scholarly journals UMPNet: Universal Manipulation Policy Network for Articulated Objects

Author(s):  
Zhenjia Xu ◽  
He Zhanpeng ◽  
Shuran Song
2021 ◽  
Author(s):  
Fabio Strazzeri ◽  
Carme Torras

AbstractForty years ago the notion of configuration space (C-space) revolutionised robot motion planning for rigid and articulated objects. Despite great progress, handling deformable materials has remained elusive because of their infinite-dimensional shape-state space. Finding low-complexity representations has become a pressing research goal. This work tries to make a tiny step in this direction by proposing a state representation for textiles relying on the C-space of some distinctive points. A stratification of the configuration space for n points in the cloth is derived from that of the flag manifold, and topological techniques to determine adjacencies in manipulation-centred state graphs are developed. Their algorithmic implementation permits obtaining cloth state–space representations of different granularities and tailored to particular purposes. An example of their usage to distinguish between cloth states having different manipulation affordances is provided. Suggestions on how the proposed state graphs can serve as a common ground to link the perception, planning and manipulation of textiles are also made.


2021 ◽  
Author(s):  
Pablo Frank-Bolton ◽  
Roxana Leontie ◽  
Evan Drumwright ◽  
Rahul Simha
Keyword(s):  

2021 ◽  
Author(s):  
Antti Gronow ◽  
Maria Brockhaus ◽  
Monica Di Gregorio ◽  
Aasa Karimo ◽  
Tuomas Ylä-Anttila

AbstractPolicy learning can alter the perceptions of both the seriousness and the causes of a policy problem, thus also altering the perceived need to do something about the problem. This then allows for the informed weighing of different policy options. Taking a social network perspective, we argue that the role of social influence as a driver of policy learning has been overlooked in the literature. Network research has shown that normatively laden belief change is likely to occur through complex contagion—a process in which an actor receives social reinforcement from more than one contact in its social network. We test the applicability of this idea to policy learning using node-level network regression models on a unique longitudinal policy network survey dataset concerning the Reducing Deforestation and Forest Degradation (REDD+) initiative in Brazil, Indonesia, and Vietnam. We find that network connections explain policy learning in Indonesia and Vietnam, where the policy subsystems are collaborative, but not in Brazil, where the level of conflict is higher and the subsystem is more established. The results suggest that policy learning is more likely to result from social influence and complex contagion in collaborative than in conflictual settings.


2018 ◽  
Vol 7 (10) ◽  
pp. 198
Author(s):  
Galia Benítez

In the creation of trade policy, business actors have the most influence in setting policy. This article identifies and explains variations in how economic interest groups use policy networks to affect trade policymaking. This article uses formal social network analysis (SNA) to explore the patterns of articulation or a policy network between the government and business at the national level within regional trade agreements. The empirical discussion herein focuses on Brazil and the setting of exceptions list to Mercosur’s common external tariff. It specifically concentrates on the relations between the Brazilian executive branch and ten economic subsectors. The article finds that the patterns of articulation of these policy networks matter and that sectors with stronger ties to key government decision-makers have a structural advantage in influencing trade policy and obtaining and/or maintaining their desired, privileged trade policies, compared with sectors that are connected to government actors with weak decision-making power, but might have numerous and diversified connections. Therefore, sectors that have a strong pluralist–clientelist policy structure with connections to government actors with decision-making power have greater potential for achieving their target policies compared with more corporatist policy networks.


1998 ◽  
Author(s):  
Bir Bhanu ◽  
Grinnell Jones III ◽  
Joon S. Ahn

1995 ◽  
Vol 62 (2) ◽  
pp. 177-193 ◽  
Author(s):  
Kevin Green ◽  
David Eggert ◽  
Louise Stark ◽  
Kevin Bowyer

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