45,284 research outputs found
Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids
Real-life control tasks involve matters of various substances---rigid or soft
bodies, liquid, gas---each with distinct physical behaviors. This poses
challenges to traditional rigid-body physics engines. Particle-based simulators
have been developed to model the dynamics of these complex scenes; however,
relying on approximation techniques, their simulation often deviates from
real-world physics, especially in the long term. In this paper, we propose to
learn a particle-based simulator for complex control tasks. Combining learning
with particle-based systems brings in two major benefits: first, the learned
simulator, just like other particle-based systems, acts widely on objects of
different materials; second, the particle-based representation poses strong
inductive bias for learning: particles of the same type have the same dynamics
within. This enables the model to quickly adapt to new environments of unknown
dynamics within a few observations. We demonstrate robots achieving complex
manipulation tasks using the learned simulator, such as manipulating fluids and
deformable foam, with experiments both in simulation and in the real world. Our
study helps lay the foundation for robot learning of dynamic scenes with
particle-based representations.Comment: Accepted to ICLR 2019. Project Page: http://dpi.csail.mit.edu Video:
https://www.youtube.com/watch?v=FrPpP7aW3L
Using Incomplete Information for Complete Weight Annotation of Road Networks -- Extended Version
We are witnessing increasing interests in the effective use of road networks.
For example, to enable effective vehicle routing, weighted-graph models of
transportation networks are used, where the weight of an edge captures some
cost associated with traversing the edge, e.g., greenhouse gas (GHG) emissions
or travel time. It is a precondition to using a graph model for routing that
all edges have weights. Weights that capture travel times and GHG emissions can
be extracted from GPS trajectory data collected from the network. However, GPS
trajectory data typically lack the coverage needed to assign weights to all
edges. This paper formulates and addresses the problem of annotating all edges
in a road network with travel cost based weights from a set of trips in the
network that cover only a small fraction of the edges, each with an associated
ground-truth travel cost. A general framework is proposed to solve the problem.
Specifically, the problem is modeled as a regression problem and solved by
minimizing a judiciously designed objective function that takes into account
the topology of the road network. In particular, the use of weighted PageRank
values of edges is explored for assigning appropriate weights to all edges, and
the property of directional adjacency of edges is also taken into account to
assign weights. Empirical studies with weights capturing travel time and GHG
emissions on two road networks (Skagen, Denmark, and North Jutland, Denmark)
offer insight into the design properties of the proposed techniques and offer
evidence that the techniques are effective.Comment: This is an extended version of "Using Incomplete Information for
Complete Weight Annotation of Road Networks," which is accepted for
publication in IEEE TKD
TrafficPredict: Trajectory Prediction for Heterogeneous Traffic-Agents
To safely and efficiently navigate in complex urban traffic, autonomous
vehicles must make responsible predictions in relation to surrounding
traffic-agents (vehicles, bicycles, pedestrians, etc.). A challenging and
critical task is to explore the movement patterns of different traffic-agents
and predict their future trajectories accurately to help the autonomous vehicle
make reasonable navigation decision. To solve this problem, we propose a long
short-term memory-based (LSTM-based) realtime traffic prediction algorithm,
TrafficPredict. Our approach uses an instance layer to learn instances'
movements and interactions and has a category layer to learn the similarities
of instances belonging to the same type to refine the prediction. In order to
evaluate its performance, we collected trajectory datasets in a large city
consisting of varying conditions and traffic densities. The dataset includes
many challenging scenarios where vehicles, bicycles, and pedestrians move among
one another. We evaluate the performance of TrafficPredict on our new dataset
and highlight its higher accuracy for trajectory prediction by comparing with
prior prediction methods.Comment: Accepted by AAAI(Oral) 201
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