Automata-theoretic approaches to planning in robotics

Wednesday, March 16, 2022 - 01:00 pm
Storey Innovation Center 2267, 550 Assembly St.

DISSERTATION DEFENSE

Automata-theoretic approaches to planning in robotics: combinatorial filter minimization, planning to chronicle, temporal logic planning with soft specifications, and sensor selection for detecting deviations from a planned itinerary

 

Author : Hazhar Rahmani

Advisor : Jason O'Kane

Date : March 16, 2022

Time: 1:00 pm

Place: Storey Innovation Center 2267, 550 Assembly St.

Virtual (Zoom link): https://us02web.zoom.us/j/83006866662

 

Abstract

In this dissertation, we present a collection of new planning algorithms that enable robots to achieve complex goals, beyond simple point-to-point path planning, using automata-theoretic methods, and we consider the filter minimization (FM) problem and a variant of it, filter partitioning minimization (FPM) problem, which aims to minimize combinatorial filters, used for filtering and automata-theoretic planning in systems with discrete sensor data. We introduce a new variant of bisimulation, compatibility, and using this notion we identify several classes of filters for which FM or FPM is solvable in polynomial time, and propose several integer linear programming (ILP) formulations of FM and FPM. Then, we consider a problem, planning to chronicle, in which a robot is tasked with observing an uncertain time-extended process to produce a `chronicle’ of occurrent events that meets a given specification. This problem is useful in applications where we deploy robots to autonomously make structured videos or documentaries from events occurring in an unpredictable environment. Next, we study two variants of temporal logic planning in which the objective is to synthesize a trajectory that satisfies an optimal selection of soft constraints while nevertheless satisfying a hard constraint expressed in linear temporal logic (LTL). We also extend planning to chronicle with the idea of this problem. Then, we consider the problem of planning where to observe the behavior of an agent to ensure that the agent’s execution within the environment fits a pre-disclosed itinerary. This problem arises in a range of contexts including in validating safety claims about robot behavior, applications in security and surveillance, and for both the conception and the (physical) design and logistics of scientific experiments.

Empowering translational data science through large-scale data harmonization

Friday, March 4, 2022 - 02:20 pm

Abstract

Data silos are a major problem in biomedical research. Our data commons and ecosystems framework helps to break down data silos and empower translational research. To do this, data must be harmonized through standardized workflows, references, annotations, and/or mapped to standardized ontologies. I helped lead the design and implementation of a petabyte-scale “omics” data harmonization system utilized in the National Cancer Institute’s Genomic Data Commons. I present some background in data commons, describe our automation system, and provide some highlights of other work my colleagues and I are doing in the Center for Translational Data Science at the University of Chicago. Our work showcases the importance of interdisciplinary collaboration and exciting opportunities for computer science, data science, and biomedical research.

 

Bio

Kyle Hernandez, Ph.D. is a Research Associate Professor of Medicine in the Section of Biomedical Data Science, a Co-PI of the VA Data Commons, and a Manager of Bioinformatics in the Center for Translational Data Science at the University of Chicago. He was a key contributor to the design and development of the large-scale workflow automation system used in the National Cancer Institute Genomic Data Commons (GDC) as well as the development of many of the workflows it uses. His research interests include workflow engines, the genetic architecture of complex phenotypes, the integration of multiple data types, reproducibility, and more recently the complex issues of EHR data curation and extraction. He earned his Ph.D. in Ecology, Evolution, and Population Biology at Purdue University and was an NSF Postdoctoral Fellow at the University of Texas. He joined the University in 2013 and has been affiliated with the Center since 2016.

 

Location:

In person

Swearingen Engineering Center in Room 2A31 

Virtual MS Teams

ACM Code-A-Thon

Friday, February 25, 2022 - 07:00 pm

The bi-annual Association of Computing Machinery Code-A-Thon is this week, February 25th-26th. It is a competition open to current and former USC students and alumni, regardless of field of study. It is divided into four divisions: 145, 146, 240, and 350. Challenges align with the concepts taught at the corresponding CSCE levels. For example lower-level division problems ask participants to use data structures or specific edge-case checking; upper-division might ask participants to process data in O(log n) time.

The ACM Code-A-Thon is a great social event for students to congregate while enjoying pizza, soft drinks, collaboration, and honestly, coding outside of class. It’s also rigorous. The social event starts on Feb 25th at 7pm and lasts for an hour until 8pm when the competition actually starts. The competition lasts for 24 hours. Each division has about four to seven problems with varying point totals that reflect the difficulty of the problem. Points are awarded by the number of test cases a submitted solution passes. Winners are determined by the most points awarded; in the event of a tie at any particular level the tie-break goes to the person who completed the event fastest. 

To make the event more enticing to the public gift cards are awarded to the first, second, and third place finishers at each level to the tune of $100, $75, and $50. Also, in the past instructors have awarded extra credit points to people who participated in the event. ACM will help verify by keeping an attendance sheet with the names of participants and for which instructor they want extra credit. It is ACMs suggestion that should any instructor offer extra credit, they tie the extra credit to points earned by the competing student to avoid a situation where dozens of students sign up to compete but don’t attempt a solution.

Again, this is meant to be collaborative. There will be channels for participants to ask questions and discuss potential solutions, or just throw stuff on the way and see what sticks. We encourage discussion.

Please reach out with any questions you may have about the Code-A-Thon. Blake Seekings (seekingj@email.sc.edu) is the best person to contact.

Students who wish to attend please fill out this form, or get more information here.

Towards Robot Learning for the Real World

Friday, February 25, 2022 - 02:30 pm
Swearingen Engineering Center in Room 2A31

Abstract

Even with the substantial progress we have seen in Robot Learning, we are nowhere near general purpose robots that can operate in the real world that we live in. There are two fundamental reasons for this. First, robots need to build concise representations in high-dimensional sensory observations often without access to explicit sources of supervision. Second, unlike standard supervised learning, they will need to solve long-horizon decision making problems. In this talk, I'll propose a recipe for general purpose robot learning that combines ideas of self-supervision for representation learning with ideas in RL, adaptation, and imitation for decision making.

 

Bio

Lerrel Pinto is an Assistant Professor of Computer Science at NYU. His research interests focus on machine learning and computer vision for robots. He received a PhD degree from CMU in 2019; prior to that he received an MS degree from CMU in 2016, and a B.Tech in Mechanical Engineering from IIT-Guwahati. His work on large-scale robot learning received the Best Student Paper award at ICRA 2016 and a Best Paper finalist award at IROS 2019. Several of his works have been featured in popular media such as The Wall Street Journal, TechCrunch, MIT Tech Review, Wired, and BuzzFeed among others. His recent work can be found on www.lerrelpinto.com.

 

Location:

In person

Swearingen Engineering Center in Room 2A31

 

Virtual MS Teams

Time

2:20-3:10pm

 

Deep Learning Based Generative Materials Design

Monday, February 21, 2022 - 12:00 pm

DISSERTATION DEFENSE

Author : Yong Zhao

Advisor : Dr. Jianjun Hu

Date : Feb 21, 2022

Time 12:00 pm

Place : Virtual (Zoom link below)

https://us02web.zoom.us/j/9031735360

 

Abstract

Discovery of novel functional materials is playing an increasingly important role in many key industries such as lithium batteries for electric vehicles and cell phones. However experimental tinkering of existing materials or Density Functional Theory (DFT) based screening of known crystal structures, two of the major current materials design approaches, are both severely constrained by the limited scale (around 250,000 in ICSD database) and diversity of existing materials and the lack of sufficient number of materials with annotated properties. How to generate a large number of physically feasible, stable, and synthesizable crystal materials and build accurate property prediction models for screening are the two major unsolved challenges in modern materials science.

This dissertation is focused on addressing these two fundamental tasks in material science using deep learning/machine learning models. Deep learning and machine learning have made tremendous progress in computer vision and natural language processing as shown by the autonomous driving cars and google translators, with their potential to greatly transform the research of materials science. Compared to conventional tinkering based materials discovery methods, data-driven approaches have been increasingly used in material informatics because of their much faster screening speed for new materials compared to DFT based calculations. In this dissertation, we design and develop novel deep learning-based algorithms to generate new crystal structures learning the hidden intricate chemical rules from known crystals that assemble atoms into stable crystal structures. We also explore and develop novel representation learning upon materials compositions and structures for high performance prediction of materials structural characteristics and elastic properties.

In the first topic, we propose CubicGAN, a generative adversarial network (GAN) based deep neural network model for large-scale generative design of novel cubic materials. When trained on 375 749 ternary materials from the OQMD database, we show that the model can not only rediscover most of the currently known cubic materials but also generate hypothetical materials of new structure prototypes. A total of 506 such materials have been verified by DFT based phonon dispersion calculation. Our technique allows to generate tens of thousands of new materials given sufficient computing resource.

In the second topic, we propose a Physics Guided Crystal Generative Model (PGCGM) for new materials generation, which significantly expands the structural scope of CubicGAN by bringing the capability of generate crystals of 20 space groups. This is achieved by capturing and exploiting the pairwise atomic distance constraints among neighbor atoms and symmetric geometric constraints and a novel data augmentation strategy using the base atom sites of materials. With atom clustering and merging on generated crystal structures, our method increases the generator's validity by 8 times compared to one of the baselines and by 143% compared to the previous CubicGAN along with its superiority in properties distribution and diversity. We further validated our generated candidates by DFT calculations, which successfully optimized/relaxed 1869 materials out of 2000 generated ones, of which 39.6% are with negative formation energy, indicating their stability.

In the third topic, we propose and evaluate machine-learning algorithms for determining the structure type of materials, given only their compositions. We couple random forest (RF) and multiple-layer perceptron (MLP) neural network models with three types of features: Magpie, atom vector, and one-hot encoding (atom frequency) for the crystal system and space group prediction of materials. Four types of models for predicting crystal systems and space groups are proposed, trained, and evaluated including one-versus-all binary classifiers, multiclass classifiers, polymorphism predictors, and multilabel classifiers. The synthetic minority over-sampling technique (SMOTE) is conducted to mitigate the effects of imbalanced data sets. Our results demonstrate that RF with Magpie features generally outperforms other algorithms for binary and multiclass prediction of crystal systems and space groups, while MLP with atom frequency features is the best one for structural polymorphism prediction.

Finally, we propose to use electronic charge density (ECD) as a generic unified 3D descriptor for materials property prediction with the advantage of possessing close relation with the physical and chemical properties of materials. We develop an ECD-based 3D convolutional neural network (CNN) for predicting the elastic properties of materials, in which CNNs can learn effective hierarchical features with multiple convolving and pooling operations. Our experiments show that our method can achieve good performance for elasticity prediction over 2170 Fm-3m materials.

Bringing Scalable Millimeter-Wave Networks and Applications to the Masses

Friday, February 18, 2022 - 02:20 pm
Swearingen room 2A31

Abstract

Internet-of-Things (IoT) systems play an integral role in our daily lives, and we are currently witnessing an explosion of the IoT ecosystem, which includes not only smartphones but also smart, ubiquitous objects embedded with communication, computation, and sensing capabilities. Emerging IoT systems, such as autonomous vehicles, immersive virtual and augmented reality, tactile internet, holoportation, and smart, connected buildings, promise to automate human lives at unprecedented levels this decade. However, such systems rely on two critical foundations: (1) Next-generation wireless network architectures that can serve billions of devices; and (2) Ubiquitous sensing techniques that enable the objects to be "truly smart" by understanding and interpreting the ambient conditions and micro-activities with high precision.

 

My research team has been building these two foundations. We design, develop, and deploy experimental data-driven computational and deep learning models to extract intelligence from wireless signals, which, in turn, enable ubiquitous sensing modalities and high-resilience and high-performance networks. In this talk, I will go through some of the design and prototyping of our current works that use extremely high-frequency millimeter-wave wireless to enable wire-like connectivity and reliability, and applications in healthcare and beyond-visions. 

 

Bio

Sanjib Sur is an Assistant Professor in the Department of Computer Science and Engineering at the University of South Carolina, Columbia. He received his Ph.D. from the University of Wisconsin - Madison in 2018. His research interest lies in wireless systems and ubiquitous computing, and his research work has been regularly published in top conferences in these areas, especially ACM MobiCom, MobiSys, SIGMETRICS, USENIX NSDI, and IEEE INFOCOM. He is the recipient of ACM HotMobile Best Poster and Best Poster Runner-Up Awards in 2021 and President of India Gold Medal in 2012. Sanjib holds 8 US Patents with 8 more pending. He served as the TPC co-chair for IEEE STEERS 2021-2020 and ACM mmNets 2020.

 

Location:

In person

Swearingen Engineering Center in Room 2A31

Virtual MS Teams

Time

2:20-3:10pm

On Providing Efficient Real-Time Solutions to Motion Planning Problems of High Complexity

Wednesday, February 16, 2022 - 03:00 pm
Seminar room 2277, Storey Innovation Building

DISSERTATION DEFENSE

       Department of Computer Science and Engineering

University of South Carolina 

Author : Marios Xanthidis

Advisor : Dr. Ioannis Rekleitis and Dr. O'Kane

Date : Feb 16, 2022

Time 3:00 pm

Place : Seminar room 2277, Storey Innovation Building

 

Abstract

The holy grail of robotics is producing robotic systems capable of efficiently executing all the tasks that are hard, or even impossible, for humans. Humans, undoubtedly, from both a hardware and software perspective, are extremely complex systems capable of executing many complicated tasks. Thus, the complexity of state-of-the-art robotic systems is also expected to progressively increase, with the goal to match or even surpass human abilities. Recent developments have emphasized mostly hardware, providing highly complex robots with exceptional capabilities. On the other hand, they have illustrated that one important bottleneck of realizing such systems as a common reality is real-time motion planning.

 

This thesis aims to assist the development of complex robotic systems from a computational perspective. The primary focus is developing novel methodologies to address real-time motion planning that enables the robots to accomplish the goals safely and provide the building blocks for developing robust advanced robot behavior in the future. The proposed methods utilize and enhance state-of-the-art approaches to overcome three different types of complexity:

  1. Motion planning for high-dimensional systems. RRT+, a new family of general sampling-based planners, was introduced to accelerate solving the motion planning problem for robotic systems with many degrees of freedom by iteratively searching in lower-dimensional subspaces of increasing dimension. RRT+ variants computed solutions in real-time, orders of magnitude faster compared to state-of-the-art. Experiments in simulation of kinematic chains up to 50 degrees of freedom, and the Baxter humanoid robot validate the effectiveness of the proposed technique.
  1. Underwater navigation for robots in cluttered environments. AquaNav, a real-time navigation pipeline for robots moving efficiently in challenging, unknown, and unstructured environments, was developed for Aqua2, a hexapod swimming robot with complex, yet to be fully discovered, dynamics. AquaNav was tested offline in known maps, and online in unknown maps utilizing vision-based SLAM. Rigorous testing in simulation, in-pool, and open-water trials show the robustness of the method on providing efficient and safe performance, enabling the robot to navigate by avoiding static and dynamic obstacles in open-water settings with turbidity and surge.
  1. Active perception of areas of interest during underwater operation. AquaVis, an extension of AquaNav, is a real-time navigation technique enabling robots, with arbitrary multi-sensor configurations, reach safely their target, while at the same time observing from a desired proximity multiple areas of interest. Extensive simulations show a safe behavior, and strong potential for improving underwater state estimation, monitoring, tracking, inspection, and mapping of objects of interest in the underwater domain, such as coral reefs, shipwrecks, and marine life.

Human Problem Solving

Friday, February 11, 2022 - 02:20 pm
Swearingen Engineering Center in Room 2A31

Abstract

The talk focuses on insightful problem solving and on scientific discovery as the most sophisticated form of insight. I will review several classical insight problems and will offer a conjecture that symmetry of the representation is what is common to all of them. Next, I will describe two phenomena from visual perception, 3D shape reconstruction and figure-ground organization, which also critically depend on symmetry of visual representation. This way, 3D vision can be considered the most elementary, but at the same time, ubiquitous form of insightful problem solving. In the third part of the talk, I will discuss the fundamental role symmetry plays in mathematics and physics including formulation of the Natural Laws. If time allows, I will conclude by describing how humans solve combinatorial optimization problems .

 

Bio

Professor Pizlo received his PhD in electrical and computer engineering from the Institute of Electron Technology, in Poland in 1982, and another PhD in psychology from the University of Maryland, College Park in 1991. He was a Professor of Psychology at Purdue University from 1991 to 2017 and is now a Professor of Cognitive Sciences at UC Irvine. He published 3 books on visual perception of shapes and space and his new book on problem solving will come out this Summer. His research on vision combines projective geometry and symmetry with inverse problems and regularization methods to solve them. His work on problem solving focuses on combinatorial optimization problems. 

 

Location:

In person

Swearingen Engineering Center in Room 2A31

 

Virtual MS Teams

https://teams.microsoft.com/l/meetup-join/19%3ameeting_MTY5ODJjOTgtOTZhYi00OTJmLTljYTgtNjlkYzMxZjI5NjVk%40thread.v2/0?context=%7b%22Tid%22%3a%224b2a4b19-d135-420e-8bb2-b1cd238998cc%22%2c%22Oid%22%3a%22c678cf91-85c0-4c2d-82a0-cce6903f3963%22%7d

 

Time

2:20-3:10pm

 

Artificial Intelligence – Fact and Fiction

Friday, February 4, 2022 - 02:20 pm
Swearingen Engineering Center in Room 2A31

This Friday (2/04), from 2:20-3:10pm, at the Seminar in Advances in Computing, Professor Michael Wooldridge from the University of Oxford will give a talk entitled "Artificial Intelligence – Fact and Fiction". This talk is related to his recent book "A brief history of artificial intelligence: what it is, where we are, and where we are going.""

 Abstract

Long regarded as an impossible dream, Artificial Intelligence (AI) is now an everyday reality. Advances in AI regularly make headline news, and the steady advance of AI looks set to change our world dramatically. In this lecture Professor Michael Wooldridge explores the reality of AI today: what makes AI work after half a century of effort, what is possible, and what the implications are for all of us. 

Bio

Michael Wooldridge is a Professor of Computer Science and Head of Department of Computer Science at the University of Oxford. He has been an AI researcher for more than 25 years, and has published more than 350 scientific articles on the subject. He is a Fellow of the Association for Computing Machinery (ACM), the Association for the Advancement of AI (AAAI), and the European Association for AI (EurAI). From 2014-16, he was President of the European Association for AI, and from 2015-17 he was President of the International Joint Conference on AI (IJCAI).

Location:

In person

Swearingen Engineering Center in Room 2A31

Virtual MS Teams link

Time

2:20-3:10pm

Women in Computing Meeting

Monday, January 31, 2022 - 06:00 pm
Story Innovation Center