05 Fakultät Informatik, Elektrotechnik und Informationstechnik

Permanent URI for this collectionhttps://elib.uni-stuttgart.de/handle/11682/6

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Institute: search.filters.UBSInstitut.Institut für Parallele und Verteilte SystemeSubject: search.filters.subject.620Start date: 2020End date: 2020

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    Efficient sampling of transition constraints for motion planning under sliding contacts
    (2020) Khoury, Marie Therese
    In contact-based motion planning we consider for humanoid and multiped robots problems like going up a staircase, walking over an uneven surface or climbing a steep hill. Solving such tasks requires finding sequences of fixed and sliding contacts and planning the transition from one contact in the environment to another. However, most existing algorithms do not take sliding contacts into account for navigation problems or consider them only for manipulation scenarios. We propose an approach to contact-based planning that uses sliding contacts and exploits contact transitions. Such transitions are elementary operations required for whole contact sequences. To model sliding contacts, we develop a sliding contact constraint that permits the robot to slide on an object’s surface. To exploit contact transitions, we utilize three constraint modes to enable passage: contact with a start surface, no contact and contact with a goal surface. We develop a sampler that samples these transition modes uniformly. In this thesis we focus on the motion of one robot link’s end from an initial contact point toward a designated goal surface while the other end of the robot remains in sliding contact with the initial surface. Our method is evaluated by testing it on manipulator arms of two, three and seven degrees of freedom with different objects and various sampling-based planning algorithms. From the considered manipulator arm, it would be possible to transfer our concept to more complex robots and scenarios and extend it to a whole sequence of contacts.
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    Analyzing the influence of hyper-parameters and regularizers of topic modeling in terms of Renyi entropy
    (2020) Koltcov, Sergei; Ignatenko, Vera; Boukhers, Zeyd; Staab, Steffen
    Topic modeling is a popular technique for clustering large collections of text documents. A variety of different types of regularization is implemented in topic modeling. In this paper, we propose a novel approach for analyzing the influence of different regularization types on results of topic modeling. Based on Renyi entropy, this approach is inspired by the concepts from statistical physics, where an inferred topical structure of a collection can be considered an information statistical system residing in a non-equilibrium state. By testing our approach on four models-Probabilistic Latent Semantic Analysis (pLSA), Additive Regularization of Topic Models (BigARTM), Latent Dirichlet Allocation (LDA) with Gibbs sampling, LDA with variational inference (VLDA)-we, first of all, show that the minimum of Renyi entropy coincides with the “true” number of topics, as determined in two labelled collections. Simultaneously, we find that Hierarchical Dirichlet Process (HDP) model as a well-known approach for topic number optimization fails to detect such optimum. Next, we demonstrate that large values of the regularization coefficient in BigARTM significantly shift the minimum of entropy from the topic number optimum, which effect is not observed for hyper-parameters in LDA with Gibbs sampling. We conclude that regularization may introduce unpredictable distortions into topic models that need further research.