991 research outputs found
Sim-to-Real Transfer of Robotic Control with Dynamics Randomization
Simulations are attractive environments for training agents as they provide
an abundant source of data and alleviate certain safety concerns during the
training process. But the behaviours developed by agents in simulation are
often specific to the characteristics of the simulator. Due to modeling error,
strategies that are successful in simulation may not transfer to their real
world counterparts. In this paper, we demonstrate a simple method to bridge
this "reality gap". By randomizing the dynamics of the simulator during
training, we are able to develop policies that are capable of adapting to very
different dynamics, including ones that differ significantly from the dynamics
on which the policies were trained. This adaptivity enables the policies to
generalize to the dynamics of the real world without any training on the
physical system. Our approach is demonstrated on an object pushing task using a
robotic arm. Despite being trained exclusively in simulation, our policies are
able to maintain a similar level of performance when deployed on a real robot,
reliably moving an object to a desired location from random initial
configurations. We explore the impact of various design decisions and show that
the resulting policies are robust to significant calibration error
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Haptic Perception with a Robot Hand: Requirements and Realization
This paper first discusses briefly some of the recent ideas of perceptual psychology on the human haptic system particularly those of J.J. Gibson and Klatzky and Lederman. Following this introduction, we present some of the requirements of robotic haptic sensing and the results of experiments using a Utah/MIT dexterous robot hand to derive geometric object information using active sensing
Action execution, action perception and 'mirror' neurones
Imperial Users onl
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Integration of vision and force sensors for grasping
This paper describes a set of methods that can be used to integrate real-time external vision sensing with internal force and position sensing to estimate contact forces by the fingers of a hand. Estimating these forces and contacts is essential to performing dextrous manipulation tasks. Most robotic hands are either sensorless or lack the ability to accurately and robustly report position and force information relating to contact. By adding external vision sensing, we can complement any internal sensors to more accurately estimate forces and contact positions. Experiments are described that use real-time visual trackers in conjunction with internal strain gauges and a new tactile sensor to accurately estimate finger contacts and applied forces for a three fingered robotic hand
Fast, invariant representation for human action in the visual system
Humans can effortlessly recognize others' actions in the presence of complex
transformations, such as changes in viewpoint. Several studies have located the
regions in the brain involved in invariant action recognition, however, the
underlying neural computations remain poorly understood. We use
magnetoencephalography (MEG) decoding and a dataset of well-controlled,
naturalistic videos of five actions (run, walk, jump, eat, drink) performed by
different actors at different viewpoints to study the computational steps used
to recognize actions across complex transformations. In particular, we ask when
the brain discounts changes in 3D viewpoint relative to when it initially
discriminates between actions. We measure the latency difference between
invariant and non-invariant action decoding when subjects view full videos as
well as form-depleted and motion-depleted stimuli. Our results show no
difference in decoding latency or temporal profile between invariant and
non-invariant action recognition in full videos. However, when either form or
motion information is removed from the stimulus set, we observe a decrease and
delay in invariant action decoding. Our results suggest that the brain
recognizes actions and builds invariance to complex transformations at the same
time, and that both form and motion information are crucial for fast, invariant
action recognition
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