We introduce Diffusion Network Adaptation (DNA), a framework for finding approximate solutions to continuous time, continuous state, continuous action optimal control problems. We present two reinforcement learning algorithms developed under this framework, one model based and the other model free. We test the algorithms in computer simulations and in a complex pneumatic humanoid robot that had...

The eukaryotic cell cycle comprises two critical phases, DNA replication (S phase) and the subsequent distribution of an equivalent genome to each of two daughter cells at mitosis (M phase). A signal transduction cascade called the replication checkpoint has evolved to ensure that M phase does not occur prior to the completion of S phase. The mitotic regulators targeted by this checkpoint have ...