13,353 research outputs found
Sampling-Based Methods for Factored Task and Motion Planning
This paper presents a general-purpose formulation of a large class of
discrete-time planning problems, with hybrid state and control-spaces, as
factored transition systems. Factoring allows state transitions to be described
as the intersection of several constraints each affecting a subset of the state
and control variables. Robotic manipulation problems with many movable objects
involve constraints that only affect several variables at a time and therefore
exhibit large amounts of factoring. We develop a theoretical framework for
solving factored transition systems with sampling-based algorithms. The
framework characterizes conditions on the submanifold in which solutions lie,
leading to a characterization of robust feasibility that incorporates
dimensionality-reducing constraints. It then connects those conditions to
corresponding conditional samplers that can be composed to produce values on
this submanifold. We present two domain-independent, probabilistically complete
planning algorithms that take, as input, a set of conditional samplers. We
demonstrate the empirical efficiency of these algorithms on a set of
challenging task and motion planning problems involving picking, placing, and
pushing
Reclaiming the energy of a schedule: models and algorithms
We consider a task graph to be executed on a set of processors. We assume
that the mapping is given, say by an ordered list of tasks to execute on each
processor, and we aim at optimizing the energy consumption while enforcing a
prescribed bound on the execution time. While it is not possible to change the
allocation of a task, it is possible to change its speed. Rather than using a
local approach such as backfilling, we consider the problem as a whole and
study the impact of several speed variation models on its complexity. For
continuous speeds, we give a closed-form formula for trees and series-parallel
graphs, and we cast the problem into a geometric programming problem for
general directed acyclic graphs. We show that the classical dynamic voltage and
frequency scaling (DVFS) model with discrete modes leads to a NP-complete
problem, even if the modes are regularly distributed (an important particular
case in practice, which we analyze as the incremental model). On the contrary,
the VDD-hopping model leads to a polynomial solution. Finally, we provide an
approximation algorithm for the incremental model, which we extend for the
general DVFS model.Comment: A two-page extended abstract of this work appeared as a short
presentation in SPAA'2011, while the long version has been accepted for
publication in "Concurrency and Computation: Practice and Experience
Understanding the Role of Adaptivity in Machine Teaching: The Case of Version Space Learners
In real-world applications of education, an effective teacher adaptively
chooses the next example to teach based on the learner's current state.
However, most existing work in algorithmic machine teaching focuses on the
batch setting, where adaptivity plays no role. In this paper, we study the case
of teaching consistent, version space learners in an interactive setting. At
any time step, the teacher provides an example, the learner performs an update,
and the teacher observes the learner's new state. We highlight that adaptivity
does not speed up the teaching process when considering existing models of
version space learners, such as "worst-case" (the learner picks the next
hypothesis randomly from the version space) and "preference-based" (the learner
picks hypothesis according to some global preference). Inspired by human
teaching, we propose a new model where the learner picks hypotheses according
to some local preference defined by the current hypothesis. We show that our
model exhibits several desirable properties, e.g., adaptivity plays a key role,
and the learner's transitions over hypotheses are smooth/interpretable. We
develop efficient teaching algorithms and demonstrate our results via
simulation and user studies.Comment: NeurIPS 2018 (extended version
Aspects of Unstructured Grids and Finite-Volume Solvers for the Euler and Navier-Stokes Equations
One of the major achievements in engineering science has been the development of computer algorithms for solving nonlinear differential equations such as the Navier-Stokes equations. In the past, limited computer resources have motivated the development of efficient numerical schemes in computational fluid dynamics (CFD) utilizing structured meshes. The use of structured meshes greatly simplifies the implementation of CFD algorithms on conventional computers. Unstructured grids on the other hand offer an alternative to modeling complex geometries. Unstructured meshes have irregular connectivity and usually contain combinations of triangles, quadrilaterals, tetrahedra, and hexahedra. The generation and use of unstructured grids poses new challenges in CFD. The purpose of this note is to present recent developments in the unstructured grid generation and flow solution technology
An Improved Algorithm for Incremental DFS Tree in Undirected Graphs
Depth first search (DFS) tree is one of the most well-known data structures
for designing efficient graph algorithms. Given an undirected graph
with vertices and edges, the textbook algorithm takes time to
construct a DFS tree. In this paper, we study the problem of maintaining a DFS
tree when the graph is undergoing incremental updates. Formally, we show: Given
an arbitrary online sequence of edge or vertex insertions, there is an
algorithm that reports a DFS tree in worst case time per operation, and
requires preprocessing time.
Our result improves the previous worst case update time
algorithm by Baswana et al. and the time by Nakamura and
Sadakane, and matches the trivial lower bound when it is required
to explicitly output a DFS tree.
Our result builds on the framework introduced in the breakthrough work by
Baswana et al., together with a novel use of a tree-partition lemma by Duan and
Zhan, and the celebrated fractional cascading technique by Chazelle and Guibas
The Critical Radius in Sampling-based Motion Planning
We develop a new analysis of sampling-based motion planning in Euclidean
space with uniform random sampling, which significantly improves upon the
celebrated result of Karaman and Frazzoli (2011) and subsequent work.
Particularly, we prove the existence of a critical connection radius
proportional to for samples and dimensions:
Below this value the planner is guaranteed to fail (similarly shown by the
aforementioned work, ibid.). More importantly, for larger radius values the
planner is asymptotically (near-)optimal. Furthermore, our analysis yields an
explicit lower bound of on the probability of success. A
practical implication of our work is that asymptotic (near-)optimality is
achieved when each sample is connected to only neighbors. This is
in stark contrast to previous work which requires
connections, that are induced by a radius of order . Our analysis is not restricted to PRM and applies to a
variety of PRM-based planners, including RRG, FMT* and BTT. Continuum
percolation plays an important role in our proofs. Lastly, we develop similar
theory for all the aforementioned planners when constructed with deterministic
samples, which are then sparsified in a randomized fashion. We believe that
this new model, and its analysis, is interesting in its own right
PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planning
Many planning applications involve complex relationships defined on
high-dimensional, continuous variables. For example, robotic manipulation
requires planning with kinematic, collision, visibility, and motion constraints
involving robot configurations, object poses, and robot trajectories. These
constraints typically require specialized procedures to sample satisfying
values. We extend PDDL to support a generic, declarative specification for
these procedures that treats their implementation as black boxes. We provide
domain-independent algorithms that reduce PDDLStream problems to a sequence of
finite PDDL problems. We also introduce an algorithm that dynamically balances
exploring new candidate plans and exploiting existing ones. This enables the
algorithm to greedily search the space of parameter bindings to more quickly
solve tightly-constrained problems as well as locally optimize to produce
low-cost solutions. We evaluate our algorithms on three simulated robotic
planning domains as well as several real-world robotic tasks.Comment: International Conference on Automated Planning and Scheduling (ICAPS)
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