diff --git a/02_Presentation/mindBody/WANN_operators.png b/02_Presentation/mindBody/WANN_operators.png new file mode 100644 index 0000000000000000000000000000000000000000..ac8ee4dc87cb183b602f1769753bdee3f27cc18b Binary files /dev/null and b/02_Presentation/mindBody/WANN_operators.png differ diff --git a/02_Presentation/mindBody/WANN_schematic.png b/02_Presentation/mindBody/WANN_schematic.png new file mode 100644 index 0000000000000000000000000000000000000000..2b2bec7c808b3601f12d0acc391a8fd153cb0e4e Binary files /dev/null and b/02_Presentation/mindBody/WANN_schematic.png differ diff --git a/02_Presentation/mindBody/evol.gif b/02_Presentation/mindBody/evol.gif new file mode 100644 index 0000000000000000000000000000000000000000..b492661bd8b5b9fae3f92bc89fbdd4c2dd56d912 Binary files /dev/null and b/02_Presentation/mindBody/evol.gif differ diff --git a/02_Presentation/mindBody/evol1.gif b/02_Presentation/mindBody/evol1.gif new file mode 100644 index 0000000000000000000000000000000000000000..e2ddd08f3cf1e1d39b5c313b151c9e3c92ee4858 Binary files /dev/null and b/02_Presentation/mindBody/evol1.gif differ diff --git a/02_Presentation/mindBody/frep_circle.gif b/02_Presentation/mindBody/frep_circle.gif new file mode 100644 index 0000000000000000000000000000000000000000..52bd877f76869de4ddf1eab1ac4dde4e2a6fdb1b Binary files /dev/null and b/02_Presentation/mindBody/frep_circle.gif differ diff --git a/02_Presentation/mindBody/frep_evol.gif b/02_Presentation/mindBody/frep_evol.gif new file mode 100644 index 0000000000000000000000000000000000000000..756415f1959415b6bddd6a63f48fb2ae54831daf Binary files /dev/null and b/02_Presentation/mindBody/frep_evol.gif differ diff --git a/02_Presentation/mindBody/mindBody.md b/02_Presentation/mindBody/mindBody.md new file mode 100644 index 0000000000000000000000000000000000000000..9018f0681c552f22212ac9f557d7fe3e3a0d1670 --- /dev/null +++ b/02_Presentation/mindBody/mindBody.md @@ -0,0 +1,85 @@ +# Shape and Control Optimization + +Research and development of workflows for the co-design reconfigurable AI software and hardware. + + +<img src="./mindbody.png" width="75%" /> + +--- + +## Weight Agnostic Neural Networks (WANN) + +### Introduction + +- [Paper](https://weightagnostic.github.io/) + - "focus on finding minimal architectures". + - "By deemphasizing learning of weight parameters, we encourage the agent instead to develop ever-growing networks that can encode acquired skills based on its interactions with the environment". + + +<img src="./WANN_schematic.png" width="50%" /> +<img src="./WANN_operators.png" width="50%" /> + +<img src="./square_biped.png" width="25%" /><img src="./square_biped.gif" width="25%" /> + +---- + +### 1- Frep Search + +As a first step to understand the code and WANN training, I implemented a toy problem where I am trying to learn the functional representation of target image, which is, given the x,y position of every pixel in an image, try to find the distance function that represent how far is this pixel from the edge of the shape. + +In the following training the target shape is a circle, and the input is the x and y positions of the pixels, and it found a minimal neural network architecture (given a library of given non linear functions) that maps the input position into the target shape. + +Graph Evolution: + +<img src="./frep_evol.gif" width="60%" /> + +Target Evolution: + +<img src="./frep_circle.gif" width="40%" /> + + +---- + +### 2 - Walker +- [Progress](https://gitlab.cba.mit.edu/amiraa/metavoxels/-/blob/master/02_Presentation/robotics/walking/walking.md) + +<img src="../macro_dice/walker.gif" width="60%" /> + +- Variables + - Modularity and Hierarchy + - Number of Variables + - Similar to rover, I can explore the benefit of hierarchy and modularity by taking advantage of the symmetry and hierarchy in the problem + - Each leg has 2 independent degrees of freedom +- Objective function + - this problem will be a bit harder as it has to learn ro stand first then walk + - I can try to make it easier by restraining some degrees of freedom + - I want to explore if the graphs of both behaviors are related or not + + +<img src="./walker_diag.png" width="90%" /> + + + +#### Progress and Results: + +- Integration: + - Done with integrating WANN with MetaVoxels, only need to load libraries/functions once and then call them each time I do a simulation in parallel +- Training + - 4 independent variables + - no looping + - <img src="./walker_training_graph_example.png" width="60%" /> +- Objective function: + - any voxel with maximum x +- Training Results: + +<img src="./walker_training.gif" width="30%" /> +<img src="./walker_training_1.gif" width="30%" /> +<img src="./walker_training_2.gif" width="30%" /> + + +---- + + + + + \ No newline at end of file diff --git a/02_Presentation/mindBody/mindbody.png b/02_Presentation/mindBody/mindbody.png new file mode 100644 index 0000000000000000000000000000000000000000..5302b85d4fab8b564089df842f60a0915868b90d Binary files /dev/null and b/02_Presentation/mindBody/mindbody.png differ diff --git a/02_Presentation/mindBody/square_biped.gif b/02_Presentation/mindBody/square_biped.gif new file mode 100644 index 0000000000000000000000000000000000000000..fee9eb748da57806de48dd0feccce204669df417 Binary files /dev/null and b/02_Presentation/mindBody/square_biped.gif differ diff --git a/02_Presentation/mindBody/square_biped.png b/02_Presentation/mindBody/square_biped.png new file mode 100644 index 0000000000000000000000000000000000000000..fc629d352e5fa3ed13f6ee08d2a2a2c718964874 Binary files /dev/null and b/02_Presentation/mindBody/square_biped.png differ diff --git a/02_Presentation/mindBody/walker_diag.png b/02_Presentation/mindBody/walker_diag.png new file mode 100644 index 0000000000000000000000000000000000000000..d4ff285e98a32aa1aea0e359547d0f04cc5ec2ce Binary files /dev/null and b/02_Presentation/mindBody/walker_diag.png differ diff --git a/02_Presentation/mindBody/walker_training.gif b/02_Presentation/mindBody/walker_training.gif new file mode 100644 index 0000000000000000000000000000000000000000..aae23959d6907da556036b8c73f56ba870ceb981 Binary files /dev/null and b/02_Presentation/mindBody/walker_training.gif differ diff --git a/02_Presentation/mindBody/walker_training_1.gif b/02_Presentation/mindBody/walker_training_1.gif new file mode 100644 index 0000000000000000000000000000000000000000..4a1d36a9a5703bedc955246b847a5135290f0b16 Binary files /dev/null and b/02_Presentation/mindBody/walker_training_1.gif differ diff --git a/02_Presentation/mindBody/walker_training_2.gif b/02_Presentation/mindBody/walker_training_2.gif new file mode 100644 index 0000000000000000000000000000000000000000..e76c6a8c488e41fce47148c04b629e6a6526a8ca Binary files /dev/null and b/02_Presentation/mindBody/walker_training_2.gif differ diff --git a/02_Presentation/mindBody/walker_training_graph_example.png b/02_Presentation/mindBody/walker_training_graph_example.png new file mode 100644 index 0000000000000000000000000000000000000000..854102ac164aca5462e6922c19fcddc478c89680 Binary files /dev/null and b/02_Presentation/mindBody/walker_training_graph_example.png differ diff --git a/02_Presentation/mindBody/wann_run.png b/02_Presentation/mindBody/wann_run.png new file mode 100644 index 0000000000000000000000000000000000000000..8f39406338aca57b5e14be3b940cbd5a808689cf Binary files /dev/null and b/02_Presentation/mindBody/wann_run.png differ diff --git a/README.md b/README.md index 723fe56edc6deb016d2cfacc41ef6cfd603843ac..30954dac55f85db76add182aec8ba0289448d462 100644 --- a/README.md +++ b/README.md @@ -44,7 +44,7 @@ I am now using this gitlab project for documentation only, the code lives [here] - [Voxel Design Tool](02_Presentation/top_opt/voxel_designer/voxelDesignTool.md) - [Inverse Homogenization](02_Presentation/top_op/../top_opt/inverse_hom/inverse_homogenization.md) - [Multiscale topology optimization](https://amiraa.pages.cba.mit.edu/presentations/201203_Topology_Optimization/index.html#/) -- [Control Optimization (Weight Agnostic Neural Networks)](https://gitlab.cba.mit.edu/amiraa/physical-computing-design-tools/-/blob/master/02_Presentation/AI_that_grows/AI_grow.md) +- [Mind Body Problem](./02_Presentation/mindBody/mindBody.md) ---