Combining Physical Simulators and Object-Based Networks for Control

Physics engines play an important role in robot planning and control; however, many real-world control problems involve complex contact dynamics that cannot be characterized analytically. Most physics engines therefore employ . approximations that lead to a loss in precision. In this paper, we propose a hybrid dynamics model, simulator-augmented interaction networks (SAIN), combining a physics engine with an object-based neural network for dynamics modeling. Compared with existing models that are purely analytical or purely data-driven, our hybrid model captures the dynamics of interacting objects in a more accurate and data-efficient manner.Experiments both in simulation and on a real robot suggest that it also leads to better performance when used in complex control tasks. Finally, we show that our model generalizes to novel environments with varying object shapes and materials.Comment: ICRA 2019; Project page: http://sain.csail.mit.ed

Fast Model Identification via Physics Engines for Data-Efficient Policy Search

This paper presents a method for identifying mechanical parameters of robots or objects, such as their mass and friction coefficients. Key features are the use of off-the-shelf physics engines and the adaptation of a Bayesian optimization technique towards minimizing the number of real-world experiments needed for model-based reinforcement learning. The proposed framework reproduces in a physics engine experiments performed on a real robot and optimizes the model's mechanical parameters so as to match real-world trajectories. The optimized model is then used for learning a policy in simulation, before real-world deployment. It is well understood, however, that it is hard to exactly reproduce real trajectories in simulation. Moreover, a near-optimal policy can be frequently found with an imperfect model. Therefore, this work proposes a strategy for identifying a model that is just good enough to approximate the value of a locally optimal policy with a certain confidence, instead of wasting effort on identifying the most accurate model. Evaluations, performed both in simulation and on a real robotic manipulation task, indicate that the proposed strategy results in an overall time-efficient, integrated model identification and learning solution, which significantly improves the data-efficiency of existing policy search algorithms.Comment: IJCAI 1

Towards Design Principles for Data-Driven Decision Making: An Action Design Research Project in the Maritime Industry

Data-driven decision making (DDD) refers to organizational decision-making practices that emphasize the use of data and statistical analysis instead of relying on human judgment only. Various empirical studies provide evidence for the value of DDD, both on individual decision maker level and the organizational level. Yet, the path from data to value is not always an easy one and various organizational and psychological factors mediate and moderate the translation of data-driven insights into better decisions and, subsequently, effective business actions. The current body of academic literature on DDD lacks prescriptive knowledge on how to successfully employ DDD in complex organizational settings. Against this background, this paper reports on an action design research study aimed at designing and implementing IT artifacts for DDD at one of the largest ship engine manufacturers in the world. Our main contribution is a set of design principles highlighting, besides decision quality, the importance of model comprehensibility, domain knowledge, and actionability of results