124,012 research outputs found
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
Design Architecture-Based on Web Server and Application Cluster in Cloud Environment
Cloud has been a computational and storage solution for many data centric
organizations. The problem today those organizations are facing from the cloud
is in data searching in an efficient manner. A framework is required to
distribute the work of searching and fetching from thousands of computers. The
data in HDFS is scattered and needs lots of time to retrieve. The major idea is
to design a web server in the map phase using the jetty web server which will
give a fast and efficient way of searching data in MapReduce paradigm. For real
time processing on Hadoop, a searchable mechanism is implemented in HDFS by
creating a multilevel index in web server with multi-level index keys. The web
server uses to handle traffic throughput. By web clustering technology we can
improve the application performance. To keep the work down, the load balancer
should automatically be able to distribute load to the newly added nodes in the
server
Characterizing Deep-Learning I/O Workloads in TensorFlow
The performance of Deep-Learning (DL) computing frameworks rely on the
performance of data ingestion and checkpointing. In fact, during the training,
a considerable high number of relatively small files are first loaded and
pre-processed on CPUs and then moved to accelerator for computation. In
addition, checkpointing and restart operations are carried out to allow DL
computing frameworks to restart quickly from a checkpoint. Because of this, I/O
affects the performance of DL applications. In this work, we characterize the
I/O performance and scaling of TensorFlow, an open-source programming framework
developed by Google and specifically designed for solving DL problems. To
measure TensorFlow I/O performance, we first design a micro-benchmark to
measure TensorFlow reads, and then use a TensorFlow mini-application based on
AlexNet to measure the performance cost of I/O and checkpointing in TensorFlow.
To improve the checkpointing performance, we design and implement a burst
buffer. We find that increasing the number of threads increases TensorFlow
bandwidth by a maximum of 2.3x and 7.8x on our benchmark environments. The use
of the tensorFlow prefetcher results in a complete overlap of computation on
accelerator and input pipeline on CPU eliminating the effective cost of I/O on
the overall performance. The use of a burst buffer to checkpoint to a fast
small capacity storage and copy asynchronously the checkpoints to a slower
large capacity storage resulted in a performance improvement of 2.6x with
respect to checkpointing directly to slower storage on our benchmark
environment.Comment: Accepted for publication at pdsw-DISCS 201
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