2,406 research outputs found
Combining Self-Supervised Learning and Imitation for Vision-Based Rope Manipulation
Manipulation of deformable objects, such as ropes and cloth, is an important
but challenging problem in robotics. We present a learning-based system where a
robot takes as input a sequence of images of a human manipulating a rope from
an initial to goal configuration, and outputs a sequence of actions that can
reproduce the human demonstration, using only monocular images as input. To
perform this task, the robot learns a pixel-level inverse dynamics model of
rope manipulation directly from images in a self-supervised manner, using about
60K interactions with the rope collected autonomously by the robot. The human
demonstration provides a high-level plan of what to do and the low-level
inverse model is used to execute the plan. We show that by combining the high
and low-level plans, the robot can successfully manipulate a rope into a
variety of target shapes using only a sequence of human-provided images for
direction.Comment: 8 pages, accepted to International Conference on Robotics and
Automation (ICRA) 201
To Learn or Not to Learn Features for Deformable Registration?
Feature-based registration has been popular with a variety of features
ranging from voxel intensity to Self-Similarity Context (SSC). In this paper,
we examine the question on how features learnt using various Deep Learning (DL)
frameworks can be used for deformable registration and whether this feature
learning is necessary or not. We investigate the use of features learned by
different DL methods in the current state-of-the-art discrete registration
framework and analyze its performance on 2 publicly available datasets. We draw
insights into the type of DL framework useful for feature learning and the
impact, if any, of the complexity of different DL models and brain parcellation
methods on the performance of discrete registration. Our results indicate that
the registration performance with DL features and SSC are comparable and stable
across datasets whereas this does not hold for low level features.Comment: 9 pages, 4 figure
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