Open X-Embodiment:Robotic learning datasets and RT-X models

Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train "generalist" X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. The project website is robotics-transformer-x.github.io

Place des laits anti-régurgitations dans la prise en charge du reflux gastro-oesophagien au cours de la première année de la vie

CAEN-BU Médecine pharmacie (141182102) / SudocPARIS-BIUM (751062103) / SudocSudocFranceF

Etude de la différence de potentiel entre la muqueuse iléale et la peau chez l'enfant. Effet d'un régime pauvre en sodium. (Résultats préliminaires)

International audienc

Effets de la puberté sur la balance glucido-lipidique lors de l’exercice de l’enfant obèse

International audienceThe aim of the present study was to investigate effect of puberty on substrate oxidation rates using a graded exercise test to exhaustion. Two groups of obese adolescent males (34 prepubertal: body mass index (BMI) = 25,94 ± 2,63; Z-score = 4,43 ± 1,83; and 26 postpubertal: BMI = 31,14 ± 4,88; Z-score = 5,264 ± 1,76) performed an exercise test on a cycle ergometer. The test consisted in a series of graded exercises on a cycle ergometer. Stage duration was 3 min 30 s. Fat and carbohydrate rates were calculated during the last 30 s of each stage using stoichiometric equations, and this permitted us to calculate substrate oxidation according to exercise intensity. Lipid oxidation rates are significantly higher in the postpubertal group. When the fat oxidation rates are reported relative to fat free mass, fat oxidation rates are higher in the prepubertal group. Puberty decreases significantly the capacity of fat free mass to oxidize fat for a same level of exercise.Étudier l’effet de la puberté sur l’oxydation des substrats énergétiques lors d’un test d’effort aérobie chez des enfants obèses. Deux groupes d’adolescents obèses garçons (34 pré-pubères : indice de masse corporelle (IMC) = 25,94 ± 2,63; Z-score = 4,43 ± 1,83 et 26 post-pubères : IMC = 31,14 ± 4,88; Z-score = 5,264 ± 1,76) ont effectué un test d’intensité croissante sur cycloergomètre. Le premier palier du test est fixé à 30 W, puis l’incrémentation est de 20 W toutes les 3 min 30 s. La moyenne des mesures des gaz ventilatoires, effectuée lors des 30 dernières secondes de chaque palier, nous a permis de calculer les taux d’oxydation des glucides et des lipides en fonction de l’intensité de l’exercice. Les taux d’oxydation des lipides sont significativement supérieurs dans le groupe d’enfants post-pubères. Quand les niveaux d’oxydation sont rapportés à l’importance de la masse maigre (mg·min –1 ·kg –1 de masse maigre), les niveaux d’oxydations des lipides sont plus importants pour les enfants n’ayant pas effectué leur puberté. La puberté est responsable d’une diminution de la capacité de la masse maigre à utiliser les lipides pour un même niveau d’exercice

Evolution of fat oxidation during exercise in obese pubertal boys: Clinical implications

International audienceIn this study, we examined fat oxidation rates during exercise in obese pubescent boys. Three groups of pubescent boys (16 pre-pubescent, Tanner's stage I; 16 pubescent, Tanner's stage III; and 14 post-pubescent, Tanner's stage V) performed a graded test on a leg cycle ergometer. The first step of the test was fixed at 30 W and power was gradually increased by 20 W every 3.5 min. Oxygen consumption (VO(2)) and carbon dioxide production (VCO(2)) were determined as the means of measurements during the last 30 s of each step, which allowed us to calculate fat oxidation rates versus exercise intensity. Between 20 and 50% of peak oxygen consumption (VO(2peak)), fat oxidation rate in relative values (mg . min(-1) . kg FFM(-1)) decreased continuously with pubertal development. In the same way, the maximum rate of fat oxidation occurred at a lower percentage of VO(2peak) (pre-pubescent: 49.47 +/- 1.62%; pubescent: 47.43 +/- 1.26%; post-pubescent: 45.00 +/- 0.97%). Our results confirm that puberty is responsible for a decrease in fat free mass capacities to use fat during exercise. The results suggest that post-pubescent obese boys need to practise physical activity at a lower intensity than pre-pubescent boys to enhance lipolysis and diminish adipose tissue and the consequences of obesity