Abstract: An example implementation involves controlling robots with non-constant body pitch and height. The implementation involves obtaining a model of the robot that represents the robot as a first point mass rigidly coupled with a second point mass along a longitudinal axis. The implementation also involves determining a state of a first pair of legs, and determining a height of the first point mass based on the model and the state of the first pair of legs. The implementation further involves determining a first amount of vertical force for at least one leg of the first pair of legs to apply along a vertical axis against a surface while the at least one leg is in contact with the surface. Additionally, the implementation involves causing the at least one leg of the first pair of legs to begin applying the amount of vertical force against the surface.

Abstract: An example implementation involves controlling robots with non-constant body pitch and height. The implementation involves obtaining a model of the robot that represents the robot as a first point mass rigidly coupled with a second point mass along a longitudinal axis. The implementation also involves determining a state of a first pair of legs, and determining a height of the first point mass based on the model and the state of the first pair of legs. The implementation further involves determining a first amount of vertical force for at least one leg of the first pair of legs to apply along a vertical axis against a surface while the at least one leg is in contact with the surface. Additionally, the implementation involves causing the at least one leg of the first pair of legs to begin applying the amount of vertical force against the surface.

Abstract: Described herein are methods of treating non-metastatic castration-resistant prostate cancer in subjects with severe hepatic impairment with androgen receptor inhibitors, including but not limited to, 4-[7-(6-cyano-5-trifluoromethylpyridin-3-yl)-8-oxo-6-thioxo-5,7-diazaspiro[3.4]oct-5-yl]-2-fluoro-N-methylbenzamide.

Abstract: Described herein are methods of treating non-metastatic castration-resistant prostate cancer in subjects with severe hepatic impairment with androgen receptor inhibitors, including but not limited to, 4-[7-(6-cyano-5-trifluoromethylpyridin-3-yl)-8-oxo-6-thioxo-5,7-diazaspiro[3.4]oct-5-yl]-2-fluoro-N-methylbenzamide.

Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.

Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.

Abstract: An example peritoneal dialysis system is disclosed. The example peritoneal dialysis system includes an automated peritoneal dialysis (“APD”) machine configured to remove ultrafiltrate (“UF”) from a patient and record how much UF has been removed. The APD machine operates according to a prescription to remove the UF. The system also includes a server in communication with the APD machine. The server analyzes the UF data to determine if the prescription is to be modified to compensate for changes to the patient's renal function or renal transport characteristics.

Abstract: A system for performing a dialysis treatment includes a dialysis fluid machine; a disposable dialysis fluid carrying member operable with the dialysis fluid machine; and a venting filter provided by the disposable member, the venting filter positioned and arranged to be coupled along with the disposable member to the dialysis fluid machine to perform the dialysis treatment and to vent air from the disposable member.

Abstract: An online system receives information describing one or more interactions by each of a set of online system users with an entity having a presence in the online system, in which the information includes a geographic location of each user stored in a corresponding user profile. The online system determines multiple polygons defined at different geographic granularities, in which each polygon includes a region on a geographic map. A score is computed for each polygon based on a number of the set of users who interacted with the entity and who have a geographic location within the polygon, as well as a total number of users having a geographic location within the polygon. A polygon is selected based on the scores and a geographic location for the entity is inferred for the entity as the selected polygon at the geographic granularity of the selected polygon.

Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.

Abstract: In one embodiment, a method includes a system building a first machine-learning module and one or more secondary machine-learning modules for operating with an application. The first and second modules may be configured to utilize, in operation, particular types of processing hardware, respectively. The system may receive from a client device a request to download the application, and in response send to the device the application with the first module. The system may then receive another request to download a selected one of the secondary modules, which may be selected based on a determination by the application running on the device that the associated type of processing hardware is available. In response, the system may send the selected module to the device. The application may be configured to selectively use the first module or the selected module to perform an operation.

Abstract: An example implementation involves controlling robots with non-constant body pitch and height. The implementation involves obtaining a model of the robot that represents the robot as a first point mass rigidly coupled with a second point mass along a longitudinal axis. The implementation also involves determining a state of a first pair of legs, and determining a height of the first point mass based on the model and the state of the first pair of legs. The implementation further involves determining a first amount of vertical force for at least one leg of the first pair of legs to apply along a vertical axis against a surface while the at least one leg is in contact with the surface. Additionally, the implementation involves causing the at least one leg of the first pair of legs to begin applying the amount of vertical force against the surface.

Abstract: An example implementation involves controlling robots with non-constant body pitch and height. The implementation involves obtaining a model of the robot that represents the robot as a first point mass rigidly coupled with a second point mass along a longitudinal axis. The implementation also involves determining a state of a first pair of legs, and determining a height of the first point mass based on the model and the state of the first pair of legs. The implementation further involves determining a first amount of vertical force for at least one leg of the first pair of legs to apply along a vertical axis against a surface while the at least one leg is in contact with the surface. Additionally, the implementation involves causing the at least one leg of the first pair of legs to begin applying the amount of vertical force against the surface.

Abstract: The present invention relates to a device for insertion into a human or animal cavity, the device comprising an internally wearable plug comprising a pharmaceutically active composition; an externally wearable anchor element; and a sheath joining the plug to the anchor element such that a wearer's finger can be received in the sheath to assist insertion.

Abstract: Fluorescent probes for silver ion detection include organic, water-soluble compounds having aggregation-induced emission (AIE) characteristics. The probes can sense or detect silver ions through aggregation or a precipitation reaction between the silver ions and the organic compounds which induces fluorescence. The compounds are acidic, soluble in aqueous phase, and provide low background fluorescence in aqueous solutions.

Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.

Abstract: Disclosed herein are pharmaceutical compositions and methods of treating prostate cancer including castrate resistant prostate cancer, metastatic castration resistant prostate cancer and non-metastatic castration resistant prostate cancer with an approved drug product containing an anti-androgen selected from the group consisting of enzalutamide, apalutamide and darolutamide.

Abstract: Described herein are methods of treating non-metastatic castration-resistant prostate cancer in subjects with severe hepatic impairment with androgen receptor inhibitors, including but not limited to, 4-[7-(6-cyano-5-trifluoromethylpyridin-3-yl)-8-oxo-6-thioxo-5,7-diazaspiro[3.4]oct-5-yl]-2-fluoro-N-methylbenzamide.

Abstract: An online system receives information describing one or more interactions by each of a set of online system users with an entity having a presence in the online system, in which the information includes a geographic location of each user stored in a corresponding user profile. The online system determines multiple polygons defined at different geographic granularities, in which each polygon includes a region on a geographic map. A score is computed for each polygon based on a number of the set of users who interacted with the entity and who have a geographic location within the polygon, as well as a total number of users having a geographic location within the polygon. A polygon is selected based on the scores and a geographic location for the entity is inferred for the entity as the selected polygon at the geographic granularity of the selected polygon.

Abstract: The present invention relates to a device for insertion into a human or animal cavity, the device comprising an internally wearable plug comprising a pharmaceutically active composition; an externally wearable anchor element; and a sheath joining the plug to the anchor element such 5 that a wearer's finger can be received in the sheath to assist insertion.