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The problem of continuous inverse optimal control (over finite time horizon) is to learn the unknown cost function over the sequence of continuous control variables from expert demonstrations. In this article, we study this fundamental problem in the framework of energy-based model, where the observed expert trajectories are assumed to be random samples from a probability density function defined as the exponential of the negative cost function up to a normalizing constant. The parameters of the cost function are learned by maximum likelihood via an “analysis by synthesis” scheme, which iterates (1) synthesis step: sample the synthesized trajectories from the current probability density using the Langevin dynamics via back-propagation through time, and (2) analysis step: update the model parameters based on the statistical difference between the synthesized trajectories and the observed trajectories. Given the fact that an efficient optimization algorithm is usually available for an optimal control problem, we also consider a convenient approximation of the above learning method, where we replace the sampling in the synthesis step by optimization. Moreover, to make the sampling or optimization more efficient, we propose to train the energy-based model simultaneously with a top-down trajectory generator via cooperative learning, where the trajectory generator is used to fast initialize the synthesis step of the energy-based model. We demonstrate the proposed methods on autonomous driving tasks, and show that they can learn suitable cost functions for optimal control. 

Abstract We show that highly confined superfluid films are extremely nonlinear mechanical resonators, offering the prospect to realize a mechanical qubit. Specifically, we consider third-sound surface waves, with nonlinearities introduced by the van der Waals interaction with the substrate. Confining these waves to a disk, we derive analytic expressions for the cubic and quartic nonlinearities and determine the resonance frequency shifts they introduce. We predict single-phonon shifts that are three orders of magnitude larger than in current state-of-the-art nonlinear resonators. Combined with the exquisitely low intrinsic dissipation of superfluid helium and the strongly suppressed acoustic radiation loss in phononic crystal cavities, we predict that this could allow blockade interactions between phonons as well as two-level-system-like behavior. Our work provides a pathway towards extreme mechanical nonlinearities, and towards quantum devices that use mechanical resonators as qubits. 

Einstein’s general theory of relativity from 1915¹remains the most successful description of gravitation. From the 1919 solar eclipse²to the observation of gravitational waves³, the theory has passed many crucial experimental tests. However, the evolving concepts of dark matter and dark energy illustrate that there is much to be learned about the gravitating content of the universe. Singularities in the general theory of relativity and the lack of a quantum theory of gravity suggest that our picture is incomplete. It is thus prudent to explore gravity in exotic physical systems. Antimatter was unknown to Einstein in 1915. Dirac’s theory⁴appeared in 1928; the positron was observed⁵in 1932. There has since been much speculation about gravity and antimatter. The theoretical consensus is that any laboratory mass must be attracted⁶by the Earth, although some authors have considered the cosmological consequences if antimatter should be repelled by matter^7–10. In the general theory of relativity, the weak equivalence principle (WEP) requires that all masses react identically to gravity, independent of their internal structure. Here we show that antihydrogen atoms, released from magnetic confinement in the ALPHA-g apparatus, behave in a way consistent with gravitational attraction to the Earth. Repulsive ‘antigravity’ is ruled out in this case. This experiment paves the way for precision studies of the magnitude of the gravitational acceleration between anti-atoms and the Earth to test the WEP.

 

High rates of dispersal can breakdown coadapted gene complexes. However, concentrated genomic architecture (i.e., genomic islands of divergence) can suppress recombination to allow evolution of local adaptations despite high gene flow. Pacific lamprey (Entosphenus tridentatus) is a highly dispersive anadromous fish. Observed trait diversity and evidence for genetic basis of traits suggests it may be locally adapted. We addressed whether concentrated genomic architecture could influence local adaptation for Pacific lamprey. Using two new whole genome assemblies and genotypes from 7,716 single nucleotide polymorphism (SNP) loci in 518 individuals from across the species range, we identified four genomic islands of divergence (on chromosomes 01, 02, 04, and 22). We determined robust phenotype-by-genotype relationships by testing multiple traits across geographic sites. These trait associations probably explain genomic divergence across the species’ range. We genotyped a subset of 302 broadly distributed SNPs in 2,145 individuals for association testing for adult body size, sexual maturity, migration distance and timing, adult swimming ability, and larval growth. Body size traits were strongly associated with SNPs on chromosomes 02 and 04. Moderate associations also implicated SNPs on chromosome 01 as being associated with variation in female maturity. Finally, we used candidate SNPs to extrapolate a heterogeneous spatiotemporal distribution of these predicted phenotypes based on independent data sets of larval and adult collections. These maturity and body size results guide future elucidation of factors driving regional optimization of these traits for fitness. Pacific lamprey is culturally important and imperiled. This research addresses biological uncertainties that challenge restoration efforts. 

Aging, often considered a result of random cellular damage, can be accurately estimated using DNA methylation profiles, the foundation of pan-tissue epigenetic clocks. Here, we demonstrate the development of universal pan-mammalian clocks, using 11,754 methylation arrays from our Mammalian Methylation Consortium, which encompass 59 tissue types across 185 mammalian species. These predictive models estimate mammalian tissue age with high accuracy (r > 0.96). Age deviations correlate with human mortality risk, mouse somatotropic axis mutations and caloric restriction. We identified specific cytosines with methylation levels that change with age across numerous species. These sites, highly enriched in polycomb repressive complex 2-binding locations, are near genes implicated in mammalian development, cancer, obesity and longevity. Our findings offer new evidence suggesting that aging is evolutionarily conserved and intertwined with developmental processes across all mammals.

 

Abstract The positron, the antiparticle of the electron, predicted by Dirac in 1931 and discovered by Anderson in 1933, plays a key role in many scientific and everyday endeavours. Notably, the positron is a constituent of antihydrogen, the only long-lived neutral antimatter bound state that can currently be synthesized at low energy, presenting a prominent system for testing fundamental symmetries with high precision. Here, we report on the use of laser cooled Be + ions to sympathetically cool a large and dense plasma of positrons to directly measured temperatures below 7 K in a Penning trap for antihydrogen synthesis. This will likely herald a significant increase in the amount of antihydrogen available for experimentation, thus facilitating further improvements in studies of fundamental symmetries. 

Using DNA methylation profiles (n= 15,456) from 348 mammalian species, we constructed phyloepigenetic trees that bear marked similarities to traditional phylogenetic ones. Using unsupervised clustering across all samples, we identified 55 distinct cytosine modules, of which 30 are related to traits such as maximum life span, adult weight, age, sex, and human mortality risk. Maximum life span is associated with methylation levels inHOXLsubclass homeobox genes and developmental processes and is potentially regulated by pluripotency transcription factors. The methylation state of some modules responds to perturbations such as caloric restriction, ablation of growth hormone receptors, consumption of high-fat diets, and expression of Yamanaka factors. This study reveals an intertwined evolution of the genome and epigenome that mediates the biological characteristics and traits of different mammalian species.

 

Objective: The purpose of this paper is to briefly describe the initial stages of our efforts towards the development of easy to manufacture, low-cost, three-dimensional (3D) printed prosthetics. Specifically, here we describe the design of an upper-limb prosthetic for youths. When private insurance and public funding are insufficient, financial resources are limiting factors in obtaining quality prosthetics for the amputee. The need for cost-effective, economical solutions for prosthetics is particularly important for children in that they frequently outgrow them and costs are prohibitively expensive. Thus, 3D printed prosthetics may pose as a potential solution. In parallel to the above objective, additive manufacturing (or 3D printing) knowledge and training, within the rapidly growing field of Biomedical Engineering (or BME), is becoming increasingly important, in that it may provide solutions for numerous medically-related applications. As such, it is imperative that 3D printing exposure be incorporated, for research-based, as well as experiential project-based, contexts. Methods: Well-known mechanical design processes and quality function deployment were implemented here to design a prosthetic that could aid youths suffering from upper-limb loss. Computer-generated designs were used to in conjunction with a Cubify 3D printer to create the prosthetic hand components. Results: A simple, accessible, affordable design for an upper-limb was assembled that costed only $25. Conclusions: In the near-future, commercially available 3D printers, may make developing one’s own prosthetics an easy to accomplish task within their home environment. In essence, this process would create a tighter coupling between how a product is conceived, developed, and manufactured, as well as alleviate costs.