Interactive design exploration for constrained meshes

In architectural design, surface shapes are commonly subject to geometric constraints imposed by material, fabrication or assembly. Rationalization algorithms can convert a freeform design into a form feasible for production, but often require design modifications that might not comply with the design intent. In addition, they only offer limited support for exploring alternative feasible shapes, due to the high complexity of the optimization algorithm. We address these shortcomings and present a computational framework for interactive shape exploration of discrete geometric structures in the context of freeform architectural design. Our method is formulated as a mesh optimization subject to shape constraints. Our formulation can enforce soft constraints and hard constraints at the same time, and handles equality constraints and inequality constraints in a unified way. We propose a novel numerical solver that splits the optimization into a sequence of simple subproblems that can be solved efficiently and accurately. Based on this algorithm, we develop a system that allows the user to explore designs satisfying geometric constraints. Our system offers full control over the exploration process, by providing direct access to the specification of the design space. At the same time, the complexity of the underlying optimization is hidden from the user, who communicates with the system through intuitive interfaces.

Learning Reach-to-Grasp Motions From Human Demonstrations

Ashwini Shukla

Reaching over to grasp an item is arguably the most commonly used motor skill by humans. Even under sudden perturbations, humans seem to react rapidly and adapt their motion to guarantee success. Despite the apparent ease and frequency with which we use this ability, a complete understanding of the underlying mechanisms cannot be claimed. It is partly due to such incomplete knowledge that adaptive robot motion for reaching and grasping under perturbations is not perfectly achieved. In this thesis, we take the discriminative approach for modelling trajectories of reach-to-grasp motion from expert demonstrations. Throughout this thesis, we will employ time-independent (autonomous) flow based representations to learn reactive motion controllers which can then be ported onto robots. This thesis is divided into three main parts. The first part is dedicated to biologically inspired modelling of reach-to-grasp motions with respect to the hand-arm coupling. We build upon previous work in motion modelling using autonomous dynamical systems (DS) and present a coupled dynamical system (CDS) model of these two subsystems. The coupled model ensures satisfaction of the constraints between the hand and the arm subsystems which are critical to the success of a reach-to-grasp task. Moreover, it reduces the complexity of the overall motion planning problem as compared to considering a combined problem for the hand and the arm motion. In the second part we extend the CDS approach to incorporate multiple grasping points. Such a model is beneficial due to the fact that many daily life objects afford multiple grasping locations on their surface. We combine a DS based approach with energy-function learning to learn a multiple attractor dynamical system where the attractors are mapped to the desired grasping points. We present the Augmented-SVM (ASVM) model that combines the classical SVM formulation with gradient constraints arising from the energy function to learn the desired dynamical function for motion generation. In the last part of this thesis, we address the problem of inverse-kinematics and obstacle avoidance by combining our flow-based motion generator with global configuration-space planners. We claim that the two techniques complement each other. On one hand, the fast reactive nature of our flow based motion generator can used to guide the search of a randomly exploring random tree (RRT) based global planner. On the other hand, global planners can efficiently handle arbitrary obstacles and avoid local minima present in the dynamical function learned from demonstrations. We show that combining the information from demonstrations with global planning in the form of a energy-map considerably decreases the computational complexity of state-of-the-art sampling based planners. We believe that this thesis has the following contributions to Robotics and Machine Learning. First, we have developed algorithms for fast and adaptive motion generation for reach-grasp motions. Second, we formulated an extension to the classical SVM formulation that takes into account the gradient information from data. We showed that instead of being limited as a classifier or a regressor, the SVM framework can be used as a more general function approximation technique. Lastly, we have combined our local methods with global approaches for planning to achieve arbitrary obstacle avoidance and considerable reduction in the computation complexity of the global planners.

EPFL2014

Low Complexity Scheduling and Coding for Wireless Networks

Siddhartha Brahma

The advent of wireless communication technologies has created a paradigm shift in the accessibility of communication. With it has come an increased demand for throughput, a trend that is likely to increase further in the future. A key aspect of these challenges is to develop low complexity algorithms and architectures that can take advantage of the nature of the wireless medium like broadcasting and physical layer cooperation. In this thesis, we consider several problems in the domain of low complexity coding, relaying and scheduling for wireless networks. We formulate the Pliable Index Coding problem that models a server trying to send one or more new messages over a noiseless broadcast channel to a set of clients that already have a subset of messages as side information. We show through theoretical bounds and algorithms, that it is possible to design short length codes, poly-logarithmic in the number of clients, to solve this problem. The length of the codes are exponentially better than those possible in a traditional index coding setup. Next, we consider several aspects of low complexity relaying in half-duplex diamond networks. In such networks, the source transmits information to the destination through

n

half-duplex intermediate relays arranged in a single layer. The half-duplex nature of the relays implies that they can either be in a listening or transmitting state at any point of time. To achieve high rates, there is an additional complexity of optimizing the schedule (i.e. the relative time fractions) of the relaying states, which can be

2^n

in number. Using approximate capacity expressions derived from the quantize-map-forward scheme for physical layer cooperation, we show that for networks with

n\leq 6

relays, the optimal schedule has atmost

n+1

active states. This is an exponential improvement over the possible

2^n

active states in a schedule. We also show that it is possible to achieve at least half the capacity of such networks (approximately) by employing simple routing strategies that use only two relays and two scheduling states. These results imply that the complexity of relaying in half-duplex diamond networks can be significantly reduced by using fewer scheduling states or fewer relays without adversely affecting throughput. Both these results assume centralized processing of the channel state information of all the relays. We take the first steps in analyzing the performance of relaying schemes where each relay switches between listening and transmitting states randomly and optimizes their relative fractions using only local channel state information. We show that even with such simple scheduling, we can achieve a significant fraction of the capacity of the network. Next, we look at the dual problem of selecting the subset of relays of a given size that has the highest capacity for a general layered full-duplex relay network. We formulate this as an optimization problem and derive efficient approximation algorithms to solve them. We end the thesis with the design and implementation of a practical relaying scheme called QUILT. In it the relay opportunistically decodes or quantizes its received signal and transmits the resulting sequence in cooperation with the source. To keep the complexity of the system low, we use LDPC codes at the source, interleaving at the relays and belief propagation decoding at the destination. We evaluate our system through testbed experiments over WiFi.

EPFL2015

Memetic Viability Evolution for Constrained Optimization

Dario Floreano, Giovanni Iacca, Andrea Maesani

The performance of evolutionary algorithms can be heavily undermined when constraints limit the feasible areas of the search space. For instance, while Covariance Matrix Adapta- tion Evolution Strategy is one of the most efficient algorithms for unconstrained optimization problems, it cannot be readily applied to constrained ones. Here, we used concepts from Memetic Computing, i.e. the harmonious combination of multiple units of algorithmic information, and Viability Evolution, an alternative abstraction of artificial evolution, to devise a novel approach for solving optimization problems with inequality constraints. Viability Evolution emphasizes elimination of solutions not satis- fying viability criteria, defined as boundaries on objectives and constraints. These boundaries are adapted during the search to drive a population of local search units, based on Covariance Matrix Adaptation Evolution Strategy, towards feasible regions. These units can be recombined by means of Differential Evolution operators. Of crucial importance for the performance of our method, an adaptive scheduler toggles between exploitation and exploration by selecting to advance one of the local search units and/or recombine them. The proposed algorithm can outperform several state-of-the-art methods on a diverse set of benchmark and engineering problems, both for quality of solutions and computational resources needed.

Institute of Electrical and Electronics Engineers2016