A Fog Robotics Approach to Deep Robot Learning: Application to Object Recognition and Grasp Planning in Surface Decluttering

The growing demand of industrial, automotive and service robots presents a challenge to the centralized Cloud Robotics model in terms of privacy, security, latency, bandwidth, and reliability. In this paper, we present a `Fog Robotics' approach to deep robot learning that distributes compute, storage and networking resources between the Cloud and the Edge in a federated manner. Deep models are trained on non-private (public) synthetic images in the Cloud; the models are adapted to the private real images of the environment at the Edge within a trusted network and subsequently, deployed as a service for low-latency and secure inference/prediction for other robots in the network. We apply this approach to surface decluttering, where a mobile robot picks and sorts objects from a cluttered floor by learning a deep object recognition and a grasp planning model. Experiments suggest that Fog Robotics can improve performance by sim-to-real domain adaptation in comparison to exclusively using Cloud or Edge resources, while reducing the inference cycle time by 4\times to successfully declutter 86% of objects over 213 attempts.Comment: IEEE International Conference on Robotics and Automation, ICRA, 201

Learning Accurate Extended-Horizon Predictions of High Dimensional Trajectories

We present a novel predictive model architecture based on the principles of predictive coding that enables open loop prediction of future observations over extended horizons. There are two key innovations. First, whereas current methods typically learn to make long-horizon open-loop predictions using a multi-step cost function, we instead run the model open loop in the forward pass during training. Second, current predictive coding models initialize the representation layer's hidden state to a constant value at the start of an episode, and consequently typically require multiple steps of interaction with the environment before the model begins to produce accurate predictions. Instead, we learn a mapping from the first observation in an episode to the hidden state, allowing the trained model to immediately produce accurate predictions. We compare the performance of our architecture to a standard predictive coding model and demonstrate the ability of the model to make accurate long horizon open-loop predictions of simulated Doppler radar altimeter readings during a six degree of freedom Mars landing. Finally, we demonstrate a 2X reduction in sample complexity by using the model to implement a Dyna style algorithm to accelerate policy learning with proximal policy optimization

A Multi-Scale and Multi-Depth Convolutional Neural Network for Remote Sensing Imagery Pan-Sharpening

Pan-sharpening is a fundamental and significant task in the field of remote sensing imagery processing, in which high-resolution spatial details from panchromatic images are employed to enhance the spatial resolution of multi-spectral (MS) images. As the transformation from low spatial resolution MS image to high-resolution MS image is complex and highly non-linear, inspired by the powerful representation for non-linear relationships of deep neural networks, we introduce multi-scale feature extraction and residual learning into the basic convolutional neural network (CNN) architecture and propose the multi-scale and multi-depth convolutional neural network (MSDCNN) for the pan-sharpening of remote sensing imagery. Both the quantitative assessment results and the visual assessment confirm that the proposed network yields high-resolution MS images that are superior to the images produced by the compared state-of-the-art methods

Jacquard: A Large Scale Dataset for Robotic Grasp Detection

Grasping skill is a major ability that a wide number of real-life applications require for robotisation. State-of-the-art robotic grasping methods perform prediction of object grasp locations based on deep neural networks. However, such networks require huge amount of labeled data for training making this approach often impracticable in robotics. In this paper, we propose a method to generate a large scale synthetic dataset with ground truth, which we refer to as the Jacquard grasping dataset. Jacquard is built on a subset of ShapeNet, a large CAD models dataset, and contains both RGB-D images and annotations of successful grasping positions based on grasp attempts performed in a simulated environment. We carried out experiments using an off-the-shelf CNN, with three different evaluation metrics, including real grasping robot trials. The results show that Jacquard enables much better generalization skills than a human labeled dataset thanks to its diversity of objects and grasping positions. For the purpose of reproducible research in robotics, we are releasing along with the Jacquard dataset a web interface for researchers to evaluate the successfulness of their grasping position detections using our dataset

A Zero-Shot Learning application in Deep Drawing process using Hyper-Process Model

One of the consequences of passing from mass production to mass customization paradigm in the nowadays industrialized world is the need to increase flexibility and responsiveness of manufacturing companies. The high-mix / low-volume production forces constant accommodations of unknown product variants, which ultimately leads to high periods of machine calibration. The difficulty related with machine calibration is that experience is required together with a set of experiments to meet the final product quality. Unfortunately, all possible combinations of machine parameters is so high that is difficult to build empirical knowledge. Due to this fact, normally trial and error approaches are taken making one-of-a-kind products not viable. Therefore, a Zero-Shot Learning (ZSL) based approach called hyper-process model (HPM) to learn the relation among multiple tasks is used as a way to shorten the calibration phase. Assuming each product variant is a task to solve, first, a shape analysis on data to learn common modes of deformation between tasks is made, and secondly, a mapping between these modes and task descriptions is performed. Ultimately, the present work has two main contributions: 1) Formulation of an industrial problem into a ZSL setting where new process models can be generated for process optimization and 2) the definition of a regression problem in the domain of ZSL. For that purpose, a 2-d deep drawing simulated process was used based on data collected from the Abaqus simulator, where a significant number of process models were collected to test the effectiveness of the approach. The obtained results show that is possible to learn new tasks without any available data (both labeled and unlabeled) by leveraging information about already existing tasks, allowing to speed up the calibration phase and make a quicker integration of new products into manufacturing systems.Comment: 25 pages, 8 figures, 2 tables and submitted to ACM Transactions on Intelligent Systems and Technology. arXiv admin note: text overlap with arXiv:1810.1033

Learning Physics-Based Manipulation in Clutter: Combining Image-Based Generalization and Look-Ahead Planning

Physics-based manipulation in clutter involves complex interaction between multiple objects. In this paper, we consider the problem of learning, from interaction in a physics simulator, manipulation skills to solve this multi-step sequential decision making problem in the real world. Our approach has two key properties: (i) the ability to generalize and transfer manipulation skills (over the type, shape, and number of objects in the scene) using an abstract image-based representation that enables a neural network to learn useful features; and (ii) the ability to perform look-ahead planning in the image space using a physics simulator, which is essential for such multi-step problems. We show, in sets of simulated and real-world experiments (video available on https://youtu.be/EmkUQfyvwkY), that by learning to evaluate actions in an abstract image-based representation of the real world, the robot can generalize and adapt to the object shapes in challenging real-world environments

Informed Machine Learning -- A Taxonomy and Survey of Integrating Knowledge into Learning Systems

Despite its great success, machine learning can have its limits when dealing with insufficient training data. A potential solution is the additional integration of prior knowledge into the training process which leads to the notion of informed machine learning. In this paper, we present a structured overview of various approaches in this field. We provide a definition and propose a concept for informed machine learning which illustrates its building blocks and distinguishes it from conventional machine learning. We introduce a taxonomy that serves as a classification framework for informed machine learning approaches. It considers the source of knowledge, its representation, and its integration into the machine learning pipeline. Based on this taxonomy, we survey related research and describe how different knowledge representations such as algebraic equations, logic rules, or simulation results can be used in learning systems. This evaluation of numerous papers on the basis of our taxonomy uncovers key methods in the field of informed machine learning.Comment: Accepted at IEEE Transactions on Knowledge and Data Engineering: https://ieeexplore.ieee.org/document/942998

Robust X-ray Sparse-view Phase Tomography via Hierarchical Synthesis Convolutional Neural Networks

Convolutional Neural Networks (CNN) based image reconstruction methods have been intensely used for X-ray computed tomography (CT) reconstruction applications. Despite great success, good performance of this data-based approach critically relies on a representative big training data set and a dense convoluted deep network. The indiscriminating convolution connections over all dense layers could be prone to over-fitting, where sampling biases are wrongly integrated as features for the reconstruction. In this paper, we report a robust hierarchical synthesis reconstruction approach, where training data is pre-processed to separate the information on the domains where sampling biases are suspected. These split bands are then trained separately and combined successively through a hierarchical synthesis network. We apply the hierarchical synthesis reconstruction for two important and classical tomography reconstruction scenarios: the spares-view reconstruction and the phase reconstruction. Our simulated and experimental results show that comparable or improved performances are achieved with a dramatic reduction of network complexity and computational cost. This method can be generalized to a wide range of applications including material characterization, in-vivo monitoring and dynamic 4D imaging.Comment: 9 pages, 6 figures, 2 table

System-Level Predictive Maintenance: Review of Research Literature and Gap Analysis

This paper reviews current literature in the field of predictive maintenance from the system point of view. We differentiate the existing capabilities of condition estimation and failure risk forecasting as currently applied to simple components, from the capabilities needed to solve the same tasks for complex assets. System-level analysis faces more complex latent degradation states, it has to comprehensively account for active maintenance programs at each component level and consider coupling between different maintenance actions, while reflecting increased monetary and safety costs for system failures. As a result, methods that are effective for forecasting risk and informing maintenance decisions regarding individual components do not readily scale to provide reliable sub-system or system level insights. A novel holistic modeling approach is needed to incorporate available structural and physical knowledge and naturally handle the complexities of actively fielded and maintained assets.Comment: 24 pages, 3 figure

Learning-based Feedback Controller for Deformable Object Manipulation

In this paper, we present a general learning-based framework to automatically visual-servo control the position and shape of a deformable object with unknown deformation parameters. The servo-control is accomplished by learning a feedback controller that determines the robotic end-effector's movement according to the deformable object's current status. This status encodes the object's deformation behavior by using a set of observed visual features, which are either manually designed or automatically extracted from the robot's sensor stream. A feedback control policy is then optimized to push the object toward a desired featured status efficiently. The feedback policy can be learned either online or offline. Our online policy learning is based on the Gaussian Process Regression (GPR), which can achieve fast and accurate manipulation and is robust to small perturbations. An offline imitation learning framework is also proposed to achieve a control policy that is robust to large perturbations in the human-robot interaction. We validate the performance of our controller on a set of deformable object manipulation tasks and demonstrate that our method can achieve effective and accurate servo-control for general deformable objects with a wide variety of goal settings.Comment: arXiv admin note: text overlap with arXiv:1709.07218, arXiv:1710.06947, arXiv:1802.0966