31,657 research outputs found
DeformNet: Free-Form Deformation Network for 3D Shape Reconstruction from a Single Image
3D reconstruction from a single image is a key problem in multiple
applications ranging from robotic manipulation to augmented reality. Prior
methods have tackled this problem through generative models which predict 3D
reconstructions as voxels or point clouds. However, these methods can be
computationally expensive and miss fine details. We introduce a new
differentiable layer for 3D data deformation and use it in DeformNet to learn a
model for 3D reconstruction-through-deformation. DeformNet takes an image
input, searches the nearest shape template from a database, and deforms the
template to match the query image. We evaluate our approach on the ShapeNet
dataset and show that - (a) the Free-Form Deformation layer is a powerful new
building block for Deep Learning models that manipulate 3D data (b) DeformNet
uses this FFD layer combined with shape retrieval for smooth and
detail-preserving 3D reconstruction of qualitatively plausible point clouds
with respect to a single query image (c) compared to other state-of-the-art 3D
reconstruction methods, DeformNet quantitatively matches or outperforms their
benchmarks by significant margins. For more information, visit:
https://deformnet-site.github.io/DeformNet-website/ .Comment: 11 pages, 9 figures, NIP
Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning
Skilled robotic manipulation benefits from complex synergies between
non-prehensile (e.g. pushing) and prehensile (e.g. grasping) actions: pushing
can help rearrange cluttered objects to make space for arms and fingers;
likewise, grasping can help displace objects to make pushing movements more
precise and collision-free. In this work, we demonstrate that it is possible to
discover and learn these synergies from scratch through model-free deep
reinforcement learning. Our method involves training two fully convolutional
networks that map from visual observations to actions: one infers the utility
of pushes for a dense pixel-wise sampling of end effector orientations and
locations, while the other does the same for grasping. Both networks are
trained jointly in a Q-learning framework and are entirely self-supervised by
trial and error, where rewards are provided from successful grasps. In this
way, our policy learns pushing motions that enable future grasps, while
learning grasps that can leverage past pushes. During picking experiments in
both simulation and real-world scenarios, we find that our system quickly
learns complex behaviors amid challenging cases of clutter, and achieves better
grasping success rates and picking efficiencies than baseline alternatives
after only a few hours of training. We further demonstrate that our method is
capable of generalizing to novel objects. Qualitative results (videos), code,
pre-trained models, and simulation environments are available at
http://vpg.cs.princeton.eduComment: To appear at the International Conference On Intelligent Robots and
Systems (IROS) 2018. Project webpage: http://vpg.cs.princeton.edu Summary
video: https://youtu.be/-OkyX7Zlhi
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