05 Mar

The original design for the API that interfaced with Gazebo and the PGPE algorithm was in the form of multiple function calls. After looking into the way that gazebo and it's plugins functioned, we decided that creating individual functions would not be possible. Gazebo operates its plugins using a...

05 Mar

The RoCo team is planning to submit two papers with deadlines in early April. The plan is to submit a paper on an interface for the co-design of mechanical and electro-functional structures to UIST 2018 and a paper on a unified design environment for multiple fabrication output forms for SCF 2018...

01 Mar

Over the past week we have been trying to send the position data to the vision package running on a virtual machine. However, we have found out that the Kinect detector fails to send the json file via ZMQ.The problem might be that ZMQ binds to the wrong network socket.

26 Feb

A recent blog post by Christian outlines an algorithm that we formulated for the co-optimization of structure and control of robots. This algorithm seeks to more tightly couple the co-optimization as compared to the algorithm described in [1]. Let's call the algorithm we propose Algorithm 1. Algo...

26 Feb

Jointly Learning to Construct and Control Agents using Deep Reinforcement Learning https://arxiv.org/pdf/1801.01432.pdf This paper optimizes parameters in a given robot’s structure and neural network based controller concurrently using policy gradients. The work presented in the paper applies this...

26 Feb

This past week me and Prathyush worked on formulating an algorithm to use to co-optimize structure and control. Due to the difference in how geometric and control parameters may affect the robot's reward, past research has separated the optimization of the two, choosing to iterate between optimizing...

20 Feb

Over the past week I have been working on assembling a hardware implementation of a robotic localization system. The robot itself is the LEMUR paperbot or segbot that runs on two wheels with its tail dragging behind for stability. The robot has three external sensors, 2 range finding Lidars and one...

16 Feb

I jsut finished the draft of the submission to CDC this week. The paper this time is quite abstract. Even though I tried my best to write it, I still feel it could be better with ideas from others. Hope you can read it and give feedback. Thanks a lot.link

16 Feb

This week, the function for adding finger joint was improved. Now we can add joint to any edges that have the same length. When the dimention of edge is suitable to add finger joint with the selected material thickness, the finger joint will be added. Otherwise, we will automatically add glue joint...

15 Feb

This week, I worked on implementing an API that the PGPE algorithm can use to train the parameters for the neural network that controls the robot as well as the parameters that dictate the robot's structure. Gym is a framework that contains a collection of preset environments that machine learning m...