25,605 research outputs found
CASSL: Curriculum Accelerated Self-Supervised Learning
Recent self-supervised learning approaches focus on using a few thousand data
points to learn policies for high-level, low-dimensional action spaces.
However, scaling this framework for high-dimensional control require either
scaling up the data collection efforts or using a clever sampling strategy for
training. We present a novel approach - Curriculum Accelerated Self-Supervised
Learning (CASSL) - to train policies that map visual information to high-level,
higher- dimensional action spaces. CASSL orders the sampling of training data
based on control dimensions: the learning and sampling are focused on few
control parameters before other parameters. The right curriculum for learning
is suggested by variance-based global sensitivity analysis of the control
space. We apply our CASSL framework to learning how to grasp using an adaptive,
underactuated multi-fingered gripper, a challenging system to control. Our
experimental results indicate that CASSL provides significant improvement and
generalization compared to baseline methods such as staged curriculum learning
(8% increase) and complete end-to-end learning with random exploration (14%
improvement) tested on a set of novel objects
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
Engineering simulations for cancer systems biology
Computer simulation can be used to inform in vivo and in vitro experimentation, enabling rapid, low-cost hypothesis generation and directing experimental design in order to test those hypotheses. In this way, in silico models become a scientific instrument for investigation, and so should be developed to high standards, be carefully calibrated and their findings presented in such that they may be reproduced. Here, we outline a framework that supports developing simulations as scientific instruments, and we select cancer systems biology as an exemplar domain, with a particular focus on cellular signalling models. We consider the challenges of lack of data, incomplete knowledge and modelling in the context of a rapidly changing knowledge base. Our framework comprises a process to clearly separate scientific and engineering concerns in model and simulation development, and an argumentation approach to documenting models for rigorous way of recording assumptions and knowledge gaps. We propose interactive, dynamic visualisation tools to enable the biological community to interact with cellular signalling models directly for experimental design. There is a mismatch in scale between these cellular models and tissue structures that are affected by tumours, and bridging this gap requires substantial computational resource. We present concurrent programming as a technology to link scales without losing important details through model simplification. We discuss the value of combining this technology, interactive visualisation, argumentation and model separation to support development of multi-scale models that represent biologically plausible cells arranged in biologically plausible structures that model cell behaviour, interactions and response to therapeutic interventions
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Facilitating insight into a simulation model using visualization and dynamic model previews
This paper shows how model simplification, by replacing iterative steps with unitary predictive equations, can enable dynamic interaction with a complex simulation process. Model previews extend the techniques of dynamic querying and query previews into the context of ad hoc simulation model exploration. A case study is presented within the domain of counter-current chromatography. The relatively novel method of insight evaluation was applied, given the exploratory nature of the task. The evaluation data show that the trade-off in accuracy is far outweighed by benefits of dynamic interaction. The number of insights gained using the enhanced interactive version of the computer model was more than six times higher than the number of insights gained using the basic version of the model. There was also a trend for dynamic interaction to facilitate insights of greater domain importance
Quantifying knowledge exchange in R&D networks: A data-driven model
We propose a model that reflects two important processes in R&D activities of
firms, the formation of R&D alliances and the exchange of knowledge as a result
of these collaborations. In a data-driven approach, we analyze two large-scale
data sets extracting unique information about 7500 R&D alliances and 5200
patent portfolios of firms. This data is used to calibrate the model parameters
for network formation and knowledge exchange. We obtain probabilities for
incumbent and newcomer firms to link to other incumbents or newcomers which are
able to reproduce the topology of the empirical R&D network. The position of
firms in a knowledge space is obtained from their patents using two different
classification schemes, IPC in 8 dimensions and ISI-OST-INPI in 35 dimensions.
Our dynamics of knowledge exchange assumes that collaborating firms approach
each other in knowledge space at a rate for an alliance duration .
Both parameters are obtained in two different ways, by comparing knowledge
distances from simulations and empirics and by analyzing the collaboration
efficiency . This is a new measure, that takes also in
account the effort of firms to maintain concurrent alliances, and is evaluated
via extensive computer simulations. We find that R&D alliances have a duration
of around two years and that the subsequent knowledge exchange occurs at a very
low rate. Hence, a firm's position in the knowledge space is rather a
determinant than a consequence of its R&D alliances. From our data-driven
approach we also find model configurations that can be both realistic and
optimized with respect to the collaboration efficiency .
Effective policies, as suggested by our model, would incentivize shorter R&D
alliances and higher knowledge exchange rates.Comment: 35 pages, 10 figure
Real Time Animation of Virtual Humans: A Trade-off Between Naturalness and Control
Virtual humans are employed in many interactive applications using 3D virtual environments, including (serious) games. The motion of such virtual humans should look realistic (or ‘natural’) and allow interaction with the surroundings and other (virtual) humans. Current animation techniques differ in the trade-off they offer between motion naturalness and the control that can be exerted over the motion. We show mechanisms to parametrize, combine (on different body parts) and concatenate motions generated by different animation techniques. We discuss several aspects of motion naturalness and show how it can be evaluated. We conclude by showing the promise of combinations of different animation paradigms to enhance both naturalness and control
From Social Simulation to Integrative System Design
As the recent financial crisis showed, today there is a strong need to gain
"ecological perspective" of all relevant interactions in
socio-economic-techno-environmental systems. For this, we suggested to set-up a
network of Centers for integrative systems design, which shall be able to run
all potentially relevant scenarios, identify causality chains, explore feedback
and cascading effects for a number of model variants, and determine the
reliability of their implications (given the validity of the underlying
models). They will be able to detect possible negative side effect of policy
decisions, before they occur. The Centers belonging to this network of
Integrative Systems Design Centers would be focused on a particular field, but
they would be part of an attempt to eventually cover all relevant areas of
society and economy and integrate them within a "Living Earth Simulator". The
results of all research activities of such Centers would be turned into
informative input for political Decision Arenas. For example, Crisis
Observatories (for financial instabilities, shortages of resources,
environmental change, conflict, spreading of diseases, etc.) would be connected
with such Decision Arenas for the purpose of visualization, in order to make
complex interdependencies understandable to scientists, decision-makers, and
the general public.Comment: 34 pages, Visioneer White Paper, see http://www.visioneer.ethz.c
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