3 research outputs found
FogROS2: An Adaptive Platform for Cloud and Fog Robotics Using ROS 2
Mobility, power, and price points often dictate that robots do not have
sufficient computing power on board to run contemporary robot algorithms at
desired rates. Cloud computing providers such as AWS, GCP, and Azure offer
immense computing power on demand, but tapping into that power from a robot is
non-trivial. We present FogROS2, an open-source platform to facilitate cloud
and fog robotics that is compatible with the emerging Robot Operating System 2
(ROS 2) standard. FogROS2 is completely redesigned and distinct from its
predecessor FogROS1 in 9 ways, and has lower latency, overhead, and startup
times; improved usability, and additional automation, such as region and
computer type selection. Additionally, FogROS2 was added to the official
distribution of ROS 2, gaining performance, timing, and additional improvements
associated with ROS 2. In examples, FogROS2 reduces SLAM latency by 50 %,
reduces grasp planning time from 14 s to 1.2 s, and speeds up motion planning
28x. When compared to FogROS1, FogROS2 reduces network utilization by up to
3.8x, improves startup time by 63 %, and network round-trip latency by 97 % for
images using video compression. The source code, examples, and documentation
for FogROS2 are available at https://github.com/BerkeleyAutomation/FogROS2, and
is available through the official ROS 2 repository at
https://index.ros.org/p/fogros2
Approximating Grasp Sampling Distribution using Normalizing Flow
ํ์๋
ผ๋ฌธ(์์ฌ) -- ์์ธ๋ํ๊ต๋ํ์ : ์ตํฉ๊ณผํ๊ธฐ์ ๋ํ์ ์ง๋ฅ์ ๋ณด์ตํฉํ๊ณผ, 2022. 8. ๋ฐ์ฌํฅ.๋ก๋ด์ด ๋ฌผ์ฒด๋ฅผ ์ก์ผ๋ ค๋ฉด ์ด๋๋ฅผ ์ก์์ผ ํ๋์ง ์ธ์งํด์ผ ํ๋ค. ๋ก๋ด์ ํ์ง ๊ณผ
์ ์ ๋ฌผ์ฒด๋ฅผ ์ธ์ํ๊ณ , ๋ชฉํ๋ฌผ์ ๋ํด ํ์ง ํ๋ณด ์์ฑ์ ํ๋ค. ์์ฑ๋ ํ์ง ํ๋ณด๋ค
์ค ์ฃผ์ ํ๊ฒฝ๊ณผ ํ์ง์ ์์ ์ฑ์ ๊ณ ๋ คํ์ฌ ํ์ง๋ฅผ ๊ฒฐ์ ํ๋ค. ์ด๋, ์์ฑ๋ ํ์ง๋
์ ํํ๊ณ , ๋ค์ํ ์๋ก ์ข๋ค. ์๋ํ๋ฉด, ์์ฑ๋ ํ์ง๊ฐ ์ ํํ ์๋ก ๋์ผ ํ๊ฒฝ์ ํจ
์จ์ ์ธ ํ์ง ์์ฑ์ด ๊ฐ๋ฅํ๋ฉฐ, ํ์ง ํ๋ณด๋ค์ด ๋ค์ํ ์๋ก ์ฌ๋ฌ ํ๊ฒฝ ํน์ ํ๊ฒฝ์
๋ณํ์ ๋์ฒํ ์ ์๊ธฐ ๋๋ฌธ์ด๋ค.
์ต๊ทผ, ๋ค์ํ ํ์ง ํ๋ณด์ ์์ฑ ๋ฐ ๊ฒฐ์ ํ๋ ์ฐ๊ตฌ๊ฐ ๋ง์ด ์งํ๋์๋ค. ๋ค์ํ
ํ์ง ํ๋ณด ์์ฑ์ ํ ๋ฐฉ๋ฒ์ผ๋ก ์์ฑ ๋ชจ๋ธ์ ํ์ฉํ์ฌ ๋ฌผ์ฒด์ ๊ฐ๋ฅํ ํ์ง์ ๋ถํฌ๋ฅผ
ํ์ตํ๋ค. ํ์ง๋ง, ๋ฌผ์ฒด์ ๊ฐ๋ฅํ ํ์ง ์์ธ๋ค์ ๋ณต์กํ๊ณ ๋ฉํฐ๋ชจ๋ฌํ ๋ถํฌ๋ฅผ ๋
๋ฉฐ, ๋ฌผ์ฒด์ ๋ฐ๋ผ ๊ฐ๋ฅํ ํ์ง ์์ธ๋ค์ ๋ณํ๋ค. ์ด๋ฌํ ํน์ฑ์ ๋๋ ํ์ง ํ๋ณด๋ค์
์ค์ ๋ก ํ์ตํ๋ ๊ฒ์ ์ด๋ ต๋ค.
๋ณธ ๋
ผ๋ฌธ์ ๋ณต์กํ ํ์์ ๊ฐ์ง ๋ฌผ์ฒด์ ํ์ง ๋ถํฌ๋ฅผ ๋ณด๋ค ์ ํํ๊ฒ ๊ทผ์ฌํ๊ธฐ
์ํด ๋
ธ๋ง๋ผ์ด์ง ํ๋ก์ฐ๋ฅผ ์ฌ์ฉํ์ฌ ํ์ตํ๋ค. ๋ฌผ์ฒด์ ๋ฐ๋ฅธ ๊ฐ๋ฅํ ํ์ง ์์ธ๋ฅผ
์กฐ๊ฑด ํ๋ฅ ๋ก ๋ชจ๋ธ๋งํ๊ณ , ์ ์ํ ๋ฐฉ๋ฒ์ผ๋ก ํ์ตํ ๊ฒฐ๊ณผ ํ์ง ๋ถํฌ์ ๋ฉํฐ๋ชจ๋ฌ์ฑ
์ ์ ๋ฐ์ํ๋ค. ์ ์ํ ๋ฐฉ๋ฒ์ ๊ธฐ์กด ๋ฐฉ๋ฒ๊ณผ ๋น๊ต ์คํ์ ํตํด ๋ค์ํ๊ณ , ์ ํํ
ํ์ง๋ฅผ ์์ฑํ๋ ๊ฒ์ ์คํ์ ์ผ๋ก ๋ณด์ธ๋ค.When a robot grasps an object, it needs to reason where to grasp. The robot
grasping process is as follows. First, a robot recognizes the target object and
generates grasp candidates for it. Among the generated grasp candidates, grasp
is determined in consideration of the surrounding environment and the stability
of the grasp. The generated grasp poses have to be accurate and diverse. This is
because accurate grasps mean that it generates grasp efficiently without repeatedly
find good grasp in the same environment. Also, diverse grasps allow handling
large variation of environment.
Recently, many studies have been conducted to generate and determine
grasp candidates. Among the most commonly adopted methods, generative
model is used to model diverse grasp candidates. It approximates diverse grasp
candidates as feasible grasp distribution and extracts samples from the learned
distribution. However, feasible grasp poses are complex and multimodal. Also,
they vary according to object shape. In practice, it is difficult to learn the
diverse feasible grasp poses into grasp distribution.
In this work, we accurately approximate the feasible grasp distribution using
normalizing flow. We model feasible grasp distribution according to the object
with conditional probability density function. This approach better learns multi-modality. We show that the proposed method generates diverse and accurate grasp
poses compared to existing method.์ 1 ์ฅ ์ ๋ก 1
์ 1 ์ ์ฐ๊ตฌ ๋ํฅ 2
์ 2 ์ ์ฐ๊ตฌ ๊ธฐ์ฌ 5
์ 3 ์ ๋
ผ๋ฌธ ๊ตฌ์ฑ 5
์ 2 ์ฅ ์ฐ ๊ตฌ ๋ฐฉ ๋ฒ 7
์ 1 ์ ๋
ธ๋ง๋ผ์ด์ง ํ๋ก์ฐ๋ฅผ ์ด์ฉํ ํ์ง ๋ถํฌ ๊ทผ์ฌ 7
2.1.1 ๋
ธ๋ง๋ผ์ด์ง ํ๋ก์ฐ 7
2.1.2 ์กฐ๊ฑด ๋
ธ๋ง๋ผ์ด์ง ํ๋ก์ฐ 9
2.1.3 ์ ์ํ ํ์ง ์์ฑ ๋ชจ๋ธ 11
์ 2 ์ ํ๊ฐ ์งํ 13
์ 3 ์ฅ ์ค ํ 16
์ 1 ์ ๋ฌผ์ฒด์ ๋ฐ๋ฅธ ํ์ง ๋ถํฌ ํ์ต 16
3.1.1 ํ์ง ๋ฐ์ดํฐ ์
16
3.1.2 ๋ชจ๋ธ ๊ตฌ์กฐ ๋ฐ ํ์ต 17
3.1.3 ๊ฒฐ๊ณผ ๋ถ์ 20
์ 2 ์ ํ์ง ์๋ฎฌ๋ ์ด์
24
3.2.1 ์๋ฎฌ๋ ์ด์
๋ฐฉ๋ฒ 24
3.2.2 ๊ฒฐ๊ณผ ๋ถ์ 27
์ 3 ์ ๊ฒฐ๊ณผ ์ข
ํฉ 28
์ 4 ์ฅ ๊ฒฐ ๋ก 31
์ฐธ๊ณ ๋ฌธํ 32
Abstract 39์