Controlling the Solo12 quadruped robot with deep reinforcement learning.

Quadruped robots require robust and general locomotion skills to exploit their mobility potential in complex and challenging environments. In this work, we present an implementation of a robust end-to-end learning-based controller on the Solo12 quadruped. Our method is based on deep reinforcement learning of joint impedance references.

Context independent reductions in external processing during self-generated episodic social cognition.

Ongoing cognition supports behavioral flexibility by facilitating behavior in the moment, and through the consideration of future actions. These different modes of cognition are hypothesized to vary with the correlation between brain activity and external input, since evoked responses are reduced when cognition switches to topics unrelated to the current task. This study examined whether these reduced evoked responses change as a consequence of the task environment in which the experience emerges.

IGSF1 Deficiency Leads to Reduced TSH Production Independent of Alterations in Thyroid Hormone Action in Male Mice.

Loss of function mutations in IGSF1/Igsf1 cause central hypothyroidism. Igsf1 knockout mice have reduced pituitary thyrotropin-releasing hormone receptor, Trhr, expression, perhaps contributing to the phenotype. Because thyroid hormones negatively regulate Trhr, we hypothesized that IGSF1 might affect thyroid hormone availability in pituitary thyrotropes.

The short mRNA isoform of the immunoglobulin superfamily, member 1 gene encodes an intracellular glycoprotein.

Mutations in the immunoglobulin superfamily, member 1 gene (IGSF1/Igsf1) cause an X-linked form of central hypothyroidism. The canonical form of IGSF1 is a transmembrane glycoprotein with 12 immunoglobulin (Ig) loops. The protein is co-translationally cleaved into two sub-domains.

TRH Action Is Impaired in Pituitaries of Male IGSF1-Deficient Mice.

Loss-of-function mutations in the X-linked immunoglobulin superfamily, member 1 (IGSF1) gene cause central hypothyroidism. IGSF1 is a transmembrane glycoprotein of unknown function expressed in thyrotropin (TSH)-producing thyrotrope cells of the anterior pituitary gland. The protein is cotranslationally cleaved, with only its C-terminal domain (CTD) being trafficked to the plasma membrane.

IGSF1 variants in boys with familial delayed puberty.

Unlabelled: The immunoglobulin superfamily member 1 (IGSF1) gene encodes a plasma membrane glycoprotein mainly expressed in pituitary and testes. Loss-of-function mutations in IGSF1 cause an X-linked syndrome of central hypothyroidism (CeH), macroorchidism, and delayed puberty (delayed rise of testosterone, but normal timing of testicular growth). As this syndrome was discovered in patients with CeH, it is unknown whether IGSF1 mutations might also cause delayed puberty without CeH.

Unsupervised medical image classification by combining case-based classifiers.

We introduce an automated pathology classification system for medical volumetric brain image slices. Existing work often relies on handcrafted features extracted from automatic image segmentation. This is not only a challenging and time-consuming process, but it may also limit the adaptability and robustness of the system.

An automated pathological class level annotation system for volumetric brain images.

We introduce an automated, pathological class level annotation system for medical volumetric brain images. While much of the earlier work has mainly focused on annotating regions of interest in medical images, our system does not require annotated region level training data nor assumes perfect segmentation results for the regions of interest; the time and effort needed for acquiring training data are hence significantly reduced. This capability of handling high-dimensional noisy data, however, poses additional technical challenges, since statistical estimation of models for such data is prone to over-fitting.

A generative model based approach to retrieving ischemic stroke images.

This paper proposes a generative model approach to automatically annotate medical images to improve the efficiency and effectiveness of image retrieval systems for teaching, research, and diagnosis. The generative model captures the probabilistic relationships among relevant classification tags, tentative lesion patterns, and selected input features. Operating on the imperfect segmentation results of input images, the probabilistic framework can effectively handle the inherent uncertainties in the images and insufficient information in the training data.

Association analyses of the MAS-QTL data set using grammar, principal components and Bayesian network methodologies.

Background: It has been shown that if genetic relationships among individuals are not taken into account for genome wide association studies, this may lead to false positives. To address this problem, we used Genome-wide Rapid Association using Mixed Model and Regression and principal component stratification analyses. To account for linkage disequilibrium among the significant markers, principal components loadings obtained from top markers can be included as covariates.

Bayesian network analysis of resistance pathways against HIV-1 protease inhibitors.

Interpretation of Human Immunodeficiency Virus 1 (HIV-1) genotypic drug resistance is still a major challenge in the follow-up of antiviral therapy in infected patients. Because of the high degree of HIV-1 natural variation, complex interactions and stochastic behaviour of evolution, the role of resistance mutations is in many cases not well understood. Using Bayesian network learning of HIV-1 sequence data from diverse subtypes (A, B, C, F and G), we could determine the specific role of many resistance mutations against the protease inhibitors (PIs) nelfinavir (NFV), indinavir (IDV), and saquinavir (SQV).

Analysis of HIV-1 pol sequences using Bayesian Networks: implications for drug resistance.

Human Immunodeficiency Virus-1 (HIV-1) antiviral resistance is a major cause of antiviral therapy failure and compromises future treatment options. As a consequence, resistance testing is the standard of care. Because of the high degree of HIV-1 natural variation and complex interactions, the role of resistance mutations is in many cases insufficiently understood.

Identification of toxicologically predictive gene sets using cDNA microarrays.

We have developed an approach to classify toxicants based upon their influence on profiles of mRNA transcripts. Changes in liver gene expression were examined after exposure of mice to 24 model treatments that fall into five well-studied toxicological categories: peroxisome proliferators, aryl hydrocarbon receptor agonists, noncoplanar polychlorinated biphenyls, inflammatory agents, and hypoxia-inducing agents. Analysis of 1200 transcripts using both a correlation-based approach and a probabilistic approach resulted in a classification accuracy of between 50 and 70%.

A long-term randomized prospective trial of the Nissen procedure versus a modified Toupet technique.

Thirty-one patients about to undergo surgery for gastroesophageal reflux were randomized into either a Nissen fundoplication group (12) or a modified Toupet semifundoplication group (19). All patients were followed on a long-term basis for 5 years with a standard questionnaire, endoscopy, and manometry. Ninety-five percent of the patients in the modified Toupet group had good or excellent results versus 67% for the Nissen group.

A "nondislodgeable" endoprosthesis for nonsurgical drainage of the biliary tract.

In patients with obstructive jaundice, biliary decompression can be achieved by an endoprosthesis inserted by a percutaneous transhepatic approach. The prosthesis sometimes becomes dislodged and thus additional percutaneous transhepatic procedures may be required. To avoid this problem, a nondislodgeable endoprosthesis has been developed.

Cadmium concentrations in human liver, blood, and bile: comparison with a metabolic model.

Cadmium concentrations in liver biopsies, blood, and bile were measured by atomic absorption spectrophotometry in 23 patients in connection with routine gallstone operations. On a group basis cadmium in blood was a good indicator of cadmium in liver, and the estimated linear relationship agreed well with calculations from a formerly proposed metabolic model. Cadmium in bile was also analyzed, and an average of about 2.