For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact. In this paper, we investigate how a robot can learn to use tactile information to…
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48 results for “Grasping”
In this paper, we study the problem of learning vision-based dynamic manipulation skills using a scalable reinforcement learning approach. We study this problem in the context of grasping, a longstanding challenge in robotic manipulation. In contrast to static learning behaviors that choose a grasp point and then execu…
We consider the task of semantic robotic grasping, in which a robot picks up an object of a user-specified class using only monocular images. Inspired by the two-stream hypothesis of visual reasoning, we present a semantic grasping framework that learns object detection, classification, and grasp planning in an end-to-…
A successful grasp requires careful balancing of the contact forces. Deducing whether a particular grasp will be successful from indirect measurements, such as vision, is therefore quite challenging, and direct sensing of contacts through touch sensing provides an appealing avenue toward more successful and consistent …
Tool manipulation is vital for facilitating robots to complete challenging task goals. It requires reasoning about the desired effect of the task and thus properly grasping and manipulating the tool to achieve the task. Task-agnostic grasping optimizes for grasp robustness while ignoring crucial task-specific constrain…
For a robot to perform complex manipulation tasks, it is necessary for it to have a good grasping ability. However, vision based robotic grasp detection is hindered by the unavailability of sufficient labelled data. Furthermore, the application of semi-supervised learning techniques to grasp detection is under-explored…
Tactile sensors provide useful contact data during the interaction with an object which can be used to accurately learn to determine the stability of a grasp. Most of the works in the literature represented tactile readings as plain feature vectors or matrix-like tactile images, using them to train machine learning mod…
Grasping is a complex process involving knowledge of the object, the surroundings, and of oneself. While humans are able to integrate and process all of the sensory information required for performing this task, equipping machines with this capability is an extremely challenging endeavor. In this paper, we investigate …
Intelligent Object manipulation for grasping is a challenging problem for robots. Unlike robots, humans almost immediately know how to manipulate objects for grasping due to learning over the years. A grown woman can grasp objects more skilfully than a child because of learning skills developed over years, the absence …
For a robotic grasping task in which diverse unseen target objects exist in a cluttered environment, some deep learning-based methods have achieved state-of-the-art results using visual input directly. In contrast, actor-critic deep reinforcement learning (RL) methods typically perform very poorly when grasping diverse…
Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learningcs.RO
Skilled robotic manipulation benefits from complex synergies between non-prehensile (e.g. pushing) and prehensile (e.g. grasping) actions: pushing can help rearrange cluttered objects to make space for arms and fingers; likewise, grasping can help displace objects to make pushing movements more precise and collision-fr…
Recent developments in the field of robot grasping have shown great improvements in the grasp success rates when dealing with unknown objects. In this work we improve on one of the most promising approaches, the Grasp Quality Convolutional Neural Network (GQ-CNN) trained on the DexNet 2.0 dataset. We propose a new arch…
In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of algorithms makes it difficult to discern which particular approach would be best …
Distributed Reinforcement Learning of Targeted Grasping with Active Vision for Mobile Manipulatorscs.RO
Robotic grasping system learns to target objects from a single image.
problem Robotic grasping in unstructured environments.
method Distributed reinforcement learning, active vision, synchronous SGD.
result System learns to grasp unseen objects without retraining.
Deep learning is an established framework for learning hierarchical data representations. While compute power is in abundance, one of the main challenges in applying this framework to robotic grasping has been obtaining the amount of data needed to learn these representations, and structuring the data to the task at ha…
GRASP simplifies Bayesian regression with grouped predictors using an adaptive NBP prior.
problem Regression with grouped predictors and adaptive shrinkage.
method Normal Beta Prime (NBP) prior with tunable hyperparameters for flexible sparsity control.
result Empirical validation of robust and versatile GRASP across various sparsity and signal-to-noise ratios.
We investigate whether a robot arm can learn to pick and throw arbitrary objects into selected boxes quickly and accurately. Throwing has the potential to increase the physical reachability and picking speed of a robot arm. However, precisely throwing arbitrary objects in unstructured settings presents many challenges:…
A model-free approach to fingertip slip and disturbance detection for grasp stability inferencecs.RO
Robotic grasp stability improved with fingertip slippage detection.
problem Improving grasp stability in robotic manipulation.
method Task-relevant feature extraction and efficient classifier design for fingertip slippage detection.
result The proposed method effectively detects object slippage with fingertips in an online fashion.
In this paper, we propose a deep reinforcement learning (DRL) solution to the grasping problem using 2.5D images as the only source of information. In particular, we developed a simulated environment where a robot equipped with a vacuum gripper has the aim of reaching blocks with planar surfaces. These blocks can have …
GRASP tests goodness-of-fit for binary classifiers without parametric assumptions.
problem Assessing the fit of a binary classifier to the underlying conditional law of labels given features.
method Formulates a tolerance hypothesis testing problem and proposes a novel test called GRASP.
result Proposes GRASP and Model-X GRASP tests for assessing goodness-of-fit in finite sample settings.
This paper improves robot grasping by integrating meta-control and latent-space imagination.
problem Dual-system approaches fail to consider the reliability of the learned model when making multiple-step predictions.
method A meta-controller arbitrates between model-based and model-free decisions based on local reliability, encouraging actions that improve the model and generating imagined experiences for additional training.
result Our approach learns near-optimal grasping policies in dense- and sparse-reward environments, outperforming baseline and state-of-the-art methods.
Graph neural networks-based Scheduler for Production planning problems using Reinforcement Learningcs.LG
GraSP-RL uses graph neural networks to improve job shop scheduling.
problem Capturing machine-unit-job sequence relationships and managing state space growth.
method Graph neural networks for feature extraction, reinforcement learning for decision-making, decentralized optimization.
result GraSP-RL outperforms existing methods in minimizing makespan for complex production environments.
TACTO: A Fast, Flexible, and Open-source Simulator for High-Resolution Vision-based Tactile Sensorscs.RO
TACTO simulates high-resolution touch sensing for robotics.
problem Accurate simulation of touch sensing in robotics.
method Fast, flexible, open-source simulator for vision-based tactile sensors.
result Demonstrated TACTO's effectiveness in grasping stability prediction and marble manipulation control.
The distributional perspective on reinforcement learning (RL) has given rise to a series of successful Q-learning algorithms, resulting in state-of-the-art performance in arcade game environments. However, it has not yet been analyzed how these findings from a discrete setting translate to complex practical application…
Large-scale non-convex sparsity-constrained problems have recently gained extensive attention. Most existing deterministic optimization methods (e.g., GraSP) are not suitable for large-scale and high-dimensional problems, and thus stochastic optimization methods with hard thresholding (e.g., SVRGHT) become more attract…
Combining model-based and model-free deep reinforcement learning has shown great promise for improving sample efficiency on complex control tasks while still retaining high performance. Incorporating imagination is a recent effort in this direction inspired by human mental simulation of motor behavior. We propose a lea…
Recently, hybrid metaheuristics have become a trend in operations research. A successful example combines the Greedy Randomized Adaptive Search Procedures (GRASP) and data mining techniques, where frequent patterns found in high-quality solutions can lead to an efficient exploration of the search space, along with a si…
PureTS uses simple linear models to improve long-term time series forecasting.
problem Improving long-term time series forecasting with complex models.
method Developed PureTS with three pure linear layers.
result PureTS achieves state-of-the-art performance in long sequence prediction tasks.
GRASP removes spurious correlations in fine-tuned models, improving task performance and reducing bias.
problem Fine-tuned models can latch onto spurious correlations, leading to bias and reduced generalization.
method GRASP identifies and removes spurious correlations from model weights without removing latent factors.
result GRASP significantly reduces bias and improves task performance in various fine-tuning tasks.
Sparsity-constrained optimization has wide applicability in machine learning, statistics, and signal processing problems such as feature selection and compressive Sensing. A vast body of work has studied the sparsity-constrained optimization from theoretical, algorithmic, and application aspects in the context of spars…
In risk management it is desirable to grasp the essential statistical features of a time series representing a risk factor. This tutorial aims to introduce a number of different stochastic processes that can help in grasping the essential features of risk factors describing different asset classes or behaviors. This pa…
Tactile information is important for gripping, stable grasp, and in-hand manipulation, yet the complexity of tactile data prevents widespread use of such sensors. We make use of an unsupervised learning algorithm that transforms the complex tactile data into a compact, latent representation without the need to record g…
Paper presents a method for efficient robot adaptation using fine-tuning.
problem Continuous adaptation of robot learning systems in real-world scenarios.
method Fine-tuning previously learned policies using off-policy reinforcement learning.
result Fine-tuning leads to substantial performance gains and adaptation to new conditions.
Disentangling Controllable Object through Video Prediction Improves Visual Reinforcement Learningcs.LG
In many vision-based reinforcement learning (RL) problems, the agent controls a movable object in its visual field, e.g., the player's avatar in video games and the robotic arm in visual grasping and manipulation. Leveraging action-conditioned video prediction, we propose an end-to-end learning framework to disentangle…
We address the problem of one-to-many mappings in supervised learning, where a single instance has many different solutions of possibly equal cost. The framework of conditional variational autoencoders describes a class of methods to tackle such structured-prediction tasks by means of latent variables. We propose to in…
The price impact for a single trade is estimated by the immediate response on an event time scale, i.e., the immediate change of midpoint prices before and after a trade. We work out the price impacts across a correlated financial market. We quantify the asymmetries of the distributions and of the market structures of …
Educational game on crypto investment helps students grasp macroeconomics.
problem Weak connections between microeconomic decision-making and macroeconomic concepts in classroom games.
method Design and study of an educational game on cryptocurrency investment.
result Engages students in understanding macroeconomics through incentivized individual investment decisions.
Road extraction from very high resolution satellite (VHR) images is one of the most important topics in the field of remote sensing. In this paper, we propose an efficient Non-Local LinkNet with non-local blocks that can grasp relations between global features. This enables each spatial feature point to refer to all ot…
Recent success in deep reinforcement learning for continuous control has been dominated by model-free approaches which, unlike model-based approaches, do not suffer from representational limitations in making assumptions about the world dynamics and model errors inevitable in complex domains. However, they require a lo…
Recent pruning methods at initialization fall short of random pruning's accuracy.
problem Improving neural network accuracy through pruning at initialization.
method Various pruning methods (SNIP, GraSP, SynFlow, magnitude pruning) are evaluated; per-layer pruning decisions are proposed.
result Randomly shuffling or sampling initial weights preserves or improves accuracy, suggesting challenges with pruning heuristics.
Dual-stage sEMG classification improves gesture recognition accuracy.
problem Improving accuracy in hand gesture recognition from sEMG signals.
method Dual-stage classification approach: first stage groups similar activities, second stage classifies within groups.
result Dual-stage classification yields significantly higher accuracy than single-stage approach.
Improved pruning method using iterative sensitivity ranking before training.
problem Improper sensitivity propagation in existing pruning methods.
method Iterative application of SNIP criterion before training.
result State-of-the-art sparsity-performance trade-offs achieved.
Privacy policies are legal documents that describe how a website will collect, use, and distribute a user's data. Unfortunately, such documents are often overly complicated and filled with legal jargon; making it difficult for users to fully grasp what exactly is being collected and why. Our solution to this problem is…
Overparameterization has been shown to benefit both the optimization and generalization of neural networks, but large networks are resource hungry at both training and test time. Network pruning can reduce test-time resource requirements, but is typically applied to trained networks and therefore cannot avoid the expen…
ChatGPT predicts stock trends from Twitter sentiment, showing positive effects.
problem Predicting stock market trends using social media sentiment.
method Used ChatGPT for sentiment analysis of Twitter posts about Microsoft and Google.
result ChatGPT's predictions correlated positively with stock performance.
Existing automatic music generation approaches that feature deep learning can be broadly classified into two types: raw audio models and symbolic models. Symbolic models, which train and generate at the note level, are currently the more prevalent approach; these models can capture long-range dependencies of melodic st…
Improved financial sentiment analysis using simple instruction tuning of LLMs.
problem Lack of accurate financial sentiment analysis by large language models.
method Instruction tuning of general-purpose LLMs with a small portion of financial sentiment data.
result Significant improvement in financial sentiment analysis, especially in complex scenarios.
Validation of uncertainty quantification metrics: a primer based on the consistency and adaptivity conceptsphysics.chem-ph
This study revisits UQ validation methods based on consistency and adaptivity concepts.
problem Lack of comprehensive validation methods for UQ metrics across input feature ranges.
method Revisit and extend common validation methods for UQ metrics based on consistency and adaptivity concepts.
result Improved understanding and capabilities of UQ metrics validation methods.