Dataset Information

Task Feasibility Maximization Using Model-Free Policy Search and Model-Based Whole-Body Control.

ABSTRACT: Producing feasible motions for highly redundant robots, such as humanoids, is a complicated and high-dimensional problem. Model-based whole-body control of such robots can generate complex dynamic behaviors through the simultaneous execution of multiple tasks. Unfortunately, tasks are generally planned without close consideration for the underlying controller being used, or the other tasks being executed, and are often infeasible when executed on the robot. Consequently, there is no guarantee that the motion will be accomplished. In this work, we develop a proof-of-concept optimization loop which automatically improves task feasibility using model-free policy search in conjunction with model-based whole-body control. This combination allows problems to be solved, which would be otherwise intractable using simply one or the other. Through experiments on both the simulated and real iCub humanoid robot, we show that by optimizing task feasibility, initially infeasible complex dynamic motions can be realized-specifically, a sit-to-stand transition. These experiments can be viewed in the accompanying Video S1.

SUBMITTER: Lober R

PROVIDER: S-EPMC7805637 | biostudies-literature | 2020

REPOSITORIES: biostudies-literature

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Publications

Task Feasibility Maximization Using Model-Free Policy Search and Model-Based Whole-Body Control.

Lober Ryan R Sigaud Olivier O Padois Vincent V

Frontiers in robotics and AI 20200604

Producing feasible motions for highly redundant robots, such as humanoids, is a complicated and high-dimensional problem. Model-based whole-body control of such robots can generate complex dynamic behaviors through the simultaneous execution of multiple tasks. Unfortunately, tasks are generally planned without close consideration for the underlying controller being used, or the other tasks being executed, and are often infeasible when executed on the robot. Consequently, there is no guarantee th ...[more]

PMID: 33501229

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Project description:BackgroundIt has been hypothesized that multivariate analysis and systematic detection of epistatic interactions between explanatory genotyping variables may help resolve the problem of "missing heritability" currently observed in genome-wide association studies (GWAS). However, even the simplest bivariate analysis is still held back by significant statistical and computational challenges that are often addressed by reducing the set of analysed markers. Theoretically, it has been shown that combinations of loci may exist that show weak or no effects individually, but show significant (even complete) explanatory power over phenotype when combined. Reducing the set of analysed SNPs before bivariate analysis could easily omit such critical loci.ResultsWe have developed an exhaustive bivariate GWAS analysis methodology that yields a manageable subset of candidate marker pairs for subsequent analysis using other, often more computationally expensive techniques. Our model-free filtering approach is based on classification using ROC curve analysis, an alternative to much slower regression-based modelling techniques. Exhaustive analysis of studies containing approximately 450,000 SNPs and 5,000 samples requires only 2 hours using a desktop CPU or 13 minutes using a GPU (Graphics Processing Unit). We validate our methodology with analysis of simulated datasets as well as the seven Wellcome Trust Case-Control Consortium datasets that represent a wide range of real life GWAS challenges. We have identified SNP pairs that have considerably stronger association with disease than their individual component SNPs that often show negligible effect univariately. When compared against previously reported results in the literature, our methods re-detect most significant SNP-pairs and additionally detect many pairs absent from the literature that show strong association with disease. The high overlap suggests that our fast analysis could substitute for some slower alternatives.ConclusionsWe demonstrate that the proposed methodology is robust, fast and capable of exhaustive search for epistatic interactions using a standard desktop computer. First, our implementation is significantly faster than timings for comparable algorithms reported in the literature, especially as our method allows simultaneous use of multiple statistical filters with low computing time overhead. Second, for some diseases, we have identified hundreds of SNP pairs that pass formal multiple test (Bonferroni) correction and could form a rich source of hypotheses for follow-up analysis.AvailabilityA web-based version of the software used for this analysis is available at http://bioinformatics.research.nicta.com.au/gwis.

Dataset Information

Task Feasibility Maximization Using Model-Free Policy Search and Model-Based Whole-Body Control.

Publications

Task Feasibility Maximization Using Model-Free Policy Search and Model-Based Whole-Body Control.

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