Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching

This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories without needing any task-specific training data for novel objects. To achieve this, it first uses a category-agnostic affordance prediction algorithm to select and execute among four different grasping primitive behaviors. It then recognizes picked objects with a cross-domain image classification framework that matches observed images to product images. Since product images are readily available for a wide range of objects (e.g., from the web), the system works out-of-the-box for novel objects without requiring any additional training data. Exhaustive experimental results demonstrate that our multi-affordance grasping achieves high success rates for a wide variety of objects in clutter, and our recognition algorithm achieves high accuracy for both known and novel grasped objects. The approach was part of the MIT-Princeton Team system that took 1st place in the stowing task at the 2017 Amazon Robotics Challenge. All code, datasets, and pre-trained models are available online at http://arc.cs.princeton.eduComment: Project webpage: http://arc.cs.princeton.edu Summary video: https://youtu.be/6fG7zwGfIk

QueRIE: Collaborative Database Exploration

Interactive database exploration is a key task in information mining. However, users who lack SQL expertise or familiarity with the database schema face great difficulties in performing this task. To aid these users, we developed the QueRIE system for personalized query recommendations. QueRIE continuously monitors the user’s querying behavior and finds matching patterns in the system’s query log, in an attempt to identify previous users with similar information needs. Subsequently, QueRIE uses these “similar” users and their queries to recommend queries that the current user may find interesting. In this work we describe an instantiation of the QueRIE framework, where the active user’s session is represented by a set of query fragments. The recorded fragments are used to identify similar query fragments in the previously recorded sessions, which are in turn assembled in potentially interesting queries for the active user. We show through experimentation that the proposed method generates meaningful recommendations on real-life traces from the SkyServer database and propose a scalable design that enables the incremental update of similarities, making real-time computations on large amounts of data feasible. Finally, we compare this fragment-based instantiation with our previously proposed tuple-based instantiation discussing the advantages and disadvantages of each approach

Benchmarking performance management systems

The Balanced Scorecard and associated performance management approaches, has become a widely practiced and popular management reporting method in recent times. Moreover, enabling technology, which assists in the delivery and personalisation of corporate performance information, is having a deeper and more rapid impact than ever before. This paper presents a brief comparative benchmarking study of leading enterprise performance management systems. Also, the author discusses the merits of bespoke internet technology development and out-of-the-box portal functionalities. An analysis of key business drivers and implementation risks of such approaches is highlighted via a case study example, and concludes the paper

Multi-view Convolutional Neural Networks for 3D Shape Recognition

A longstanding question in computer vision concerns the representation of 3D shapes for recognition: should 3D shapes be represented with descriptors operating on their native 3D formats, such as voxel grid or polygon mesh, or can they be effectively represented with view-based descriptors? We address this question in the context of learning to recognize 3D shapes from a collection of their rendered views on 2D images. We first present a standard CNN architecture trained to recognize the shapes' rendered views independently of each other, and show that a 3D shape can be recognized even from a single view at an accuracy far higher than using state-of-the-art 3D shape descriptors. Recognition rates further increase when multiple views of the shapes are provided. In addition, we present a novel CNN architecture that combines information from multiple views of a 3D shape into a single and compact shape descriptor offering even better recognition performance. The same architecture can be applied to accurately recognize human hand-drawn sketches of shapes. We conclude that a collection of 2D views can be highly informative for 3D shape recognition and is amenable to emerging CNN architectures and their derivatives.Comment: v1: Initial version. v2: An updated ModelNet40 training/test split is used; results with low-rank Mahalanobis metric learning are added. v3 (ICCV 2015): A second camera setup without the upright orientation assumption is added; some accuracy and mAP numbers are changed slightly because a small issue in mesh rendering related to specularities is fixe