373 research outputs found

    3D-PhysNet: Learning the Intuitive Physics of Non-Rigid Object Deformations

    Full text link
    The ability to interact and understand the environment is a fundamental prerequisite for a wide range of applications from robotics to augmented reality. In particular, predicting how deformable objects will react to applied forces in real time is a significant challenge. This is further confounded by the fact that shape information about encountered objects in the real world is often impaired by occlusions, noise and missing regions e.g. a robot manipulating an object will only be able to observe a partial view of the entire solid. In this work we present a framework, 3D-PhysNet, which is able to predict how a three-dimensional solid will deform under an applied force using intuitive physics modelling. In particular, we propose a new method to encode the physical properties of the material and the applied force, enabling generalisation over materials. The key is to combine deep variational autoencoders with adversarial training, conditioned on the applied force and the material properties. We further propose a cascaded architecture that takes a single 2.5D depth view of the object and predicts its deformation. Training data is provided by a physics simulator. The network is fast enough to be used in real-time applications from partial views. Experimental results show the viability and the generalisation properties of the proposed architecture.Comment: in IJCAI 201

    Modular Approach to Machine Reading Comprehension: Mixture of Task-Aware Experts

    Full text link
    In this work we present a Mixture of Task-Aware Experts Network for Machine Reading Comprehension on a relatively small dataset. We particularly focus on the issue of common-sense learning, enforcing the common ground knowledge by specifically training different expert networks to capture different kinds of relationships between each passage, question and choice triplet. Moreover, we take inspi ration on the recent advancements of multitask and transfer learning by training each network a relevant focused task. By making the mixture-of-networks aware of a specific goal by enforcing a task and a relationship, we achieve state-of-the-art results and reduce over-fitting
    • …
    corecore