82,451 research outputs found
Modelling potential movement in constrained travel environments using rough space-time prisms
The widespread adoption of location-aware technologies (LATs) has afforded analysts new opportunities for efficiently collecting trajectory data of moving individuals. These technologies enable measuring trajectories as a finite sample set of time-stamped locations. The uncertainty related to both finite sampling and measurement errors makes it often difficult to reconstruct and represent a trajectory followed by an individual in space-time. Time geography offers an interesting framework to deal with the potential path of an individual in between two sample locations. Although this potential path may be easily delineated for travels along networks, this will be less straightforward for more nonnetwork-constrained environments. Current models, however, have mostly concentrated on network environments on the one hand and do not account for the spatiotemporal uncertainties of input data on the other hand. This article simultaneously addresses both issues by developing a novel methodology to capture potential movement between uncertain space-time points in obstacle-constrained travel environments
An intuitive control space for material appearance
Many different techniques for measuring material appearance have been
proposed in the last few years. These have produced large public datasets,
which have been used for accurate, data-driven appearance modeling. However,
although these datasets have allowed us to reach an unprecedented level of
realism in visual appearance, editing the captured data remains a challenge. In
this paper, we present an intuitive control space for predictable editing of
captured BRDF data, which allows for artistic creation of plausible novel
material appearances, bypassing the difficulty of acquiring novel samples. We
first synthesize novel materials, extending the existing MERL dataset up to 400
mathematically valid BRDFs. We then design a large-scale experiment, gathering
56,000 subjective ratings on the high-level perceptual attributes that best
describe our extended dataset of materials. Using these ratings, we build and
train networks of radial basis functions to act as functionals mapping the
perceptual attributes to an underlying PCA-based representation of BRDFs. We
show that our functionals are excellent predictors of the perceived attributes
of appearance. Our control space enables many applications, including intuitive
material editing of a wide range of visual properties, guidance for gamut
mapping, analysis of the correlation between perceptual attributes, or novel
appearance similarity metrics. Moreover, our methodology can be used to derive
functionals applicable to classic analytic BRDF representations. We release our
code and dataset publicly, in order to support and encourage further research
in this direction
Sample Efficient Optimization for Learning Controllers for Bipedal Locomotion
Learning policies for bipedal locomotion can be difficult, as experiments are
expensive and simulation does not usually transfer well to hardware. To counter
this, we need al- gorithms that are sample efficient and inherently safe.
Bayesian Optimization is a powerful sample-efficient tool for optimizing
non-convex black-box functions. However, its performance can degrade in higher
dimensions. We develop a distance metric for bipedal locomotion that enhances
the sample-efficiency of Bayesian Optimization and use it to train a 16
dimensional neuromuscular model for planar walking. This distance metric
reflects some basic gait features of healthy walking and helps us quickly
eliminate a majority of unstable controllers. With our approach we can learn
policies for walking in less than 100 trials for a range of challenging
settings. In simulation, we show results on two different costs and on various
terrains including rough ground and ramps, sloping upwards and downwards. We
also perturb our models with unknown inertial disturbances analogous with
differences between simulation and hardware. These results are promising, as
they indicate that this method can potentially be used to learn control
policies on hardware.Comment: To appear in International Conference on Humanoid Robots (Humanoids
'2016), IEEE-RAS. (Rika Antonova and Akshara Rai contributed equally
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