662 research outputs found
A Versatile Parameterization for Measured Material Manifolds
International audienceA popular approach for computing photorealistic images of virtual objects requires applying reflectance profiles measured from real surfaces, introducing several challenges: the memory needed to faithfully capture realistic material reflectance is large, the choice of materials is limited to the set of measurements, and image synthesis using the measured data is costly. Typically, this data is either compressed by projecting it onto a subset of its linear principal components or by applying non-linear methods. The former requires many components to faithfully represent the input reflectance, whereas the latter necessitates costly extrapolation algorithms. We learn an underlying, low-dimensional non-linear reflectance manifold amenable to rapid exploration and rendering of real-world materials. We can express interpolated materials as linear combinations of the measured data, despite them lying on an inherently non-linear manifold. This allows us to efficiently interpolate and extrapolate measured BRDFs, and to render directly from the manifold representation. We exploit properties of Gaussian process latent variable models and use our representation for high-performance and offline rendering with interpolated real-world materials
A Similarity Measure for Material Appearance
We present a model to measure the similarity in appearance between different
materials, which correlates with human similarity judgments. We first create a
database of 9,000 rendered images depicting objects with varying materials,
shape and illumination. We then gather data on perceived similarity from
crowdsourced experiments; our analysis of over 114,840 answers suggests that
indeed a shared perception of appearance similarity exists. We feed this data
to a deep learning architecture with a novel loss function, which learns a
feature space for materials that correlates with such perceived appearance
similarity. Our evaluation shows that our model outperforms existing metrics.
Last, we demonstrate several applications enabled by our metric, including
appearance-based search for material suggestions, database visualization,
clustering and summarization, and gamut mapping.Comment: 12 pages, 17 figure
Quantum entanglement and spin control in silicon nanocrystal
Selective coherence control and electrically mediated exchange coupling of
single electron spin between triplet and singlet states using numerically
derived optimal control of proton pulses is demonstrated. We obtained spatial
confinement below size of the Bohr radius for proton spin chain FWHM. Precise
manipulation of individual spins and polarization of electron spin states are
analyzed via proton induced emission and controlled population of energy shells
in pure 29Si nanocrystal. Entangled quantum states of channeled proton
trajectories are mapped in transverse and angular phase space of 29Si axial
channel alignment in order to avoid transversal excitations. Proton density and
proton energy as impact parameter functions are characterized in single
particle density matrix via discretization of diagonal and nearest off-diagonal
elements. We combined high field and low densities (1 MeV/92 nm) to create
inseparable quantum state by superimposing the hyperpolarizationed proton spin
chain with electron spin of 29Si. Quantum discretization of density of states
(DOS) was performed by the Monte Carlo simulation method using numerical
solutions of proton equations of motion. Distribution of gaussian coherent
states is obtained by continuous modulation of individual spin phase and
amplitude. Obtained results allow precise engineering and faithful mapping of
spin states. This would provide the effective quantum key distribution (QKD)
and transmission of quantum information over remote distances between quantum
memory centers for scalable quantum communication network. Furthermore,
obtained results give insights in application of channeled protons subatomic
microscopy as a complete versatile scanning-probe system capable of both
quantum engineering of charged particle states and characterization of quantum
states below diffraction limit linear and in-depth resolution.Comment: 30 pages, 6 figure
Programming by Demonstration on Riemannian Manifolds
This thesis presents a Riemannian approach to Programming by Demonstration (PbD).
It generalizes an existing PbD method from Euclidean manifolds to Riemannian manifolds.
In this abstract, we review the objectives, methods and contributions of the presented
approach.
OBJECTIVES
PbD aims at providing a user-friendly method for skill transfer between human and
robot. It enables a user to teach a robot new tasks using few demonstrations. In order
to surpass simple record-and-replay, methods for PbD need to \u2018understand\u2019 what to
imitate; they need to extract the functional goals of a task from the demonstration data.
This is typically achieved through the application of statisticalmethods.
The variety of data encountered in robotics is large. Typical manipulation tasks involve
position, orientation, stiffness, force and torque data. These data are not solely
Euclidean. Instead, they originate from a variety of manifolds, curved spaces that are
only locally Euclidean. Elementary operations, such as summation, are not defined on
manifolds. Consequently, standard statistical methods are not well suited to analyze
demonstration data that originate fromnon-Euclidean manifolds. In order to effectively
extract what-to-imitate, methods for PbD should take into account the underlying geometry
of the demonstration manifold; they should be geometry-aware.
Successful task execution does not solely depend on the control of individual task
variables. By controlling variables individually, a task might fail when one is perturbed
and the others do not respond. Task execution also relies on couplings among task variables.
These couplings describe functional relations which are often called synergies. In
order to understand what-to-imitate, PbDmethods should be able to extract and encode
synergies; they should be synergetic.
In unstructured environments, it is unlikely that tasks are found in the same scenario
twice. The circumstances under which a task is executed\u2014the task context\u2014are more
likely to differ each time it is executed. Task context does not only vary during task execution,
it also varies while learning and recognizing tasks. To be effective, a robot should
be able to learn, recognize and synthesize skills in a variety of familiar and unfamiliar
contexts; this can be achieved when its skill representation is context-adaptive.
THE RIEMANNIAN APPROACH
In this thesis, we present a skill representation that is geometry-aware, synergetic and
context-adaptive. The presented method is probabilistic; it assumes that demonstrations
are samples from an unknown probability distribution. This distribution is approximated
using a Riemannian GaussianMixtureModel (GMM).
Instead of using the \u2018standard\u2019 Euclidean Gaussian, we rely on the Riemannian Gaussian\u2014
a distribution akin the Gaussian, but defined on a Riemannian manifold. A Riev
mannian manifold is a manifold\u2014a curved space which is locally Euclidean\u2014that provides
a notion of distance. This notion is essential for statistical methods as such methods
rely on a distance measure. Examples of Riemannian manifolds in robotics are: the
Euclidean spacewhich is used for spatial data, forces or torques; the spherical manifolds,
which can be used for orientation data defined as unit quaternions; and Symmetric Positive
Definite (SPD) manifolds, which can be used to represent stiffness and manipulability.
The Riemannian Gaussian is intrinsically geometry-aware. Its definition is based on
the geometry of the manifold, and therefore takes into account the manifold curvature.
In robotics, the manifold structure is often known beforehand. In the case of PbD, it follows
from the structure of the demonstration data. Like the Gaussian distribution, the
Riemannian Gaussian is defined by a mean and covariance. The covariance describes
the variance and correlation among the state variables. These can be interpreted as local
functional couplings among state variables: synergies. This makes the Riemannian
Gaussian synergetic. Furthermore, information encoded in multiple Riemannian Gaussians
can be fused using the Riemannian product of Gaussians. This feature allows us to
construct a probabilistic context-adaptive task representation.
CONTRIBUTIONS
In particular, this thesis presents a generalization of existing methods of PbD, namely
GMM-GMR and TP-GMM. This generalization involves the definition ofMaximum Likelihood
Estimate (MLE), Gaussian conditioning and Gaussian product for the Riemannian
Gaussian, and the definition of ExpectationMaximization (EM) and GaussianMixture
Regression (GMR) for the Riemannian GMM. In this generalization, we contributed
by proposing to use parallel transport for Gaussian conditioning. Furthermore, we presented
a unified approach to solve the aforementioned operations using aGauss-Newton
algorithm. We demonstrated how synergies, encoded in a Riemannian Gaussian, can be
transformed into synergetic control policies using standard methods for LinearQuadratic
Regulator (LQR). This is achieved by formulating the LQR problem in a (Euclidean) tangent
space of the Riemannian manifold. Finally, we demonstrated how the contextadaptive
Task-Parameterized Gaussian Mixture Model (TP-GMM) can be used for context
inference\u2014the ability to extract context from demonstration data of known tasks.
Our approach is the first attempt of context inference in the light of TP-GMM. Although
effective, we showed that it requires further improvements in terms of speed and reliability.
The efficacy of the Riemannian approach is demonstrated in a variety of scenarios.
In shared control, the Riemannian Gaussian is used to represent control intentions of a
human operator and an assistive system. Doing so, the properties of the Gaussian can
be employed to mix their control intentions. This yields shared-control systems that
continuously re-evaluate and assign control authority based on input confidence. The
context-adaptive TP-GMMis demonstrated in a Pick & Place task with changing pick and
place locations, a box-taping task with changing box sizes, and a trajectory tracking task
typically found in industr
04251 -- Imaging Beyond the Pinhole Camera
From 13.06.04 to 18.06.04, the
Dagstuhl Seminar 04251 ``Imaging Beyond the Pin-hole Camera. 12th Seminar on Theoretical Foundations of Computer Vision\u27\u27 was held
in the International Conference and Research Center (IBFI),
Schloss Dagstuhl.
During the seminar, several participants presented their current
research, and ongoing work and open problems were discussed. Abstracts of
the presentations given during the seminar as well as abstracts of
seminar results and ideas are put together in this paper. The first section
describes the seminar topics and goals in general.
Links to extended abstracts or full papers are provided, if available
Recommended from our members
On the Interplay between Mechanical and Computational Intelligence in Robot Hands
Researchers have made tremendous advances in robotic grasping in the past decades. On the hardware side, a lot of robot hand designs were proposed, covering a large spectrum of dexterity (from simple parallel grippers to anthropomorphic hands), actuation (from underactuated to fully actuated), and sensing capabilities (from only open/close states to tactile sensing). On the software side, grasping techniques also evolved significantly, from open-loop control, classical feedback control, to learning-based policies. However, most of the studies and applications follow the one-way paradigm that mechanical engineers/researchers design the hardware first and control/learning experts write the code to use the hand. In contrast, we aim to study the interplay between the mechanical and computational aspects in robotic grasping. We believe both sides are important but cannot solve grasping problems on their own, and both sides are highly connected by the laws of physics and should not be developed separately. We use the term "Mechanical Intelligence" to refer to the ability realized by mechanisms to appropriately respond to the external inputs, and we show that incorporating Mechanical Intelligence with Computational Intelligence is beneficial for grasping.
The first part of this thesis is to derive hand underactuation mechanisms from grasp data. The mechanical coordination in robot hands, which is one type of Mechanical Intelligence, corresponds to the concept of dimensionality reduction in Machine Learning. However, the resulted low-dimensional manifolds need to be realizable using underactuated mechanisms. In this project, we first collect simulated grasp data without accounting for underactuation, apply a dimensionality reduction technique (we term it "Mechanically Realizable Manifolds") considering both pre-contact postural synergies and post-contact joint torque coordination, and finally build robot hands based on the resulted low-dimensional models. We also demonstrate a real-world application on a free-flying robot for the International Space Station.
The second part is about proprioceptive grasping for unknown objects by taking advantage of hand compliance. Mechanical compliance is intrinsically connected to force/torque sensing and control. In this work, we proposed a series-elastic hand providing embodied compliance and proprioception, and an associated grasping policy using a network of proportional-integral controllers. We show that, without any prior model of the object and with only proprioceptive sensing, a robot hand can make stable grasps in a reactive fashion.
The last part is about developing the Mechanical and Computational Intelligence jointly --- to co-optimize the mechanisms and control policies using deep Reinforcement Learning (RL). Traditional RL treats robot hardware as immutable and models it as part of the environment. In contrast, we move the robot hardware out of the environment, express its mechanics as auto-differentiable physics and connect it with the computational policy to create a unified policy (we term this method "Hardware as Policy"), which allows RL algorithms to back-propagate gradients w.r.t both hardware and computational parameters and optimize them in the same fashion. We present a mass-spring toy problem to illustrate this idea, and also a real-world design case of an underactuated hand.
The three projects we present in this thesis are meaningful examples to demonstrate the interplay between the mechanical and computational aspects of robotic grasping. In the Conclusion part, we summarize some high-level philosophies and suggestions to integrate Mechanical and Computational Intelligence, as well as the high-level challenges that still exist when pushing this area forward
FROST-BRDF: A Fast and Robust Optimal Sampling Technique for BRDF Acquisition
Efficient and accurate BRDF acquisition of real world materials is a
challenging research problem that requires sampling millions of incident light
and viewing directions. To accelerate the acquisition process, one needs to
find a minimal set of sampling directions such that the recovery of the full
BRDF is accurate and robust given such samples. In this paper, we formulate
BRDF acquisition as a compressed sensing problem, where the sensing operator is
one that performs sub-sampling of the BRDF signal according to a set of optimal
sample directions. To solve this problem, we propose the Fast and Robust
Optimal Sampling Technique (FROST) for designing a provably optimal
sub-sampling operator that places light-view samples such that the recovery
error is minimized. FROST casts the problem of designing an optimal
sub-sampling operator for compressed sensing into a sparse representation
formulation under the Multiple Measurement Vector (MMV) signal model. The
proposed reformulation is exact, i.e. without any approximations, hence it
converts an intractable combinatorial problem into one that can be solved with
standard optimization techniques. As a result, FROST is accompanied by strong
theoretical guarantees from the field of compressed sensing. We perform a
thorough analysis of FROST-BRDF using a 10-fold cross-validation with publicly
available BRDF datasets and show significant advantages compared to the
state-of-the-art with respect to reconstruction quality. Finally, FROST is
simple, both conceptually and in terms of implementation, it produces
consistent results at each run, and it is at least two orders of magnitude
faster than the prior art.Comment: Submitted to IEEE Transactions on Visualization and Computer Graphics
(IEEE TVCG
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