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Learning CS294-40 for Robotics and Control Lecture 23 - 11/20/2008 Model Predictive Control Lecturer: Pieter Abbeel Scribe: Andrew Wan 1 Lecture outline MPC SLAM Linear Representation of Bellman Backups Hierarchical RL 2 Model Predictive Control Previously: Interested in: max E t=0 t R(st , ut )| This is typically computationally expensive. We simplify by: 1. Fixing the initial state 2. Using...
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Learning CS294-40 for Robotics and Control
Lecture 23 - 11/20/2008
Model Predictive Control
Lecturer: Pieter Abbeel Scribe: Andrew Wan
1
Lecture outline
MPC SLAM Linear Representation of Bellman Backups Hierarchical RL
2
Model Predictive Control
Previously: Inter...
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Berkeley - CS - 294
CS294-40 Learning for Robotics and ControlLecture 24 - 11/25/2008Learning to Walk in 20 Minutes-Techake, Zhang, SeungLecturer: Pieter Abbeel Scribe: Jared Wood1Dynamic WalkingDynamic walking: i ground projection of center of mass leaves th
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CS294-40 Problem Set #21CS 294-40, Fall 2008 Problem Set #2: Autonomous Helicopter Flight and Quadruped LocomotionDue 11am on October 21. NOTE: Please refer to the class webpage (http:/inst.eecs.berkeley.edu/cs294-40/fa08/) for the homework pol
Berkeley - CS - 294
CS294-40 Problem Set #21CS 294-40, Fall 2008 Problem Set #2: Autonomous Helicopter Flight and Quadruped LocomotionDue 11am on October 21. NOTE: Please refer to the class webpage (http:/inst.eecs.berkeley.edu/cs294-40/fa08/) for the homework pol
Berkeley - CS - 294
CS 294-40 Problem Set 1 Due Tuesday September 23 before lecturePlease refer to the class webpage (http:/inst.eecs.berkeley.edu/cs294-40/fa08/) for the homework policy.1Approximate Bellman back-upsSuppose F is a -contraction with respect to th
Berkeley - CS - 294
CS294-40 Learning for Robotics and ControlLecture 10 - 9/30/2008Partially Observable SystemsLecturer: Pieter Abbeel Scribe: David NachumLecture outline POMDP formalism Point-based value iteration Global methods: polytree, enumeration, lteri
Berkeley - CS - 294
CS294-40 Learning for Robotics and ControlLecture 4 - 9/9/2008Policy Iteration and Function ApproximationLecturer: Pieter Abbeel Scribe: Fernando Garcia Bermudez1Lecture outline Review. Policy iteration. Function approximation.2Review
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REPORTSand comparison to these approximate representations. This is true even for monolingual adults and young children who never learned any formal arithmetic. These data add to previous evidence that numerical approximation is a basic competence,
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Econ 234C Corporate Finance Lecture 6: External Investment (II)Ulrike Malmendier UC BerkeleyFebruar 20, 2007Outline1. Exams, Homeworks etc.2. Wrap up of External Investment (I): Stylized Facts3. External Investment (II): Corporate Control
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The Value of Private Benets: Evidence from an Emerging Market for Corporate Control Chong-en Bai Qiao Liu Frank Song This Draft: August 2003 Bai, Liu, and Song are from the School of Economics and Finance, the Faculty of Business and Economics, th
Berkeley - E - 234
Econ 234C Corporate Finance Lecture 3: Internal Investment (II)Ulrike Malmendier UC BerkeleyJanuary 30, 2006Outline1. Change of requirements2. Homework 13. WRDS + other CF data introduction (Gary Peete)4. Corporate Investment (II): Myer
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Risk Analysis, Vol. 24, No. 3, 2004PerspectiveHow Useful Is Quantitative Risk Assessment?George E. ApostolakisThis article discusses the use of quantitative risk assessment (QRA) in decision making regarding the safety of complex technological
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RiskAnalysis, VoL 10, No. I, 1990Multiobjective Decision-Tree Analysis1Yacov Y. Haimes: Duan Li,* and Vijay Tulsiani2Received January 27, 1989; revised August 29, 1989Single-objective-based decision-tree analysis has been extensively and succes
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Risk Analysis, Vol. 7, No. 2, 1987Decision AnalysisAn Analysis of the Portfolio of Sites to Characterize for Selecting a Nuclear RepositoryRalph L. KeeneyReceived January 13, 1987; revised February 3, 1987The U.S. Department of Energy has sel
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Reliability Engineering and System Safety 87 (2005) 299301 www.elsevier.com/locate/ressEditorialMaking life safer with a risk analysis approachI and others have discussed a sequence (almost an event tree) for a terrorist action to succeed: (1) (
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Department of Agricultural and Resource Economics University of California at BerkeleyElisabeth Sadoulet and Jennifer Alix Fall 2002EEP 118 Introductory Applied Econometrics Midterm examination 1. In 1994, the poverty rate in a given country was
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EEP 118 / IAS 118 University of California at BerkeleyElisabeth Sadoulet and Tania Barham Fall 2004Introductory Applied Econometrics Midterm examination Scores add up to 50 Your name:_ SID:_1. (5 points) Let denote by X the number of miles per
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cp2OC fo noitcnuF aypaics/ngeD 1 ftCA4Ds0dnrPenaneoeDaicidni4csir20oD ti t k 93 y oisibiab2 detclelix tnIitoc :nyc00doR l no 0Cmo ni seip r OsutW 9op1lnr0U Is i e a n d se 1 uO0 tin n0f e c e2 4 8 3 6 2 e4 1 C S .Sources: WDI Online and CDIACRed l
Berkeley - PS - 298
cp2OC fo noitcnutFac / isn31Do yntCA4DeCdetnrePeeesintacIutniicensl4a120oD a ip ytgk 9 e f s oisiba0d cnpxnaet oid W noicnO0 i l sim b2 ai s il r O iD d: iycc1urof I0 o l n n o 9elt0r0r0U p it e 2 s ne4 c 0. 4 1 3 8 2 6 C S VSources: WDI Online and
Berkeley - PS - 298
htlaew dna snoiAIsiC22e50eOlt.i0OaoIctmptaiscc-ir0erP C s D m 7 a2n0C- aitpronsa2a0diegO dn 00i np tsnWiprepePDG a a D ie o vOC se0 s c :st rurub 2 au 0c s04 e l o6 3 1 S P k RSources: WDI Online and CDIACResiduals sum to -0.000057220 0 kg CO2 p
Berkeley - ARE - 298
EEP 118 / IAS 118 University of California at BerkeleyElisabeth Sadoulet and Sarah Baird Fall 2006Introductory Applied Econometrics Midterm examination SOLUTION (50 Points Total)1. (5 points) Let X be a random variable distributed as a Normal (
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The World BankGuidance Note on Poverty Assessments July 2004 Page 1 of 7Guidance Note on Poverty Assessments 1. This note is intended to provide good practice guidance to staff in the preparation of poverty assessments. It is not intended to be a
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The World BankGuidance Note on Poverty Assessments July 2004 Page 1 of 7Guidance Note on Poverty Assessments 1. This note is intended to provide good practice guidance to staff in the preparation of poverty assessments. It is not intended to be a
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The World BankGuidance Note on Poverty Assessments July 2004 Page 1 of 7Guidance Note on Poverty Assessments 1. This note is intended to provide good practice guidance to staff in the preparation of poverty assessments. It is not intended to be a
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book.html10/25/08 6:14 PMfile:/Users/josiah/Berkeley/2008.3.Fall/ARE253/Readings/Class4/book.htmlPage 1 of 40book.html10/25/08 6:14 PMfile:/Users/josiah/Berkeley/2008.3.Fall/ARE253/Readings/Class4/book.htmlPage 2 of 40book.html10/25
Berkeley - CLASS - 253
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Berkeley - ARE - 253
First draft Development textbook A de Janvry Chapter 10 Labor and MigrationTake home messages for Chapter 10 1. The labor market is highly dual, with a formal sector offering wages above the full employment equilibrium, and surplus labor accumulat
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First draft Development textbook A de Janvry Chapter 10 Labor and MigrationTake home messages for Chapter 10 1. The labor market is highly dual, with a formal sector offering wages above the full employment equilibrium, and surplus labor accumulat
Berkeley - CLASS - 7
First draft Development textbook A de Janvry Chapter 10 Labor and MigrationTake home messages for Chapter 10 1. The labor market is highly dual, with a formal sector offering wages above the full employment equilibrium, and surplus labor accumulat
Berkeley - NE - 275
Risk Analvsis, Vol. 7, No. 2, 1987Decision AnalysisRisk-Its Priority and Probability: The Analytic Hierarchy ProcessThomas L. Saaty'Received Augusr 29, 1986; revised Junuaty 16, 1987Risk estimation involves priorities and probabilities which
Berkeley - NE - 275
Risk Analysis, Vol. 14, No. 4, 1994Principles of Good Practice for the Use of Monte Carlo Techniques in Human Health and Ecological Risk AssessmentsDavid E. Burmaster and Paul D. Anderson2Received June 17, 1993; revised December 22, 1993We prop
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Generalized singular value decomposition for comparative analysis of genome-scale expression data sets of two different organismsOrly Alter*, Patrick O. Brown, and David Botstein*Departments of *Genetics and Biochemistry, Stanford University, Stanf
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BIOINFORMATICSVol. 18 no. 11 2002 Pages 14541461Nonparametric methods for identifying differentially expressed genes in microarray dataOlga G. Troyanskaya 1, Mitchell E. Garber 1, Patrick O. Brown 2, 3, David Botstein 1, and Russ B. Altman 1,1
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PMB110Agariomycotina IFall 2008Agaricomycotina, Agaricomycetes (Hymenomycetes in your book) - mostly holobasidia, dolipore septa in hypha (as in some Ustilaginomycotina), but best know members produce basidia in an organized fertile tissue call
Berkeley - PMB - 22
PMB110Agariomycotina IFall 2008Agaricomycotina, Agaricomycetes (Hymenomycetes in your book) - mostly holobasidia, dolipore septa in hypha (as in some Ustilaginomycotina), but best know members produce basidia in an organized fertile tissue call
Berkeley - PMB - 05
PlasmodiophoraBaldauf. 2003. ScienceStramenopilaDictyosteliumLabyrinthula Physasrum Acrasis Protostelium FUNGIPlasmodiophoraBaldauf. 2003. ScienceStramenopilaOomycota DictyosteliumLabyrinthula Physasrum Acrasis Protostelium FUNGIK
Berkeley - PMB - 110
PlasmodiophoraBaldauf. 2003. ScienceStramenopilaDictyosteliumLabyrinthula Physasrum Acrasis Protostelium FUNGIPlasmodiophoraBaldauf. 2003. ScienceStramenopilaOomycota DictyosteliumLabyrinthula Physasrum Acrasis Protostelium FUNGIK
Berkeley - PMB - 11
PMB110Zygomycota- 1F2008Zygomycota approx. 900 described spp. General characteristics - no motile spore stages, the zygospore, if present, is the site of meiosis, asexual spores are common and often formed within sporangia. Hyphae with few sep
Berkeley - PMB - 110
PMB110Zygomycota- 1F2008Zygomycota approx. 900 described spp. General characteristics - no motile spore stages, the zygospore, if present, is the site of meiosis, asexual spores are common and often formed within sporangia. Hyphae with few sep
Berkeley - PMB - 110
PMB110UrediniomycotinaF2008Features of the Basidiomycota Evolutionary position - sister group to the Ascomycota, Age - first fossils (clamp connections, 290 mya in fossil fern); Molecular estimates 400-700mya numbers: 14,000 species described;
Berkeley - PMB - 20
PMB110UrediniomycotinaF2008Features of the Basidiomycota Evolutionary position - sister group to the Ascomycota, Age - first fossils (clamp connections, 290 mya in fossil fern); Molecular estimates 400-700mya numbers: 14,000 species described;
Berkeley - PMB - 110
Saprolegnia life cycle from Alexopolous et alSaprolegnia zoosporangiaPrimary cystsMatureProliferationFrom Daugherty et al 1999 Saprolegnia AchylaThraustothecaDictyuchusLeclerc et al 2000 Anton. Van Leeuwen. J. Gen. Mol. Microbiol 77(4
Berkeley - PMB - 110
Generalized lifecycle (e.g., Coprinus) haploid basidiospore, haploid mycelium ("primary mycelium" ) - may make haploid mitotic spores "oidia", - haploid mycelium usually short-lived in nature Complex "dolipore" septa in many dikaryotization by fusion
Berkeley - PMB - 23
Generalized lifecycle (e.g., Coprinus) haploid basidiospore, haploid mycelium ("primary mycelium" ) - may make haploid mitotic spores "oidia", - haploid mycelium usually short-lived in nature Complex "dolipore" septa in many dikaryotization by fusion
Berkeley - PMB - 05
Lec 6Hyphochytriomycota and Oomycota IPMB110 (2008)Kingdom Stramenopila: "Heterokont" protists related to the chromophyte algae (yellow-green algae, brown algae and diatoms), Labyrinthulomycota, Thraustochytrids, Hyphochytridiomycota, Oomycota
Berkeley - PMB - 110
Lec 6Hyphochytriomycota and Oomycota IPMB110 (2008)Kingdom Stramenopila: "Heterokont" protists related to the chromophyte algae (yellow-green algae, brown algae and diatoms), Labyrinthulomycota, Thraustochytrids, Hyphochytridiomycota, Oomycota
Berkeley - PMB - 110
The Encyclopedia of Life (EOL) Assignment The Encyclopedia of Life (EOL) is a web-based, Wikipedia-like, initiative to produce a webpage for all species. Mycology courses at Berkeley, Harvard, Oregon State and University of Wisconsin LaCrosse are pil
Berkeley - PMB - 110
PMB110SmutsF2008Smuts a highly polyphyletic group - all plant pathogens Simple morphology - teliospore, gasteroid basidia" (i.e., without active discharge), haploids grow as yeasts, dikaryons filamentous and plant pathogenic. Three large group
Berkeley - PMB - 21
PMB110SmutsF2008Smuts a highly polyphyletic group - all plant pathogens Simple morphology - teliospore, gasteroid basidia" (i.e., without active discharge), haploids grow as yeasts, dikaryons filamentous and plant pathogenic. Three large group
Berkeley - PMB - 07
Phytophthora infestans Lifecycle from AlexopolousFrom Judelson 1997 Phytophthora mating with mating types GUStransformedPhytophthora infestans, late blight of potatoSudden Oak Death, Phytophthora ramorum, Marin Co. 2001Piece of Reimller et al
Berkeley - PMB - 110
Phytophthora infestans Lifecycle from AlexopolousFrom Judelson 1997 Phytophthora mating with mating types GUStransformedPhytophthora infestans, late blight of potatoSudden Oak Death, Phytophthora ramorum, Marin Co. 2001Piece of Reimller et al
Berkeley - PMB - 110
PMB 110, Biology of FungiJ. Taylor and T. Bruns Fall 2008Lecture 18. Ascomycota Pezizomycotina. Dothidiomycetes, Chaetothyriomycetes November 3, 2008 Dothidiomycetes Fissitunicate ascus. Broken-walled ascus. Also known as a bitunicate (two-walle
Berkeley - PMB - 18
PMB 110, Biology of FungiJ. Taylor and T. Bruns Fall 2008Lecture 18. Ascomycota Pezizomycotina. Dothidiomycetes, Chaetothyriomycetes November 3, 2008 Dothidiomycetes Fissitunicate ascus. Broken-walled ascus. Also known as a bitunicate (two-walle
Berkeley - PMB - 10
PMB 110, Biology of FungiJ. Taylor and T. Bruns Fall 2008Industrial Mycology Field Trip II, Mushroom Farm. October 18, 2008Lecture 10. Chytridiales II - October 1, 2008Chytridiomycota, 112 genera, 793 species. Chytridiales, Spizellomycetales,
Berkeley - PMB - 110
PMB 110, Biology of FungiJ. Taylor and T. Bruns Fall 2008Industrial Mycology Field Trip II, Mushroom Farm. October 18, 2008Lecture 10. Chytridiales II - October 1, 2008Chytridiomycota, 112 genera, 793 species. Chytridiales, Spizellomycetales,
Berkeley - PMB - 110
Biology of Fungi PMB 110John Taylor & Tom BrunsWhat are Fungi? Where are Fungi in the Tree of Life? Whats Inside the Fungal Kingdom? How do fungi earn a living?MushroomsParasol MushroomMacrolepiota proceraThree Parts of a Mushroom - C. T. I
Berkeley - PMB - 110
PMB 110, Biology of FungiJ. Taylor and T. Bruns Fall 2008Mendocino Mushroom Foray, November 22-23 Lecture 16. Ascomycota Pezizomycotina. Sordariomycetes - October 27, 2008 Pezizomycotina: Sordariomycetes, perithecial Pezizomycotina today. Perithe
Berkeley - PMB - 16
PMB 110, Biology of FungiJ. Taylor and T. Bruns Fall 2008Mendocino Mushroom Foray, November 22-23 Lecture 16. Ascomycota Pezizomycotina. Sordariomycetes - October 27, 2008 Pezizomycotina: Sordariomycetes, perithecial Pezizomycotina today. Perithe
Berkeley - PMB - 04
Biology of Fungi PMB 110John Taylor & Tom BrunsLecture 4 Labyrinthulomycota & PlasmodiophoromycotaParasexuality Fusion between two, genetically similar individuals. Occasional fusion of nuclei to make 2N. Mitosis with occasional crossing over. A