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Book ; Conference proceedings ; Audio / Video: F-Plan-Aufstellung vor dem Hintergrund der BauGB-Novelle 2004

Ahn, Michael

aus der Praxis für die Praxis ; NW051848, 28. Juni 2005, Dortmund

(vhw-Seminare : NW ; 1848)

2005

Event/congress	Seminar NW051848. Vhw Nordrhein-Westfalen (2005.06.28, Dortmund)
Author's details	Vhw Nordrhein-Westfalen. [Referenten: Michael Ahn ...]
Series title	vhw-Seminare : NW ; 1848
Language	German
Size	Getr. Zählung [68 Bl.], Ill., Kt, 30 cm
Edition	Als Ms. gedr.
Publisher	Vhw Nordrhein-Westfalen
Publishing place	Bonn
Document type	Book ; Conference proceedings ; Audio / Video
Database	Library catalogue of the German National Library of Science and Technology (TIB), Hannover

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Book ; Online: Multi-Agent Manipulation via Locomotion using Hierarchical Sim2Real

Nachum, Ofir / Ahn, Michael / Ponte, Hugo / Gu, Shixiang / Kumar, Vikash

2019

Abstract: Manipulation and locomotion are closely related problems that are often studied in isolation. In this work, we study the problem of coordinating multiple mobile agents to exhibit manipulation behaviors using a reinforcement learning (RL) approach. Our ... ...

Abstract	Manipulation and locomotion are closely related problems that are often studied in isolation. In this work, we study the problem of coordinating multiple mobile agents to exhibit manipulation behaviors using a reinforcement learning (RL) approach. Our method hinges on the use of hierarchical sim2real -- a simulated environment is used to learn low-level goal-reaching skills, which are then used as the action space for a high-level RL controller, also trained in simulation. The full hierarchical policy is then transferred to the real world in a zero-shot fashion. The application of domain randomization during training enables the learned behaviors to generalize to real-world settings, while the use of hierarchy provides a modular paradigm for learning and transferring increasingly complex behaviors. We evaluate our method on a number of real-world tasks, including coordinated object manipulation in a multi-agent setting. See videos at https://sites.google.com/view/manipulation-via-locomotion
Keywords	Computer Science - Robotics ; Computer Science - Artificial Intelligence ; Computer Science - Machine Learning
Subject code	006
Publishing date	2019-08-13
Publishing country	us
Document type	Book ; Online
Database	BASE - Bielefeld Academic Search Engine (life sciences selection)

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Book ; Online: Emergent Real-World Robotic Skills via Unsupervised Off-Policy Reinforcement Learning

Sharma, Archit / Ahn, Michael / Levine, Sergey / Kumar, Vikash / Hausman, Karol / Gu, Shixiang

2020

Abstract: Reinforcement learning provides a general framework for learning robotic skills while minimizing engineering effort. However, most reinforcement learning algorithms assume that a well-designed reward function is provided, and learn a single behavior for ... ...

Abstract	Reinforcement learning provides a general framework for learning robotic skills while minimizing engineering effort. However, most reinforcement learning algorithms assume that a well-designed reward function is provided, and learn a single behavior for that single reward function. Such reward functions can be difficult to design in practice. Can we instead develop efficient reinforcement learning methods that acquire diverse skills without any reward function, and then repurpose these skills for downstream tasks? In this paper, we demonstrate that a recently proposed unsupervised skill discovery algorithm can be extended into an efficient off-policy method, making it suitable for performing unsupervised reinforcement learning in the real world. Firstly, we show that our proposed algorithm provides substantial improvement in learning efficiency, making reward-free real-world training feasible. Secondly, we move beyond the simulation environments and evaluate the algorithm on real physical hardware. On quadrupeds, we observe that locomotion skills with diverse gaits and different orientations emerge without any rewards or demonstrations. We also demonstrate that the learned skills can be composed using model predictive control for goal-oriented navigation, without any additional training.
Keywords	Computer Science - Robotics ; Computer Science - Machine Learning
Subject code	006
Publishing date	2020-04-27
Publishing country	us
Document type	Book ; Online
Database	BASE - Bielefeld Academic Search Engine (life sciences selection)

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Book ; Online: ROBEL

Ahn, Michael / Zhu, Henry / Hartikainen, Kristian / Ponte, Hugo / Gupta, Abhishek / Levine, Sergey / Kumar, Vikash

Robotics Benchmarks for Learning with Low-Cost Robots

2019

Abstract: ROBEL is an open-source platform of cost-effective robots designed for reinforcement learning in the real world. ROBEL introduces two robots, each aimed to accelerate reinforcement learning research in different task domains: D'Claw is a three-fingered ... ...

Abstract	ROBEL is an open-source platform of cost-effective robots designed for reinforcement learning in the real world. ROBEL introduces two robots, each aimed to accelerate reinforcement learning research in different task domains: D'Claw is a three-fingered hand robot that facilitates learning dexterous manipulation tasks, and D'Kitty is a four-legged robot that facilitates learning agile legged locomotion tasks. These low-cost, modular robots are easy to maintain and are robust enough to sustain on-hardware reinforcement learning from scratch with over 14000 training hours registered on them to date. To leverage this platform, we propose an extensible set of continuous control benchmark tasks for each robot. These tasks feature dense and sparse task objectives, and additionally introduce score metrics as hardware-safety. We provide benchmark scores on an initial set of tasks using a variety of learning-based methods. Furthermore, we show that these results can be replicated across copies of the robots located in different institutions. Code, documentation, design files, detailed assembly instructions, final policies, baseline details, task videos, and all supplementary materials required to reproduce the results are available at www.roboticsbenchmarks.org. Comment: Published @ CoRL2019. For details visit - http://www.roboticsbenchmarks.org
Keywords	Computer Science - Robotics ; Computer Science - Machine Learning ; Statistics - Machine Learning
Subject code	629
Publishing date	2019-09-25
Publishing country	us
Document type	Book ; Online
Database	BASE - Bielefeld Academic Search Engine (life sciences selection)

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Article ; Online: Multisensory Logic of Infant-Directed Aggression by Males.

Isogai, Yoh / Wu, Zheng / Love, Michael I / Ahn, Michael Ho-Young / Bambah-Mukku, Dhananjay / Hua, Vivian / Farrell, Karolina / Dulac, Catherine

Cell

2018 Volume 175, Issue 7, Page(s) 1827–1841.e17

Abstract: Newborn mice emit signals that promote parenting from mothers and fathers but trigger aggressive responses from virgin males. Although pup-directed attacks by males require vomeronasal function, the specific infant cues that elicit this behavior are ... ...

Abstract	Newborn mice emit signals that promote parenting from mothers and fathers but trigger aggressive responses from virgin males. Although pup-directed attacks by males require vomeronasal function, the specific infant cues that elicit this behavior are unknown. We developed a behavioral paradigm based on reconstituted pup cues and showed that discrete infant morphological features combined with salivary chemosignals elicit robust male aggression. Seven vomeronasal receptors were identified based on infant-mediated activity, and the involvement of two receptors, Vmn2r65 and Vmn2r88, in infant-directed aggression was demonstrated by genetic deletion. Using the activation of these receptors as readouts for biochemical fractionation, we isolated two pheromonal compounds, the submandibular gland protein C and hemoglobins. Unexpectedly, none of the identified vomeronasal receptors and associated cues were specific to pups. Thus, infant-mediated aggression by virgin males relies on the recognition of pup's physical traits in addition to parental and infant chemical cues.
MeSH term(s)	Aggression ; Animals ; Animals, Newborn ; Gene Deletion ; Male ; Mice ; Mice, Mutant Strains ; Vomeronasal Organ/metabolism
Language	English
Publishing date	2018-12-11
Publishing country	United States
Document type	Journal Article ; Research Support, N.I.H., Extramural ; Research Support, Non-U.S. Gov't
ZDB-ID	187009-9
ISSN	1097-4172 ; 0092-8674
ISSN (online)	1097-4172
ISSN	0092-8674
DOI	10.1016/j.cell.2018.11.032
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Article: Multisensory Logic of Infant-Directed Aggression by Males

Isogai, Yoh / Wu, Zheng / Love, Michael I / Ahn, Michael Ho-Young / Bambah-Mukku, Dhananjay / Hua, Vivian / Farrell, Karolina / Dulac, Catherine

Cell. 2018 Dec. 13, v. 175, no. 7

2018

Abstract	Newborn mice emit signals that promote parenting from mothers and fathers but trigger aggressive responses from virgin males. Although pup-directed attacks by males require vomeronasal function, the specific infant cues that elicit this behavior are unknown. We developed a behavioral paradigm based on reconstituted pup cues and showed that discrete infant morphological features combined with salivary chemosignals elicit robust male aggression. Seven vomeronasal receptors were identified based on infant-mediated activity, and the involvement of two receptors, Vmn2r65 and Vmn2r88, in infant-directed aggression was demonstrated by genetic deletion. Using the activation of these receptors as readouts for biochemical fractionation, we isolated two pheromonal compounds, the submandibular gland protein C and hemoglobins. Unexpectedly, none of the identified vomeronasal receptors and associated cues were specific to pups. Thus, infant-mediated aggression by virgin males relies on the recognition of pup’s physical traits in addition to parental and infant chemical cues.
Keywords	aggression ; fathers ; fractionation ; males ; mice ; mothers ; neonates ; parenting ; pups ; receptors
Language	English
Dates of publication	2018-1213
Size	p. 1827-1841.e17.
Publishing place	Elsevier Inc.
Document type	Article
ZDB-ID	187009-9
ISSN	1097-4172 ; 0092-8674
ISSN (online)	1097-4172
ISSN	0092-8674
DOI	10.1016/j.cell.2018.11.032
Database	NAL-Catalogue (AGRICOLA)

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Article ; Online: A fast, simple, and cost-effective method of expanding patient-derived xenograft mouse models of pancreatic ductal adenocarcinoma.

Liu, Zhenyang / Ahn, Michael Ho-Young / Kurokawa, Tomohiro / Ly, Amy / Zhang, Gong / Wang, Fuyou / Yamada, Teppei / Sadagopan, Ananthan / Cheng, Jane / Ferrone, Cristina R / Liss, Andrew S / Honselmann, Kim C / Wojtkiewicz, Gregory R / Ferrone, Soldano / Wang, Xinhui

Journal of translational medicine

2020 Volume 18, Issue 1, Page(s) 255

Abstract: Background: Patient-derived xenograft (PDX) mouse models of cancer have been recognized as better mouse models that recapitulate the characteristics of original malignancies including preserved tumor heterogeneity, lineage hierarchy, and tumor ... ...

Abstract	Background: Patient-derived xenograft (PDX) mouse models of cancer have been recognized as better mouse models that recapitulate the characteristics of original malignancies including preserved tumor heterogeneity, lineage hierarchy, and tumor microenvironment. However, common challenges of PDX models are the significant time required for tumor expansion, reduced tumor take rates, and higher costs. Here, we describe a fast, simple, and cost-effective method of expanding PDX of pancreatic ductal adenocarcinoma (PDAC) in mice. Methods: We used two established frozen PDAC PDX tissues (derived from two different patients) and implanted them subcutaneously into SCID mice. After tissues reached 10-20 mm in diameter, we performed survival surgery on each mouse to harvest 90-95% of subcutaneous PDX (incomplete resection), allowing the remaining 5-10% of PDX to continue growing in the same mouse. Results: We expanded three consecutive passages (P1, P2, and P3) of PDX in the same mouse. Comparing the times required for in vivo expansion, P2 and P3 (expanded through incomplete resection) grew 26-60% faster than P1. Moreover, such expanded PDX tissues were successfully implanted orthotopically into mouse pancreases. Within 20 weeks using only 14 mice, we generated sufficient PDX tissue for future implantation of 200 mice. Our histology study confirmed that the morphologies of cancer cells and stromal structures were similar across all three passages of subcutaneous PDX and the orthotopic PDX and were reflective of the original patient tumors. Conclusions: Taking advantage of incomplete resection of tumors associated with high local recurrence, we established a fast method of PDAC PDX expansion in mice.
MeSH term(s)	Animals ; Carcinoma, Pancreatic Ductal ; Cost-Benefit Analysis ; Heterografts ; Humans ; Mice ; Mice, SCID ; Neoplasm Recurrence, Local ; Pancreatic Neoplasms ; Tumor Microenvironment ; Xenograft Model Antitumor Assays
Language	English
Publishing date	2020-06-24
Publishing country	England
Document type	Journal Article ; Research Support, N.I.H., Extramural
ISSN	1479-5876
ISSN (online)	1479-5876
DOI	10.1186/s12967-020-02414-9
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Article ; Online: The Use of a Honeycomb Technique Combined with Ultrasonic Aspirators and Indocyanine Green Fluorescence Angiography for a Superthin Anterolateral Thigh Flap: A Pilot Study.

Fan, Song / Zhang, Han-Qing / Li, Qun-Xing / Tian, Tian / Chen, Wei-Xiong / Pan, Guo-Kai / Ho-Young Ahn, Michael / Sun, Sheng / Wu, Bing-Hao / Li, Jin-Song

Plastic and reconstructive surgery

2018 Volume 141, Issue 6, Page(s) 902e–910e

Abstract: Background: Harvesting an optimally thinned anterolateral thigh flaps is a challenge in overweight individuals and in the Western population. The authors describe a novel honeycomb technique to achieve a superthin anterolateral thigh flap in overweight ... ...

Abstract	Background: Harvesting an optimally thinned anterolateral thigh flaps is a challenge in overweight individuals and in the Western population. The authors describe a novel honeycomb technique to achieve a superthin anterolateral thigh flap in overweight patients. Methods: Forty patients with a body mass index greater than 25 kg/m(2) who required a thinned anterolateral thigh flap for reconstruction were assigned randomly to a honeycomb technique group or a microdissection technique group. The honeycomb technique group underwent flap thinning with the Cavitron Ultrasonic Surgical Aspirator, and flap thinning was performed with a conventional microdissection technique in the microdissection technique group. Perfusion of all flaps was measured by indocyanine green fluorescence angiography before and after thinning. Hypoperfusion was defined as 30 percent. Results: The mean body mass index was 28.6 ± 2.0 kg/m(2) and 27.3 ± 1.9 kg/m(2) in the honeycomb group and the microdissection group, respectively. Flap size, perforator, type of dissection, and initial perfusion were comparable between the two groups. However, significantly more patients (nine of 21) experienced final hypoperfusion in the microdissection group than in the honeycomb group (two of 19) (p = 0.034). In addition, blood loss and final flap thickness were significantly lower in the honeycomb group (p < 0.05), and the duration of thinning was comparable between the two groups. No flap necrosis was found in either group. Conclusion: The honeycomb technique in combination with the Cavitron Ultrasonic Surgical Aspirator and indocyanine green angiography was able to remove adipose tissue but protect the integrity of the subcutaneous vascular plexus to reduce potential risk of jeopardizing flap perfusion while obtaining a superthin anterolateral thigh flap in an overweight population. Clinical question/level of evidence: Therapeutic, II.
MeSH term(s)	Adult ; Aged ; Carcinoma, Squamous Cell/surgery ; Coloring Agents ; Combined Modality Therapy ; Female ; Fluorescein Angiography/methods ; Humans ; Indocyanine Green ; Male ; Microdissection/methods ; Middle Aged ; Mouth Neoplasms/surgery ; Overweight ; Pilot Projects ; Prospective Studies ; Suction/instrumentation ; Surgical Flaps/blood supply ; Tissue and Organ Harvesting/methods ; Ultrasonic Therapy/instrumentation ; Ultrasonic Therapy/methods
Chemical Substances	Coloring Agents ; Indocyanine Green (IX6J1063HV)
Language	English
Publishing date	2018-05-08
Publishing country	United States
Document type	Journal Article ; Randomized Controlled Trial ; Research Support, Non-U.S. Gov't
ZDB-ID	208012-6
ISSN	1529-4242 ; 0032-1052 ; 0096-8501
ISSN (online)	1529-4242
ISSN	0032-1052 ; 0096-8501
DOI	10.1097/PRS.0000000000004411
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Article ; Online: The benefits of being a near-peer teacher.

Hall, Samuel / Harrison, Charlotte H / Stephens, Jonny / Andrade, Matheus Gesteria / Seaby, Eleanor G / Parton, William / McElligott, Simon / Myers, Matthew A / Elmansouri, Ahmed / Ahn, Michael / Parrott, Rachel / Smith, Claire F / Border, Scott

The clinical teacher

2018 Volume 15, Issue 5, Page(s) 403–407

Abstract: Background: Near-peer teaching is used in anatomy education because of its benefits to the learner, teacher and faculty members. Despite the range of reports focusing on the learner, the advantages for the teacher, which are thought to include ... ...

Abstract	Background: Near-peer teaching is used in anatomy education because of its benefits to the learner, teacher and faculty members. Despite the range of reports focusing on the learner, the advantages for the teacher, which are thought to include communication skills, subject knowledge and employability, are only beginning to be explored. Method: A questionnaire was distributed to the teachers involved in anatomy near-peer teaching at the University of Southampton and Brighton and Sussex Medical School (BSMS). This questionnaire was designed using a rating scale of 0-10 to assess teacher perspectives on their level of knowledge, teaching skills and enjoyment of teaching. Free-text responses determined the teachers' motivation and perceived benefits from the teaching. Results: Twenty-eight questionnaires were gathered (54.9% response rate), including 20 from Southampton and eight from BSMS. Long-term knowledge retention and better understanding of the material were rated 8.1 and 7.9 out of 10, respectively. Eight responses were from currently practising doctors, who rated how much they now use their teaching skills as doctors as 8.9 out of 10. Of the eight doctors, seven gained points for their foundation programme applications as a direct result of near-peer teaching. The most common motivator for engaging in teaching was to improve subject matter knowledge and the most common benefit was improved communication skills. There are numerous advantages to being a near-peer teacher in medical school DISCUSSION: There are numerous advantages to being a near-peer teacher in medical school, which include knowledge improvement, transferrable professional skills and employability. These initial results support the hypothesised benefits to the teachers and provide a foundation for further longitudinal studies.
MeSH term(s)	Clinical Competence ; Communication ; Curriculum ; Education, Medical, Undergraduate/methods ; Humans ; Knowledge ; Motivation ; Peer Group ; Students, Medical/psychology ; Teaching/organization & administration ; Teaching/standards ; United Kingdom
Language	English
Publishing date	2018-03-23
Publishing country	England
Document type	Journal Article
ZDB-ID	2151518-9
ISSN	1743-498X ; 1743-4971
ISSN (online)	1743-498X
ISSN	1743-4971
DOI	10.1111/tct.12784
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Book ; Online: Robotic Table Tennis

D'Ambrosio, David B. / Abelian, Jonathan / Abeyruwan, Saminda / Ahn, Michael / Bewley, Alex / Boyd, Justin / Choromanski, Krzysztof / Cortes, Omar / Coumans, Erwin / Ding, Tianli / Gao, Wenbo / Graesser, Laura / Iscen, Atil / Jaitly, Navdeep / Jain, Deepali / Kangaspunta, Juhana / Kataoka, Satoshi / Kouretas, Gus / Kuang, Yuheng /

Lazic, Nevena / Lynch, Corey / Mahjourian, Reza / Moore, Sherry Q. / Nguyen, Thinh / Oslund, Ken / Reed, Barney J / Reymann, Krista / Sanketi, Pannag R. / Shankar, Anish / Sermanet, Pierre / Sindhwani, Vikas / Singh, Avi / Vanhoucke, Vincent / Vesom, Grace / Xu, Peng

A Case Study into a High Speed Learning System

2023

Abstract: We present a deep-dive into a real-world robotic learning system that, in previous work, was shown to be capable of hundreds of table tennis rallies with a human and has the ability to precisely return the ball to desired targets. This system puts ... ...

Abstract	We present a deep-dive into a real-world robotic learning system that, in previous work, was shown to be capable of hundreds of table tennis rallies with a human and has the ability to precisely return the ball to desired targets. This system puts together a highly optimized perception subsystem, a high-speed low-latency robot controller, a simulation paradigm that can prevent damage in the real world and also train policies for zero-shot transfer, and automated real world environment resets that enable autonomous training and evaluation on physical robots. We complement a complete system description, including numerous design decisions that are typically not widely disseminated, with a collection of studies that clarify the importance of mitigating various sources of latency, accounting for training and deployment distribution shifts, robustness of the perception system, sensitivity to policy hyper-parameters, and choice of action space. A video demonstrating the components of the system and details of experimental results can be found at https://youtu.be/uFcnWjB42I0. Comment: Published and presented at Robotics: Science and Systems (RSS2023)
Keywords	Computer Science - Robotics ; Computer Science - Machine Learning
Subject code	629
Publishing date	2023-09-06
Publishing country	us
Document type	Book ; Online
Database	BASE - Bielefeld Academic Search Engine (life sciences selection)

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