Publications

Automating garment manipulation is challenging due to extremely high variability in object configurations. To reduce this intrinsic variation, we introduce the task of “canonicalized-alignment” that simplifies downstream applications by reducing the possible garment configurations. This task can be considered as “cloth state funnel” that manipulates arbitrarily configured clothing items into a predefined deformable configuration (i.e. canonicalization) at an appropriate rigid pose (i.e. alignment). In the end, the cloth items will result in a compact set of structured and highly visible configurations – which are desirable for downstream manipulation skills. To enable this task, we propose a novel canonicalized-alignment objective that effectively guides learning to avoid adverse local minima during learning. Using this objective, we learn a multi-arm, multi-primitive policy that strategically chooses between dynamic flings and quasi-static pick and place actions to achieve efficient canonicalized alignment. We evaluate this approach on a real-world ironing and folding system that relies on this learned policy as the common first step. Empirically, we demonstrate that our task-agnostic canonicalized-alignment can enable even simple manually-designed policies to work well where they were previously inadequate, thus bridging the gap between automated non-deformable manufacturing and deformable manipulation. READ MORE

Control Lyapunov functions (CLFs) and control barrier functions (CBFs) are widely used tools for synthesizing controllers subject to stability and safety constraints. Paired with online optimization, they provide stabilizing control actions that satisfy input constraints and avoid unsafe regions of state-space. Designing CLFs and CBFs with rigorous performance guarantees is computationally challenging. To certify existence of control actions, current techniques not only design a CLF/CBF, but also a nominal controller. This can make the synthesis task more expensive, and performance estimation more conservative. In this work, we characterize polynomial CLFs/CBFs using sum-of-squares conditions, which can be directly certified using convex optimization. This yields a CLF and CBF synthesis technique that does not rely on a nominal controller. We then present algorithms for iteratively enlarging estimates of the stabilizable and safe regions. We demonstrate our algorithms on a 2D toy system, a pendulum and a quadrotor. READ MORE

Strategies for improving the performance of nonprecious metal catalysts for the oxygen reduction reaction (ORR) can facilitate the cost-effective deployment of fuel cell devices. Electrocatalyst performance is typically improved via two approaches: increasing the number of active sites and increasing the intrinsic activity of the active site. Herein, we utilize these two methods of improving performance for MnSb2O6, which we have recently shown to be a promising ORR catalyst due to improvements in per-metal-site activity in the antimonate framework. First, electrode engineering is used to investigate the role of mass and conductive support loading in the observed ORR performance and selectivity. The apparent 2-electron selectivity is found to decrease with increases in mass and/or conductive support loading, indicating that rotating ring disk electrode studies do not necessarily measure the intrinsic selectivity of the catalyst. Second, theoretical calculations are used to identify Cr, Fe, and Ni as promising first-row transition metals for improving the intrinsic activity of MnSb2O6. Experimentally, the addition of Cr results in 3-fold and 2-fold increases in the mass and specific activities at 0.7 V vs the reversible hydrogen electrode, respectively. This enhancement is attributed to the modulation of the active site structure and Mn oxidation state with the addition of Cr. Through these studies, we gain insight into the intrinsic and extrinsic factors that govern ORR performance. READ MORE

X-ray powder diffraction (XRD) is a powerful structure characterization technique, but solving unknown inorganic crystal structures from powder diffraction patterns can often be labor-intensive or speculative. We introduce an Automated XRD to Structure (AXS) solution method based on the crystal symmetry obtained from XRD patterns, an efficient search of candidate structures spanning the available degrees of freedom, and density functional theory (DFT). This methodology is completely agnostic to structural prototypes and robust in solving inorganic structures of various chemistries, crystal systems, and unit cell sizes; 92% of all crystal structures were accurately determined from the simulated XRD patterns in our benchmark set. In addition, we demonstrate the efficacy of this methodology on experimental XRD patterns by solving the crystal structures of Li8Hf6O8, Li3CrO4, and LiFeO2. READ MORE

Density functional theory (DFT) has been widely applied in modern materials discovery and many materials databases, including the open quantum materials database (OQMD), contain large collections of calculated DFT properties of experimentally known crystal structures and hypothetical predicted compounds. Since the beginning of the OQMD in late 2010, over one million compounds have now been calculated and stored in the database, which is constantly used by worldwide researchers in advancing materials studies. The growth of the OQMD depends on project-based high-throughput DFT calculations, including structure-based projects, property-based projects, and most recently, machine-learning-based projects. Another major goal of the OQMD is to ensure the openness of its materials data to the public and the OQMD developers are constantly working with other materials databases to reach a universal querying protocol in support of the FAIR data principles. READ MORE

In this perspective, we highlight results of a research consortium devoted to advancing understanding of oxygen reduction reaction (ORR) catalysis as a means to inform fuel cell science. We demonstrate how targeted collaborations between different institutions from academic, national lab, and industry backgrounds and different scientific disciplines like theory, experiment, and characterization can yield unique insights into fuel cell catalysts. We comment on such insights into material designs for platinum-group-metal alloys, transition metal oxides, and non-traditional materials including metal-organic frameworks; systems that have served as the foundational building blocks for our consortium. We also motivate a renewed focus on catalyst durability in light of emerging technological requirements and paths forward in understanding in situ and operando electrochemical stability. Finally, we describe new frontiers ORR research can take and how emerging artificial intelligence tools can assist researchers in capturing data, selecting new experiments, and guiding characterization to accelerate the design and discovery of fuel cell catalysts. A main goal of sharing this perspective is to discuss the rationale for our future research plans based on our consortium work. However, we also hope to illustrate both the potential impact of a collaborative strategy with the hopes of inspiring a higher degree of Industry-Academia-National Laboratory collaboration and encourage other centers and consortiums to distill and share their findings in a similar perspective-type article. Together we hope to enable the fuel cell research community to engage in a discussion of strategies for research and accelerated development of catalysts with improved activity and stability. READ MORE

Despite the benefits of autonomous vehicles, their many challenges have made their wide scale deployment and adoption slower than hoped for. In order to help spread the potential benefits of autonomy sooner, as well as to cater to people who will continue to prefer to drive themselves while improving safety, there is a need for intelligent interaction and collaboration between increasingly automated vehicles and humans. At Toyota Research Institute, we call this Human-Centric Intelligent Driving (HCID). HCID has many technical challenges, some of which are shared with fully autonomous driving. Due to the collaborative nature between humans and machines in HCID, some of these challenges are particularly important and potentially different from fully autonomous driving. This chapter focuses on Toyota Research Institute’s (TRI) approach to addressing some of these core challenges. READ MORE

We present a convex formulation of compliant frictional contact and a robust, performant method to solve it in practice. By analytically eliminating contact constraints, we obtain an unconstrained convex problem. Our solver has proven global convergence and warm-starts effectively, enabling simulation at interactive rates. We develop compact analytical expressions of contact forces allowing us to describe our model in clear physical terms and to rigorously characterize our approximations. Moreover, this enables us not only to model point contact, but also to incorporate sophisticated models of compliant contact patches. Our time stepping scheme includes the midpoint rule, which we demonstrate achieves second order accuracy even with frictional contact. We introduce a number of accuracy metrics and show our method outperforms existing commercial and open source alternatives without sacrificing accuracy. Finally, we demonstrate robust simulation of robotic manipulation tasks at interactive rates, with accurately resolved stiction and contact transitions, as required for meaningful sim-to-real transfer. Our method is implemented in the open source robotics toolkit Drake. READ MORE

We report a dataset of 96640 crystal structures discovered and computed using our previously published autonomous, density functional theory (DFT) based, active-learning workflow named CAMD (Computational Autonomy for Materials Discovery). Of these, 894 are within 1 meV/atom of the convex hull and 26826 are within 200 meV/atom of the convex hull. The dataset contains DFT-optimized pymatgen crystal structure objects, DFT-computed formation energies and phase stability calculations from the convex hull. It contains a variety of spacegroups and symmetries derived from crystal prototypes derived from known experimental compounds, and was generated from active learning campaigns of various chemical systems. This dataset can be used to benchmark future active-learning or generative efforts for structure prediction, to seed new efforts of experimental crystal structure discovery, or to construct new models of structure-property relationships. READ MORE

This paper proposes a self-supervised objective for learning representations that localize objects under occlusion - a property known as object permanence. A central question is the choice of learning signal in cases of total occlusion. Rather than directly supervising the locations of invisible objects, we propose a self-supervised objective that requires neither human annotation, nor assumptions about object dynamics. We show that object permanence can emerge by optimizing for temporal coherence of memory: we fit a Markov walk along a space-time graph of memories, where the states in each time step are non-Markovian features from a sequence encoder. This leads to a memory representation that stores occluded objects and predicts their motion, to better localize them. The resulting model outperforms existing approaches on several datasets of increasing complexity and realism, despite requiring minimal supervision, and hence being broadly applicable. READ MORE