17,417 research outputs found
Embodied Evolution in Collective Robotics: A Review
This paper provides an overview of evolutionary robotics techniques applied
to on-line distributed evolution for robot collectives -- namely, embodied
evolution. It provides a definition of embodied evolution as well as a thorough
description of the underlying concepts and mechanisms. The paper also presents
a comprehensive summary of research published in the field since its inception
(1999-2017), providing various perspectives to identify the major trends. In
particular, we identify a shift from considering embodied evolution as a
parallel search method within small robot collectives (fewer than 10 robots) to
embodied evolution as an on-line distributed learning method for designing
collective behaviours in swarm-like collectives. The paper concludes with a
discussion of applications and open questions, providing a milestone for past
and an inspiration for future research.Comment: 23 pages, 1 figure, 1 tabl
MeshfreeFlowNet: A Physics-Constrained Deep Continuous Space-Time Super-Resolution Framework
We propose MeshfreeFlowNet, a novel deep learning-based super-resolution
framework to generate continuous (grid-free) spatio-temporal solutions from the
low-resolution inputs. While being computationally efficient, MeshfreeFlowNet
accurately recovers the fine-scale quantities of interest. MeshfreeFlowNet
allows for: (i) the output to be sampled at all spatio-temporal resolutions,
(ii) a set of Partial Differential Equation (PDE) constraints to be imposed,
and (iii) training on fixed-size inputs on arbitrarily sized spatio-temporal
domains owing to its fully convolutional encoder. We empirically study the
performance of MeshfreeFlowNet on the task of super-resolution of turbulent
flows in the Rayleigh-Benard convection problem. Across a diverse set of
evaluation metrics, we show that MeshfreeFlowNet significantly outperforms
existing baselines. Furthermore, we provide a large scale implementation of
MeshfreeFlowNet and show that it efficiently scales across large clusters,
achieving 96.80% scaling efficiency on up to 128 GPUs and a training time of
less than 4 minutes.Comment: Supplementary Video: https://youtu.be/mjqwPch9gDo. Accepted to SC2
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