Introducing LoCo, a Logic for Configuration Problems

In this paper we present the core of LoCo, a logic-based high-level representation language for expressing configuration problems. LoCo shall allow to model these problems in an intuitive and declarative way, the dynamic aspects of configuration notwithstanding. Our logic enforces that configurations contain only finitely many components and reasoning can be reduced to the task of model construction.Comment: In Proceedings LoCoCo 2011, arXiv:1108.609

Efficient Benchmarking of Algorithm Configuration Procedures via Model-Based Surrogates

The optimization of algorithm (hyper-)parameters is crucial for achieving peak performance across a wide range of domains, ranging from deep neural networks to solvers for hard combinatorial problems. The resulting algorithm configuration (AC) problem has attracted much attention from the machine learning community. However, the proper evaluation of new AC procedures is hindered by two key hurdles. First, AC benchmarks are hard to set up. Second and even more significantly, they are computationally expensive: a single run of an AC procedure involves many costly runs of the target algorithm whose performance is to be optimized in a given AC benchmark scenario. One common workaround is to optimize cheap-to-evaluate artificial benchmark functions (e.g., Branin) instead of actual algorithms; however, these have different properties than realistic AC problems. Here, we propose an alternative benchmarking approach that is similarly cheap to evaluate but much closer to the original AC problem: replacing expensive benchmarks by surrogate benchmarks constructed from AC benchmarks. These surrogate benchmarks approximate the response surface corresponding to true target algorithm performance using a regression model, and the original and surrogate benchmark share the same (hyper-)parameter space. In our experiments, we construct and evaluate surrogate benchmarks for hyperparameter optimization as well as for AC problems that involve performance optimization of solvers for hard combinatorial problems, drawing training data from the runs of existing AC procedures. We show that our surrogate benchmarks capture overall important characteristics of the AC scenarios, such as high- and low-performing regions, from which they were derived, while being much easier to use and orders of magnitude cheaper to evaluate

Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation

Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate complex holistic movements and multiple contact interactions when solving different tasks. However, existing approaches have been merely able to shape such behaviors with hand-crafted state machines, densely engineered rewards, or pre-recorded expert demonstrations. Here, we propose a minimally-guided framework that automatically discovers whole-body trajectories jointly with contact schedules for solving general loco-manipulation tasks in pre-modeled environments. The key insight is that multi-modal problems of this nature can be formulated and treated within the context of integrated Task and Motion Planning (TAMP). An effective bilevel search strategy is achieved by incorporating domain-specific rules and adequately combining the strengths of different planning techniques: trajectory optimization and informed graph search coupled with sampling-based planning. We showcase emergent behaviors for a quadrupedal mobile manipulator exploiting both prehensile and non-prehensile interactions to perform real-world tasks such as opening/closing heavy dishwashers and traversing spring-loaded doors. These behaviors are also deployed on the real system using a two-layer whole-body tracking controller

Kontextsensitive Körperregulierung für redundante Roboter

In the past few decades the classical 6 degrees of freedom manipulators' dominance has been challenged by the rise of 7 degrees of freedom redundant robots. Similarly, with increased availability of humanoid robots in academic research, roboticists suddenly have access to highly dexterous platforms with multiple kinematic chains capable of undertaking multiple tasks simultaneously. The execution of lower-priority tasks, however, are often done in task/scenario specific fashion. Consequently, these systems are not scalable and slight changes in the application often implies re-engineering the entire control system and deployment which impedes the development process over time. This thesis introduces an alternative systematic method of addressing the secondary tasks and redundancy resolution called, context aware body regulation. Contexts consist of one or multiple tasks, however, unlike the conventional definitions, the tasks within a context are not rigidly defined and maintain some level of abstraction. For instance, following a particular trajectory constitutes a concrete task while performing a Cartesian motion with the end-effector represents an abstraction of the same task and is more appropriate for context formulation. Furthermore, contexts are often made up of multiple abstract tasks that collectively describe a reoccurring situation. Body regulation is an umbrella term for a collection of schemes for addressing the robots' redundancy when a particular context occurs. Context aware body regulation offers several advantages over traditional methods. Most notably among them are reusability, scalability and composability of contexts and body regulation schemes. These three fundamental concerns are realized theoretically by in-depth study and through mathematical analysis of contexts and regulation strategies; and are practically implemented by a component based software architecture that complements the theoretical aspects. The findings of the thesis are applicable to any redundant manipulator and humanoids, and allow them to be used in real world applications. Proposed methodology presents an alternative approach for the control of robots and offers a new perspective for future deployment of robotic solutions.Im Verlauf der letzten Jahrzehnte wich der Einfluss klassischer Roboterarme mit 6 Freiheitsgraden zunehmend denen neuer und vielfältigerer Manipulatoren mit 7 Gelenken. Ebenso stehen der Forschung mit den neuartigen Humanoiden inzwischen auch hoch-redundante Roboterplattformen mit mehreren kinematischen Ketten zur Verfügung. Diese überaus flexiblen und komplexen Roboter-Kinematiken ermöglichen generell das gleichzeitige Verfolgen mehrerer priorisierter Bewegungsaufgaben. Die Steuerung der weniger wichtigen Aufgaben erfolgt jedoch oft in anwendungsspezifischer Art und Weise, welche die Skalierung der Regelung zu generellen Kontexten verhindert. Selbst kleine Änderungen in der Anwendung bewirken oft schon, dass große Teile der Robotersteuerung überarbeitet werden müssen, was wiederum den gesamten Entwicklungsprozess behindert. Diese Dissertation stellt eine alternative, systematische Methode vor um die Redundanz neuer komplexer Robotersysteme zu bewältigen und vielfältige, priorisierte Bewegungsaufgaben parallel zu steuern: Die so genannte kontextsensitive Körperregulierung. Darin bestehen Kontexte aus einer oder mehreren Bewegungsaufgaben. Anders als in konventionellen Anwendungen sind die Aufgaben nicht fest definiert und beinhalten eine gewisse Abstraktion. Beispielsweise stellt das Folgen einer bestimmten Trajektorie eine sehr konkrete Bewegungsaufgabe dar, während die Ausführung einer Kartesischen Bewegung mit dem Endeffektor eine Abstraktion darstellt, die für die Kontextformulierung besser geeignet ist. Kontexte setzen sich oft aus mehreren solcher abstrakten Aufgaben zusammen und beschreiben kollektiv eine sich wiederholende Situation. Durch die Verwendung der kontextsensitiven Körperregulierung ergeben sich vielfältige Vorteile gegenüber traditionellen Methoden: Wiederverwendbarkeit, Skalierbarkeit, sowie Komponierbarkeit von Konzepten. Diese drei fundamentalen Eigenschaften werden in der vorliegenden Arbeit theoretisch mittels gründlicher mathematischer Analyse aufgezeigt und praktisch mittels einer auf Komponenten basierenden Softwarearchitektur realisiert. Die Ergebnisse dieser Dissertation lassen sich auf beliebige redundante Manipulatoren oder humanoide Roboter anwenden und befähigen diese damit zur realen Anwendung außerhalb des Labors. Die hier vorgestellte Methode zur Regelung von Robotern stellt damit eine neue Perspektive für die zukünftige Entwicklung von robotischen Lösungen dar

Topological Foundations of Cognitive Science

A collection of papers presented at the First International Summer Institute in Cognitive Science, University at Buffalo, July 1994, including the following papers: ** Topological Foundations of Cognitive Science, Barry Smith ** The Bounds of Axiomatisation, Graham White ** Rethinking Boundaries, Wojciech Zelaniec ** Sheaf Mereology and Space Cognition, Jean Petitot ** A Mereotopological Definition of 'Point', Carola Eschenbach ** Discreteness, Finiteness, and the Structure of Topological Spaces, Christopher Habel ** Mass Reference and the Geometry of Solids, Almerindo E. Ojeda ** Defining a 'Doughnut' Made Difficult, N .M. Gotts ** A Theory of Spatial Regions with Indeterminate Boundaries, A.G. Cohn and N.M. Gotts ** Mereotopological Construction of Time from Events, Fabio Pianesi and Achille C. Varzi ** Computational Mereology: A Study of Part-of Relations for Multi-media Indexing, Wlodek Zadrozny and Michelle Ki

An Institutional Approach to Donor Control: From Dyadic Ties to a Field‐Level Analysis

Literature on the nonprofit sector focuses on charities and their interactions with clients or governmental agencies; donors are studied less often. Studies on philanthropy do examine donors but tend to focus on microlevel factors to explain their behavior. This study, in contrast, draws on institutional theory to show that macrolevel factors affect donor behavior. It also extends the institutional framework by examining the field‐level configurations in which donors and fundraisers are embedded. Employing the case of workplace charity, this new model highlights how the composition of the organizational field structures fundraisers and donors alike, shaping fundraisers’ strategies of solicitation and, therefore, the extent of donor control.This research was supported by grants from the Aspen Institute’s Nonprofit Sector Research Fund and the National Science Foundation. I thank Susan Eckstein, Julian Go, Heather MacIndoe, Susan Ostrander, audiences in the departments of sociology at Boston University, Emory University, Ohio State University, University of Arizona, and the University of Chicago, various participants in the University of Chicago Graduate School of Business Organizations and Markets Workshop and the MIT‐Sloan School of Management Organization Studies Group Seminar Series, and AJS reviewers for helpful comments on earlier versions. Direct correspondence to Emily Barman, Deparment of Sociology, Boston University, 96 Cummington Street, Boston, Massachusetts 02115

An impulsive framework for the control of hybrid systems

An impulsive control formulation suitable for analyzing hybrid systems is presented. Besides a continuous evolution, the trajectory of an impulsive control system may also exhibit jumps. The jump trajectory is well characterized in this impulsive framework. These jumps can be interpreted as the discrete evolution of an hybrid system. Several examples of hybrid systems modeled in the impulsive framework are given. An impulsive formulation of a formation control problem, regarded as an hybrid system is detailed. Finally, an overview of important classes of control results available for impulsive control systems, notably, stability and optimality, attest the importance of this paradigm for the control of hybrid systems. These results are essential to investigate the properties of model predictive control schemes for hybrid systems