Enhanced GQ-CNN boosts robot grasp accuracy.
problem Improving grasp success rates for unknown objects.
method Proposed a new GQ-CNN architecture with practical improvements.
result Validation accuracy increased from 92.2% to 95.8% and from 85.9% to 88.0%.
Robotic grasping improved using evolutionary computing and deep reinforcement learning.
problem Developing a robot capable of grasping objects as skillfully as humans.
method Position estimation using Genetic Algorithm and regression, orientation learning using deep reinforcement learning.
result Deep reinforcement learning model outperforms traditional methods for orientation learning.
Data mining enhances a heuristic for the Minimum Latency Problem.
problem Finding optimal solutions for the Minimum Latency Problem efficiently.
method Combining GRASP with data mining to find frequent patterns in high-quality solutions.
result Improved solution quality and reduced computational time compared to existing methods.
QT-Opt learns dynamic grasping strategies for robots.
problem Learning dynamic grasping for robots in real-world settings.
method Scalable self-supervised vision-based reinforcement learning.
result 96% grasp success on unseen objects with real-world learning.
Robot learns to grasp and adjust using vision and touch.
problem Robotic grasping relies solely on visual input, missing tactile feedback.
method End-to-end action-conditional model that learns from visuo-tactile data.
result Model predicts grasp adjustment outcomes and selects efficient actions.
Touch sensing improves grasp prediction accuracy.
problem Predicting grasp outcomes from indirect measurements like vision is challenging.
method Investigated touch sensing's value in multimodal grasping using visuo-tactile deep neural networks.
result Tactile readings significantly improve grasp prediction accuracy.
End-to-end learning for robot grasping using image data.
problem Robotic grasping using only monocular images.
method Two-stream architecture: ventral stream for object detection and classification, dorsal stream for grasp planning.
result End-to-end trained model outperforms non-end-to-end systems.
TOG-Net optimizes grasping for tool manipulation in simulated self-supervised learning.
problem Optimizing grasping for tool manipulation in robots.
method Simulated self-supervised learning with Task-Oriented Grasping Network (TOG-Net).
result Achieved 71.1% task success rate for sweeping and 80.0% for hammering.
Paper presents a semi-supervised grasp detection method using VQ-VAE.
problem Robotic grasp detection difficulty due to insufficient labelled data.
method Semi-supervised learning with VQ-VAE in a latent space.
result Model performs better than existing approaches using unlabelled images.
Graph neural network predicts grasp stability from tactile sensor data.
problem Predicting grasp stability from tactile sensor data.
method Graph Convolutional Network (GCN) trained on tactile sensor data.
result Graph neural network effectively predicts grasp stability.
Improved RL for grasping in cluttered scenes using state representation learning.
problem Poor performance of RL methods in grasping diverse objects from raw images.
method Employed state representation learning (SRL) with disentanglement of raw input images.
result Deep RL can learn grasping skills from varied visual inputs.
Robotic manipulation learns synergies between pushing and grasping from scratch.
problem Discovering complex synergies between pushing and grasping for efficient robotic manipulation.
method Self-supervised deep reinforcement learning with two convolutional networks.
result System learns pushing and grasping motions that improve picking success rates and efficiency.
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 …
Study evaluates deep RL methods for robotic grasping, focusing on off-policy learning.
problem Identify the best deep RL methods for vision-based robotic grasping.
method Proposed a simulated benchmark for grasping tasks, evaluating Q-function estimation, Monte Carlo return, and off-policy correction methods.
result Several simple methods outperform popular algorithms like double Q-learning.
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 RL learns grasping from 2.5D images.
problem Grasping objects from 2.5D images.
method Deep Reinforcement Learning (DRL) in a simulated environment.
result Successfully learned grasping from 2.5D images.
TossingBot learns to throw objects accurately with residual physics.
problem Learning to throw arbitrary objects accurately and quickly.
method End-to-end formulation that learns control parameters from visual observations.
result TossingBot achieves 600+ grasps per hour with 85% throwing accuracy.
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…
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.
Enhances robotic grasping efficiency with learning-adaptive imagination.
problem Improving sample efficiency and performance in robotic grasping tasks.
method Learning-adaptive imagination approach using ensemble of local dynamics models in latent space.
result Significantly improves sample efficiency and achieves near-optimal performance.
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.
Q2-Opt improves robot grasping success and efficiency.
problem Improving robot grasping success and efficiency in vision-based tasks.
method Quantile QT-Opt, a distributional variant of Q-learning for continuous domains.
result Q2-Opt achieves superior grasping success and is more sample efficient.
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.
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 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.
Survey on concept factorization methods for better feature learning.
problem Understanding the quality of learned features in representation learning.
method Categorizing and summarizing recent advances in concept factorization methods.
result Provides insights into theoretical basis and current developments in concept factorization.
Study bounds VAR model's circuit complexity, showing it's limited to TC^0 circuits.
problem Understanding the limitations of the Visual AutoRegressive model.
method Established circuit complexity bounds for the VAR model.
result VAR model is equivalent to a TC^0 threshold circuit with hidden dimension ≤ O(n).
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.
New RGraSP framework for efficient non-convex optimization.
problem Large-scale non-convex sparsity-constrained optimization problems.
method Relaxed gradient support pursuit with semi-stochastic gradient hard thresholding.
result Our algorithms converge faster with lower per-iteration cost.
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…
Framework for assessing explainable AI systems.
problem Lack of consensus on explainability properties.
method Survey of literature, development of taxonomy and descriptors.
result Operationalization of the framework in Explainability Fact Sheets.
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…
Agents learn user preferences with less explicit feedback via spatial interface valuing.
problem Learning user preferences with high cognitive load feedback.
method Spatial Interface Valuing for reduced explicit feedback.
result Agents learn faster with spatial interface valuing compared to explicit feedback.
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.
A framework disentangles controllable objects from visual signals for improved RL.
problem Improving sample efficiency and game performance in vision-based RL.
method Action-conditioned video prediction to disentangle controllable objects.
result Improved sample efficiency and game performance in Atari games.
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.
We improve conditional VAEs by incentivizing informative latent variables.
problem Structured-prediction tasks with one-to-many mappings.
method Modify latent variable model and introduce a multimodal prior.
result Significantly higher generalisation capability demonstrated on various datasets.
Estimates price impacts and finds asymmetric market structures.
problem Understanding asymmetric price impacts in financial markets.
method Quantifies price impacts using spectral statistics and Shannon entropy.
result Asymmetric and non-random price impacts across the market.
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.
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.
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.
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.
NL-LinkNet improves road extraction from satellite images with fewer parameters and faster training.
problem Efficiently extracting roads from high-resolution satellite images.
method Integrates non-local blocks into LinkNet for better feature context.
result NL-LinkNet outperformed state-of-the-art models in the DeepGlobe Challenge.