19,723 research outputs found

    3D-PhysNet: Learning the Intuitive Physics of Non-Rigid Object Deformations

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    The ability to interact and understand the environment is a fundamental prerequisite for a wide range of applications from robotics to augmented reality. In particular, predicting how deformable objects will react to applied forces in real time is a significant challenge. This is further confounded by the fact that shape information about encountered objects in the real world is often impaired by occlusions, noise and missing regions e.g. a robot manipulating an object will only be able to observe a partial view of the entire solid. In this work we present a framework, 3D-PhysNet, which is able to predict how a three-dimensional solid will deform under an applied force using intuitive physics modelling. In particular, we propose a new method to encode the physical properties of the material and the applied force, enabling generalisation over materials. The key is to combine deep variational autoencoders with adversarial training, conditioned on the applied force and the material properties. We further propose a cascaded architecture that takes a single 2.5D depth view of the object and predicts its deformation. Training data is provided by a physics simulator. The network is fast enough to be used in real-time applications from partial views. Experimental results show the viability and the generalisation properties of the proposed architecture.Comment: in IJCAI 201

    Asymptotic Level Density of the Elastic Net Self-Organizing Feature Map

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    Whileas the Kohonen Self Organizing Map shows an asymptotic level density following a power law with a magnification exponent 2/3, it would be desired to have an exponent 1 in order to provide optimal mapping in the sense of information theory. In this paper, we study analytically and numerically the magnification behaviour of the Elastic Net algorithm as a model for self-organizing feature maps. In contrast to the Kohonen map the Elastic Net shows no power law, but for onedimensional maps nevertheless the density follows an universal magnification law, i.e. depends on the local stimulus density only and is independent on position and decouples from the stimulus density at other positions.Comment: 8 pages, 10 figures. Link to publisher under http://link.springer.de/link/service/series/0558/bibs/2415/24150939.ht
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