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Andreas Boltres

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

3 papers
2 author rows

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3

NeurIPS Conference 2025 Conference Paper

AMBER: Adaptive Mesh Generation by Iterative Mesh Resolution Prediction

  • Niklas Freymuth
  • Tobias Würth
  • Nicolas Schreiber
  • Balázs Gyenes
  • Andreas Boltres
  • Johannes Mitsch
  • Aleksandar Taranovic
  • Tai Hoang

The cost and accuracy of simulating complex physical systems using the Finite Element Method (FEM) scales with the resolution of the underlying mesh. Adaptive meshes improve computational efficiency by refining resolution in critical regions, but typically require task-specific heuristics or cumbersome manual design by a human expert. We propose Adaptive Meshing By Expert Reconstruction (AMBER), a supervised learning approach to mesh adaptation. Starting from a coarse mesh, AMBER iteratively predicts the sizing field, i. e. , a function mapping from the geometry to the local element size of the target mesh, and uses this prediction to produce a new intermediate mesh using an out-of-the-box mesh generator. This process is enabled through a hierarchical graph neural network, and relies on data augmentation by automatically projecting expert labels onto AMBER-generated data during training. We evaluate AMBER on 2D and 3D datasets, including classical physics problems, mechanical components, and real-world industrial designs with human expert meshes. AMBER generalizes to unseen geometries and consistently outperforms multiple recent baselines, including ones using Graph and Convolutional Neural Networks, and Reinforcement Learning-based approaches.

TMLR Journal 2024 Journal Article

Learning Sub-Second Routing Optimization in Computer Networks requires Packet-Level Dynamics

  • Andreas Boltres
  • Niklas Freymuth
  • Patrick Jahnke
  • Holger Karl
  • Gerhard Neumann

Finding efficient routes for data packets is an essential task in computer networking. The optimal routes depend greatly on the current network topology, state and traffic demand, and they can change within milliseconds. Reinforcement Learning can help to learn network representations that provide routing decisions for possibly novel situations. So far, this has commonly been done using fluid network models. We investigate their suitability for millisecond-scale adaptations with a range of traffic mixes and find that packet-level network models are necessary to capture true dynamics, in particular in the presence of TCP traffic. To this end, we present PackeRL, the first packet-level Reinforcement Learning environment for routing in generic network topologies. Our experiments confirm that learning-based strategies that have been trained in fluid environments do not generalize well to this more realistic, but more challenging setup. Hence, we also introduce two new algorithms for learning sub-second Routing Optimization. We present M-Slim, a dynamic shortest-path algorithm that excels at high traffic volumes but is computationally hard to scale to large network topologies, and FieldLines, a novel next-hop policy design that re-optimizes routing for any network topology within milliseconds without requiring any re-training. Both algorithms outperform current learning-based approaches as well as commonly used static baseline protocols, particularly in high-traffic volume scenarios. All findings are backed by extensive experiments in realistic network conditions in our fast and versatile training and evaluation framework.

ICRA Conference 2018 Conference Paper

Affordance-Based Multi-Contact Whole-Body Pose Sequence Planning for Humanoid Robots in Unknown Environments

  • Peter Kaiser 0001
  • Christian Mandery
  • Andreas Boltres
  • Tamim Asfour

Despite impressive advances of humanoid robotics, the autonomous planning of whole-body loco-manipulation actions in unknown environments is still an open problem. In our previous work, we addressed two fundamental aspects related to this problem: 1) the autonomous detection of end-effector contact opportunities in unknown environments and 2) the goal-directed planning of multi-contact pose sequences, which can serve as the starting point for motion planning and control approaches of reduced complexity. Both problems suffer from the extensive amounts of possible solutions, particularly due to the complexity of humanoid robots and the multitude of available contact opportunities. In this paper, we propose a method for the planning of whole-body multi-contact tasks based on our previous work on vision-based detection of loco-manipulation affordances and whole-body multi-contact pose sequence planning. We demonstrate a combined approach for planning multi-contact pose sequences with a focus on the utilization of available end-effectors for stabilizing contacts with the environment during loco-manipulation tasks. The method is evaluated in simulation in multiple exemplary scenarios based on actual sensor data and the humanoid robot ARMAR-4.