different effects on timing tasks. In particular, MK-801 produces an underestimation of duration when animals are tested with the differential reinforcement of low rate of responding (DRL) schedule and an overestimation of duration when animals are tested with the peak-interval (PI) procedure. The goal of this study was to develop a model-based expla...

We have developed and characterized a system to analyze light effects on auxin transport independent of photosynthetic effects. Polar transport of [3H]indole-3-acetic acid through hypocotyl segments from etiolated cucumber (Cucumis sativus L.) seedlings was increased in seedlings grown in dim-red light (DRL) (0.5 &mgr;mol m-2 s-1) relative to seedlings grown in darkness. Both transport velocity...

Major depressive disorder (MDD) is a common and devastating mental illness behaviorally characterized by various symptoms, including reduced motivation, anhedonia and psychomotor retardation. Although the etiology of MDD is still obscure, a genetic predisposition appears to play an important role. Here we used, for the first time, a multifactorial selective breeding procedure to generate a dist...

Unlike conventional lasers, diffusive random lasers (DRLs) have no resonator to trap light and no high-Q resonances to support lasing. Because of this lack of sharp resonances, the DRL has presented a challenge to conventional laser theory. We present a theory able to treat the DRL rigorously and provide results on the lasing spectra, internal fields, and output intensities of DRLs. Typically D...