Differentiable Algorithm Networks for Composable Robot Learning

This paper introduces the Differentiable Algorithm Network (DAN), a composable architecture for robot learning systems. A DAN is composed of neural network modules, each encoding a differentiable robot algorithm and an associated model; and it is trained end-to-end from data. DAN combines the strengths of model-driven modular system design and data-driven end-to-end learning. The algorithms and models act as structural assumptions to reduce the data requirements for learning; end-to-end learning allows the modules to adapt to one another and compensate for imperfect models and algorithms, in order to achieve the best overall system performance. We illustrate the DAN methodology through a case study on a simulated robot system, which learns to navigate in complex 3-D environments with only local visual observations and an image of a partially correct 2-D floor map.Comment: RSS 2019 camera ready. Video is available at https://youtu.be/4jcYlTSJF4

Software Engineering and Complexity in Effective Algebraic Geometry

We introduce the notion of a robust parameterized arithmetic circuit for the evaluation of algebraic families of multivariate polynomials. Based on this notion, we present a computation model, adapted to Scientific Computing, which captures all known branching parsimonious symbolic algorithms in effective Algebraic Geometry. We justify this model by arguments from Software Engineering. Finally we exhibit a class of simple elimination problems of effective Algebraic Geometry which require exponential time to be solved by branching parsimonious algorithms of our computation model.Comment: 70 pages. arXiv admin note: substantial text overlap with arXiv:1201.434