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The stability of toroidal magnetic fields within the interior of stars remains a significant unresolved issue in contemporary astrophysics. In this study, we combine a nonlocal linear analysis with 3D direct numerical simulations to examine the instability of toroidal fields within nonrotating, stably stratified stellar interiors in spherical geometry. Both analyses start from an equilibrium solution derived from balancing the Lorentz force with an anisotropic component of the fluid pressure, which is unstable to the (nonaxisymmetric) Tayler instability, and account for the combined effects of gravity and thermal diffusion. The numerical simulations incorporate finite magnetic resistivity and fluid viscosity while reaching a regime of highly stable stratification that has never been explored before. The linear analysis, which is global in the radial direction, shows that gravity significantly reduces the growth rate of the instability and uncovers the importance of unstable modes with low radial wavenumbers operating at low latitudes. The simulations trace the entire evolution of the instability from the linear to the nonlinear phase and strongly corroborate the findings of the linear analysis. Our results reveal that in highly stratified stellar interiors, the newly configured magnetic fields remain unstable only on the thermal diffusion timescale. Combining the linear analysis results with stellar evolution models of low-mass stars, we find that the limiting toroidal field strength for Tayler instability in red giant cores decreases with the stellar evolution. The predicted field strengths align with the ones expected from recent asteroseismic observations, suggesting that the observed fields may be remnants of a Tayler instability during the transition from the main sequence to the giant phase., Comment: 13 pages, 13 figures, to be submitted to A&A

The Jacobi set of a bivariate scalar field is the set of points where the gradients of the two constituent scalar fields align with each other. It captures the regions of topological changes in the bivariate field. The Jacobi set is a bivariate analog of critical points, and may correspond to features of interest. In the specific case of time-varying fields and when one of the scalar fields is time, the Jacobi set corresponds to temporal tracks of critical points, and serves as a feature-tracking graph. The Jacobi set of a bivariate field or a time-varying scalar field is complex, resulting in cluttered visualizations that are difficult to analyze. This paper addresses the problem of Jacobi set simplification. Specifically, we use the time-varying scalar field scenario to introduce a method that computes a reduced Jacobi set. The method is based on a stability measure called robustness that was originally developed for vector fields and helps capture the structural stability of critical points. We also present a mathematical analysis for the method, and describe an implementation for 2D time-varying scalar fields. Applications to both synthetic and real-world datasets demonstrate the effectiveness of the method for tracking features.

Legged robots have become capable of performing highly dynamic maneuvers in the past few years. However, agile locomotion in highly constrained environments such as stepping stones is still a challenge. In this paper, we propose a combination of model-based control, search, and learning to design efficient control policies for agile locomotion on stepping stones. In our framework, we use nonlinear model predictive control (NMPC) to generate whole-body motions for a given contact plan. To efficiently search for an optimal contact plan, we propose to use Monte Carlo tree search (MCTS). While the combination of MCTS and NMPC can quickly find a feasible plan for a given environment (a few seconds), it is not yet suitable to be used as a reactive policy. Hence, we generate a dataset for optimal goal-conditioned policy for a given scene and learn it through supervised learning. In particular, we leverage the power of diffusion models in handling multi-modality in the dataset. We test our proposed framework on a scenario where our quadruped robot Solo12 successfully jumps to different goals in a highly constrained environment.

The transport of angular momentum (AM) and chemical elements within evolving stars remains poorly understood. Recent observations showed that the radiative cores of low mass main sequence stars and red giants rotate orders of magnitude slower than classical stellar evolution models predictions and that their surface light elements abundances are too small. Magnetohydrodynamic (MHD) turbulence can enhance the transport in radiative stellar interiors but its efficiency is still largely uncertain. Here we explore the transport of AM and chemical elements due to azimuthal magnetorotational instability (AMRI) using 3D MHD direct numerical simulations in a spherical shell. First, we provide evidence of AMRI in the parameter regime expected from local and global linear stability studies and then we analyze its nonlinear evolution. For unstratified flow, we observe AMRI-driven dynamo action at values of the magnetic Prandtl number Pm in the range $0.6-1$, the smallest ever reported in a global setup. When considering stable stratification (under the Boussinesq approximation) at $\text{Pm}=1$, the turbulence is instead transitional and becomes less homogeneous and isotropic upon increasing buoyancy effects. We find that the transport of AM occurs radially outwards and is dominated by the Maxwell stresses when stratification is large enough. The associated turbulent viscosity decreases when buoyancy effects strengthen and scales with the square root of the ratio of the rotation rate to the Brunt-V\"ais\"al\"a frequency, predicting that, for example, red giant cores may reach a state of uniform rotation in a few thousand years. A passive scalar allows us to study the transport of chemical elements. The chemical turbulent diffusion coefficient scales with stratification similarly to the turbulent viscosity but is lower in amplitude as suggested by recent stellar evolution models of low mass stars., Comment: 24 pages, 26 figures, submitted to A&A

In robotics, designing robust algorithms in the face of estimation uncertainty is a challenging task. Indeed, controllers often do not consider the estimation uncertainty and only rely on the most likely estimated state. Consequently, sudden changes in the environment or the robot's dynamics can lead to catastrophic behaviors. In this work, we present a risk-sensitive Extended Kalman Filter that allows doing output-feedback Model Predictive Control (MPC) safely. This filter adapts its estimation to the control objective. By taking a pessimistic estimate concerning the value function resulting from the MPC controller, the filter provides increased robustness to the controller in phases of uncertainty as compared to a standard Extended Kalman Filter (EKF). Moreover, the filter has the same complexity as an EKF, so that it can be used for real-time model-predictive control. The paper evaluates the risk-sensitive behavior of the proposed filter when used in a nonlinear model-predictive control loop on a planar drone and industrial manipulator in simulation, as well as on an external force estimation task on a real quadruped robot. These experiments demonstrate the abilities of the approach to improve performance in the face of uncertainties significantly.

In this paper, we explore point-cloud based deep learning models to analyze numerical simulations arising from finite element analysis. The objective is to classify automatically the results of the simulations without tedious human intervention. Two models are here presented: the Point-Net classification model and the Dynamic Graph Convolutional Neural Net model. Both trained point-cloud deep learning models performed well on experiments with finite element analysis arising from automotive industry. The proposed models show promise in automatizing the analysis process of finite element simulations. An accuracy of 79.17% and 94.5% is obtained for the Point-Net and the Dynamic Graph Convolutional Neural Net model respectively.

Current simulation of metal forging processes use advanced finite element methods. Such methods consist of solving mathematical equations, which takes a significant amount of time for the simulation to complete. Computational time can be prohibitive for parametric response surface exploration tasks. In this paper, we propose as an alternative, a Graph Neural Network-based graph prediction model to act as a surrogate model for parameters search space exploration and which exhibits a time cost reduced by an order of magnitude. Numerical experiments show that this new model outperforms the Point-Net model and the Dynamic Graph Convolutional Neural Net model.

Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art approaches fail to produce reliable estimation of the robot posture, in particular base height. In this paper, we propose a novel approach for combining visual-inertial odometry (VIO) with leg odometry in an extended Kalman filter (EKF) based state estimator. The VIO module uses a stereo camera and IMU to yield low-drift 3D position and yaw orientation and drift-free pitch and roll orientation of the robot base link in the inertial frame. However, these values have a considerable amount of latency due to image processing and optimization, while the rate of update is quite low which is not suitable for low-level control. To reduce the latency, we predict the VIO state estimate at the rate of the IMU measurements of the VIO sensor. The EKF module uses the base pose and linear velocity predicted by VIO, fuses them further with a second high-rate IMU and leg odometry measurements, and produces robot state estimates with a high frequency and small latency suitable for control. We integrate this lightweight estimation framework with a nonlinear model predictive controller and show successful implementation of a set of agile locomotion behaviors, including trotting and jumping at varying horizontal speeds, on a torque-controlled quadruped robot., Comment: Submitted to IEEE International Conference on Robotics and Automation (ICRA), 2023

In legged logomotion, online trajectory optimization techniques generally depend on heuristic-based contact planners in order to have low computation times and achieve high replanning frequencies. In this work, we propose ContactNet, a fast acyclic contact planner based on a multi-output regression neural network. ContactNet ranks discretized stepping regions, allowing to quickly choose the best feasible solution, even in complex environments. The low computation time, in the order of 1 ms, makes possible the execution of the contact planner concurrently with a trajectory optimizer in a Model Predictive Control (MPC) fashion. We demonstrate the effectiveness of the approach in simulation in different complex scenarios with the quadruped robot Solo12.

Model predictive control is a powerful tool to generate complex motions for robots. However, it often requires solving non-convex problems online to produce rich behaviors, which is computationally expensive and not always practical in real time. Additionally, direct integration of high dimensional sensor data (e.g. RGB-D images) in the feedback loop is challenging with current state-space methods. This paper aims to address both issues. It introduces a model predictive control scheme, where a neural network constantly updates the cost function of a quadratic program based on sensory inputs, aiming to minimize a general non-convex task loss without solving a non-convex problem online. By updating the cost, the robot is able to adapt to changes in the environment directly from sensor measurement without requiring a new cost design. Furthermore, since the quadratic program can be solved efficiently with hard constraints, a safe deployment on the robot is ensured. Experiments with a wide variety of reaching tasks on an industrial robot manipulator demonstrate that our method can efficiently solve complex non-convex problems with high-dimensional visual sensory inputs, while still being robust to external disturbances., Comment: 6 Pages, 5 Figures

This paper presents an efficient approach to object manipulation planning using Monte Carlo Tree Search (MCTS) to find contact sequences and an efficient ADMM-based trajectory optimization algorithm to evaluate the dynamic feasibility of candidate contact sequences. To accelerate MCTS, we propose a methodology to learn a goal-conditioned policy-value network to direct the search towards promising nodes. Further, manipulation-specific heuristics enable to drastically reduce the search space. Systematic object manipulation experiments in a physics simulator and on real hardware demonstrate the efficiency of our approach. In particular, our approach scales favorably for long manipulation sequences thanks to the learned policy-value network, significantly improving planning success rate.

Online planning of whole-body motions for legged robots is challenging due to the inherent nonlinearity in the robot dynamics. In this work, we propose a nonlinear MPC framework, the BiConMP which can generate whole body trajectories online by efficiently exploiting the structure of the robot dynamics. BiConMP is used to generate various cyclic gaits on a real quadruped robot and its performance is evaluated on different terrain, countering unforeseen pushes and transitioning online between different gaits. Further, the ability of BiConMP to generate non-trivial acyclic whole-body dynamic motions on the robot is presented. The same approach is also used to generate various dynamic motions in MPC on a humanoid robot (Talos) and another quadruped robot (AnYmal) in simulation. Finally, an extensive empirical analysis on the effects of planning horizon and frequency on the nonlinear MPC framework is reported and discussed.

Optimal control is a successful approach to generate motions for complex robots, in particular for legged locomotion. However, these techniques are often too slow to run in real time for model predictive control or one needs to drastically simplify the dynamics model. In this work, we present a method to learn to predict the gradient and hessian of the problem value function, enabling fast resolution of the predictive control problem with a one-step quadratic program. In addition, our method is able to satisfy constraints like friction cones and unilateral constraints, which are important for high dynamics locomotion tasks. We demonstrate the capability of our method in simulation and on a real quadruped robot performing trotting and bounding motions.

This paper describes the detailed analysis for the design of a linear generator developed for a Surface Riding Wave Energy Converter (SR-WEC), which was designed to improve energy capture over a wider range of sea states. The study starts with an analysis of the power take-off (PTO) control strategy to harness the maximum output power from given sea states. Passive, reactive, and discrete PTO control are explored. For the random wave excitation and limited sliding distance of the generator, the discrete strategy provides the highest average power output. The paper discusses the sizing requirement for the linear generator. Based on the force and power rating of the system and the application requirements, a slotless permanent magnet tubular generator is designed for the wave energy converter., Comment: To be published in Energy Conversion Congress and Expo 2021

In this paper we explore the use of block coordinate descent (BCD) to optimize the centroidal momentum dynamics for dynamically consistent multi-contact behaviors. The centroidal dynamics have recently received a large amount of attention in order to create physically realizable motions for robots with hands and feet while being computationally more tractable than full rigid body dynamics models. Our contribution lies in exploiting the structure of the dynamics in order to simplify the original non-convex problem into two convex subproblems. We iterate between these two subproblems for a set number of iterations or until a consensus is reached. We explore the properties of the proposed optimization method for the centroidal dynamics and verify in simulation that motions generated by our approach can be tracked by the quadruped Solo12. In addition, we compare our method to a recently proposed convexification using a sequence of convex relaxations as well as a more standard interior point method used in the off- the-shelf solver IPOPT to show that our approach finds similar, if not better, trajectories (in terms of cost), and is more than four times faster than both approaches. Finally, compared to previous approaches, we note its practicality due to the convex nature of each subproblem which allows our method to be used with any off-the-shelf quadratic programming solver.

Conversational interfaces to Business Intelligence (BI) applications enable data analysis using a natural language dialog in small incremental steps. To truly unleash the power of conversational BI to democratize access to data, a system needs to provide effective and continuous support for data analysis. In this paper, we propose BI-REC, a conversational recommendation system for BI applications to help users accomplish their data analysis tasks. We define the space of data analysis in terms of BI patterns, augmented with rich semantic information extracted from the OLAP cube definition, and use graph embeddings learned using GraphSAGE to create a compact representation of the analysis state. We propose a two-step approach to explore the search space for useful BI pattern recommendations. In the first step, we train a multi-class classifier using prior query logs to predict the next high-level actions in terms of a BI operation (e.g., {\em Drill-Down} or {\em Roll-up}) and a measure that the user is interested in. In the second step, the high-level actions are further refined into actual BI pattern recommendations using collaborative filtering. This two-step approach allows us to not only divide and conquer the huge search space, but also requires less training data. Our experimental evaluation shows that BI-REC achieves an accuracy of 83% for BI pattern recommendations and up to 2X speedup in latency of prediction compared to a state-of-the-art baseline. Our user study further shows that BI-REC provides recommendations with a precision@3 of 91.90% across several different analysis tasks., Comment: 16 pages, 16 figures, 4 tables

Reactive stepping and push recovery for biped robots is often restricted to flat terrains because of the difficulty in computing capture regions for nonlinear dynamic models. In this paper, we address this limitation by using reinforcement learning to approximately learn the 3D capture region for such systems. We propose a novel 3D reactive stepper, The DeepQ stepper, that computes optimal step locations for walking at different velocities using the 3D capture regions approximated by the action-value function. We demonstrate the ability of the approach to learn stepping with a simplified 3D pendulum model and a full robot dynamics. Further, the stepper achieves a higher performance when it learns approximate capture regions while taking into account the entire dynamics of the robot that are often ignored in existing reactive steppers based on simplified models. The DeepQ stepper can handle non convex terrain with obstacles, walk on restricted surfaces like stepping stones and recover from external disturbances for a constant computational cost.

This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be decomposed into simpler kinematic and centroidal dynamic optimization problems. Based on this approach, we propose a general convex relaxation of the centroidal dynamics leading to two computationally efficient algorithms based on iterative resolutions of second order cone programs. They optimize centroidal trajectories, contact forces and, importantly, the timing of the motions. We include the approach in a kino-dynamic optimization method to generate full-body movements. Finally, the approach is embedded in a mixed-integer solver to further find dynamically consistent contact sequences. Extensive numerical experiments demonstrate the computational efficiency of the approach, suggesting that it could be used in a fast receding horizon control loop. Executions of the planned motions on simulated humanoids and quadrupeds and on a real quadruped robot further show the quality of the optimized motions.

Entity Matching (EM) is a core data cleaning task, aiming to identify different mentions of the same real-world entity. Active learning is one way to address the challenge of scarce labeled data in practice, by dynamically collecting the necessary examples to be labeled by an Oracle and refining the learned model (classifier) upon them. In this paper, we build a unified active learning benchmark framework for EM that allows users to easily combine different learning algorithms with applicable example selection algorithms. The goal of the framework is to enable concrete guidelines for practitioners as to what active learning combinations will work well for EM. Towards this, we perform comprehensive experiments on publicly available EM datasets from product and publication domains to evaluate active learning methods, using a variety of metrics including EM quality, #labels and example selection latencies. Our most surprising result finds that active learning with fewer labels can learn a classifier of comparable quality as supervised learning. In fact, for several of the datasets, we show that there is an active learning combination that beats the state-of-the-art supervised learning result. Our framework also includes novel optimizations that improve the quality of the learned model by roughly 9% in terms of F1-score and reduce example selection latencies by up to 10x without affecting the quality of the model., Comment: accepted for publication in ACM-SIGMOD 2020, 15 pages

We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and force control. We also present a novel foot contact sensor suitable for legged locomotion with hard impacts. A 2.2 kg quadruped robot with a large range of motion is assembled from eight identical actuator modules and four lower legs with foot contact sensors. Leveraging standard plastic 3D printing and off-the-shelf parts results in a lightweight and inexpensive robot, allowing for rapid distribution and duplication within the research community. We systematically characterize the achieved impedance at the foot in both static and dynamic scenarios, and measure a maximum dimensionless leg stiffness of 10.8 without active damping, which is comparable to the leg stiffness of a running human. Finally, to demonstrate the capabilities of the quadruped, we present a novel controller which combines feedforward contact forces computed from a kino-dynamic optimizer with impedance control of the center of mass and base orientation. The controller can regulate complex motions while being robust to environmental uncertainty.