From 557e005c06e769d6f17b86b19bb87d4901c37e6f Mon Sep 17 00:00:00 2001 From: Amira Abdel-Rahman <amira-rahman@aucegypt.edu> Date: Mon, 19 Oct 2020 12:55:17 -0400 Subject: [PATCH] meso-dice+macro-dice --- 02_Presentation/macro_dice/macro_dice.md | 36 ++++++++++++++++++------ 1 file changed, 28 insertions(+), 8 deletions(-) diff --git a/02_Presentation/macro_dice/macro_dice.md b/02_Presentation/macro_dice/macro_dice.md index bfcf6fa..8c4c91d 100644 --- a/02_Presentation/macro_dice/macro_dice.md +++ b/02_Presentation/macro_dice/macro_dice.md @@ -15,7 +15,24 @@ Hardware Implementation: <img src="./Dice_Voxrob_2.png" width="100%" /> -## Control +## Steps +1. Find Goal + - CNN to learn target (instructions) from Image + - [Progress](https://gitlab.cba.mit.edu/amiraa/physical-computing-design-tools/-/blob/master/02_Presentation/CNN/CNN.md) + - Create/get data to train +2. Auto Encoder to find latent representation for it +3. Control Strategy based on the + - Train using the simulator + WANN + - [Progress](../AI_that_grows/AI_grow.md) +4. Fit Arbitrary Graph/data flow on DICE + - [Progress](https://gitlab.cba.mit.edu/amiraa/physical-computing-design-tools/-/blob/master/02_Presentation/prob/prob.md) +5. Assembly and Testing + - [Meso-dice assembly](https://gitlab.cba.mit.edu/zfredin/meso-dice) + - [Robotic assembly](https://gitlab.cba.mit.edu/amiraa/swarm-morphing/-/blob/master/Science_Robotics_Paper/LOI.md) + + + +## Simulation Environment - [Check Control Function Graph](https://amiraa.pages.cba.mit.edu/physical-computing-design-tools/01_Code/physical_computing_interface/graph/control/control.html) @@ -26,15 +43,9 @@ Hardware Implementation: -[Simulation Demo](https://amiraa.pages.cba.mit.edu/metavoxels-code/demos/indexRover.html) -## Optimization - -- Two level optimization - - Shape (body) => [Hierarchal Local Online Shape Optimization](https://gitlab.cba.mit.edu/amiraa/metavoxels/-/blob/master/02_Presentation/top_opt/search.md) - - Control (mind) => [AI that grows](../AI_that_grows/AI_grow.md) - - Simultaneous optimization of shape and control -## Structure Simulation Integration +## Integration Using the [MetaVoxel simulation tool](https://gitlab.cba.mit.edu/amiraa/metavoxels): @@ -49,3 +60,12 @@ Using the [MetaVoxel simulation tool](https://gitlab.cba.mit.edu/amiraa/metavoxe <img src="./assembly.gif" width="80%" /> <br/> + +## Optimization + +- Two level optimization + - Shape (body) => [Hierarchal Local Online Shape Optimization](https://gitlab.cba.mit.edu/amiraa/metavoxels/-/blob/master/02_Presentation/top_opt/search.md) + - Control (mind) => [AI that grows](../AI_that_grows/AI_grow.md) + - Simultaneous optimization of shape and control + + -- GitLab