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Smart crystals can now perform complex motions... Check out our most recent paper in J. Am. Chem. Soc., where we demonstrate that adaptive crystals with colossal thermal expansion are capable of complex locomotion, such as rolling and even climbing up a slope! New York University NYU Abu Dhabi

14,743 просмотров • 1 год назад •via X (Twitter)

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How the 🆅🅴🅽🆃🆁🅸🅲🅻🅴 contracts.. . . . 💗Another great thing I picked up from Cardiothoracic surgery was understanding how the ventricles contract. The ventricle Is such a complex structure that we are learning more and more about. One thing that has helped us understand this complex structure is strain imaging and 3D echocardiography. We have learned that the ventricle contracts in 4 ways: contraction (radial) motion but it also has a twisting (torsional and circumferential) and shortening (longitudinal) motion. . . . 👐🏽The surgeon I always work with often described the hearts motion as “wringing of a towel.” This can be seen in the video above. The understanding of the multiple different motions of the heart has allowed us to better understand intrinsic myocardial disease and pick up disease earlier in its process allowing us to add disease modifying agents to slow and sometimes reverse the negative remodeling of the heart. . . . 💓So next time you think of your heart pumping don’t think of it in one motion (squeeze) but rather a Towel being wrung of water. The heart is such an amazing organ and we are just now really beginning to understand it’s truly complex physiology! . . . Have a great day! . . . . #Medicalschool #medschool #cardiologia #doctors #cardiotwitter #meded #EKG #Medstudent #cardiology #internalmedicine #patient #hospital #radiology #physiology #paschool #foamed #echo #physicalexam #anatomy #scrubs #surgery #pastudent #nursingstudent #nursing #PA #DO #Echocardiogram #MD #USMLE

Jay Mohan, D.O., FACC, FSCAI, FASE, RPVI

37,150 просмотров • 2 лет назад

June 4th, 1994 our lives forever changed. We said, “I do!”. With those two words, we said, yes, to all the highs, the lows, and everything in between. God has blessed us with four absolutely amazing children who are now amazing adults, with their own best friends/significant others (that they’re doing life with), we have three incredible grandsons, and a beautiful granddaughter on the way. We’ve lived where we both grew up (on the East Coast), and have now been out here in San Diego for just over 11 years. We’ve gotten jobs (and lost jobs), we’ve had more times than we can count where we couldn’t make ends meet, even though both you and I were working two, and sometimes three jobs at a time, and we’ve been blessed in ways that we could’ve never dreamed of. We’ve watched both my parents pass on, and are now dealing with the overwhelmingly difficult challenge of seeing your parents struggle with their own health in ways that no one should have to go through. Through it all (even in the midst of the chaos), we’ve been blessed to be by each other‘s sides! I thank God for you every day, Jillian! I love our adventures together (the big ones where we fly to somewhere we’ve never been before, and the little ones where we hop in the car with no agenda, and just drive). I love when we find ourselves in deeper conversation, laughter, and tears of joy then ever expected, and in the moments of silence, where no words are even spoken, but when we’re together, just being where our feet are. As the world (as we know it), keeps getting crazier and crazier, let’s continue to keep Christ in the center of all we do, keep leaning on and lifting each other up when it’s needed, and keep living the lives that we have been so incredibly blessed to live together. I love you with all my heart Jillian. Happy 32nd (heading into our 33rd year), Anniversary.

Coach Hines 🇺🇸

10,530 просмотров • 2 месяцев назад

Model-Free Reinforcement Learning (MFRL) has been alluring, especially with supercharged compute with physics on GPU. However, the methods use 0-th order gradients, and are often not the best optimizers. Can we do better than PPO in continuous control for robotics? Turns out yes! 🥳 tl;dr: Faster, better RL than PPO in continuous control 💪 The answer lies in using more information from the simulation. We are juicing the simulation on GPU as it is, why not use it for gradients as well? This has been a driving question in a series of our works. We first studied this problem in ICLR 2022 paper on Short Horizon Actor Critic Naive gradient based methods are stuck in local minima and have exploding/vanishing gradients. SHAC solved this problem truncated rollouts and model based value estimation, where the model is Differentiable Sim. This boosted sample efficiency and wall-clock time immensely especially in high dimensional systems such as humanoids Yet, given enough compute PPO often caught up. Our follow up paper on on Adaptive Horizon Actor Critic at ICML 2024 discovers the cause and provides a fix. However, we find that even when given ground-truth dynamics, not all gradients are useful due to sample error. 1st-Order Model-Based Reinforcement Learning methods employing differentiable simulation provide gradients with reduced variance but are susceptible to bias in scenarios involving stiff dynamics, such as physical contact. We find that back-propagating through contact and long trajectories drastically reduces gradient accuracy. Using this insight, we propose AHAC to dynamically adapt its roll-out horizon to avoid differentiating through stiff contact. AHAC is a first-order model-based RL algorithm that learns high-dimensional tasks in minutes (wall clock) and outperforms PPO by 40%, even in the limit of data provided to PPO. This work is led by Ignat Georgiev alongside Krishnan Srinivasan, Jie Xu, Eric Heiden and ample assistance from warp team at NVIDIA Robotics (Miles Macklin)

Animesh Garg

52,308 просмотров • 2 лет назад

Yesterday at Brown University ICERM's workshop on “Agentic Scientific Computing and Scientific Machine Learning” I spoke about “Adaptive Swarms Across Scales”, making the case for scientific AI as systems that can create representations, stress them, fracture them, and enlarge the category in which future representations live. The category here is a composable and breakable working universe of science: data, hypotheses, simulations, measurements, tools, failures, figures, papers, provenance, and the transformations that connect them. Discovery happens when those transformations become executable, inspectable, composable, and capable of changing the world model they operate within. Atomistic modeling gives one category - states, forces, trajectories, observables, boundary conditions, conservation laws. Neural surrogates learn fast morphisms inside or between such categories. But discovery is higher-order: it changes which objects and morphisms are available in the first place: what variables exist, what operations are allowed, what evidence counts, what scale is active, what invariant is being preserved, and what kind of explanation the system is even capable of forming. This is scientific method as adaptive architecture: compression, stress, fracture, recomposition. Fracture matters here because it makes the logic physical: a non-commuting diagram realized in matter. The imposed load, material hierarchy, defect field, and assumed continuum description no longer map cleanly into the observed outcome. The crack is the obstruction and it identifies where the old morphism failed and where a new representation must be introduced. The physical crack and the categorical obstruction are the same event viewed in different substrates. ScienceClaw × Infinite is a machine for constructing and transforming a category of scientific artifacts. Each artifact is typed. Each operation has lineage. Each failed branch remains in the category as reusable structure. The “paper” is no longer the terminal object of science; it is one projection of a larger compositional trace, and it can be generated at any time for consumption by a human or an AI. With that the unit of scientific labor is changing. For most of the twentieth century the unit was the result (a measurement, a theorem, a synthesized molecule). It is now becoming the algorithm that produces results, and after that, the substrate of discovery itself. The static PDF is the wrong terminal object for this regime, and the role of the scientist with it. We now design algorithms that build algorithms, and eventually substrates in which such algorithms compose themselves. At that point, the scientist is no longer outside the discovery system. The scientist becomes one of the representations the system can transform. In that sense, the systems will eventually do science to us, and that is the structural consequence of the principle they are built on.

Markus J. Buehler

10,095 просмотров • 2 месяцев назад