Quality Diversity under Sparse Interaction and Sparse Reward: Application to Grasping in Robotics.

Quality-Diversity (QD) methods are algorithms that aim to generate a set of diverse and highperforming solutions to a given problem. Originally developed for evolutionary robotics, most QD studies are conducted on a limited set of domains'mainly applied to locomotion, where the fitness and the behavior signal are dense. Grasping is a crucial task for manipulation in robotics.

Tubulocystic renal cell carcinoma: a new radiological entity.

Unlabelled: Tubulocystic renal cell carcinoma (TC-RCC) is a recently identified renal malignancy. While approximately 100 cases of TC-RCC have been reported in the pathology literature, imaging features have not yet been clearly described. The purpose of this review is to describe the main radiologic features of this rare sub-type of RCC on ultrasound, computed tomography (CT), and magnetic resonance imaging (MRI), based jointly on the literature and findings from a multi-institutional retrospective HIPAA-compliant review of pathology and imaging databases.