A locally-built, LLM-digested index of recent arXiv papers in quant finance, geometry/topology, and statistical ML — keyword search served straight from SQLite on this machine.
Robotic grasping improved using evolutionary computing and deep reinforcement learning.
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 …
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…
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 …
GRASP tests goodness-of-fit for binary classifiers without parametric assumptions.
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 …
Paper presents a semi-supervised grasp detection method using VQ-VAE.
GRASP simplifies Bayesian regression with grouped predictors using an adaptive NBP prior.
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…
Improved RL for grasping in cluttered scenes using state representation learning.
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…
This paper improves robot grasping by integrating meta-control and latent-space imagination.
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 …
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…
Robotic grasping system learns to target objects from a single image.
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…
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:…
Robotic grasp stability improved with fingertip slippage detection.
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…
GraSP-RL uses graph neural networks to improve job shop scheduling.
ChatGPT predicts stock trends from Twitter sentiment, showing positive effects.
TACTO simulates high-resolution touch sensing for robotics.
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…
Paper presents a method for efficient robot adaptation using fine-tuning.
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…
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 …
PureTS uses simple linear models to improve long-term time series forecasting.
The study of dexterous manipulation has provided important insights in humans sensorimotor control as well as inspiration for manipulation strategies in robotic hands. Previous work focused on experimental environment with restrictions. Here we describe a method using the deformation and color distribution of the finge…
GRASP removes spurious correlations in fine-tuned models, improving task performance and reducing bias.
High throughput genetic sequencing arrays with thousands of measurements per sample and a great amount of related censored clinical data have increased demanding need for better measurement specific model selection. In this paper we establish strong oracle properties of nonconcave penalized methods for nonpolynomial (N…
The intrinsic entropy model accurately estimates stock market volatility.
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…
AlphaZero reveals new chess concepts learnable by top experts.
New characterizations of partial positivity using Hörmander's -estimate.
We review recent progress in modeling credit risk for correlated assets. We start from the Merton model which default events and losses are derived from the asset values at maturity. To estimate the time development of the asset values, the stock prices are used whose correlations have a strong impact on the loss distr…
Assessing the performance of a learned model is a crucial part of machine learning. However, in some domains only positive and unlabeled examples are available, which prohibits the use of most standard evaluation metrics. We propose an approach to estimate any metric based on contingency tables, including ROC and PR cu…
Estimates Bergman kernel for positive line bundles.
The paper proposes methods to estimate positive examples and learn classifiers from mixed data.
Paper proposes a new covariance estimator ensuring positive semi-definite matrices.
The paper characterizes positivity of holomorphic vector bundles via -estimates and extensions.
The positivity assumption, or the experimental treatment assignment (ETA) assumption, is important for identifiability in causal inference. Even if the positivity assumption holds, practical violations of this assumption may jeopardize the finite sample performance of the causal estimator. One of the consequences of pr…
New characterizations of curvature operators for specific forms via L2-estimates.