Digitalisation in Medium Voltage Variable Speed Drive Systems to increase productivity in O&G applications

TutorialsIn this paper we talk about influence of digitalization in process industries and how it can be adapted to Medium Voltage drive systems. Various aspects of digitalization like monitoring, preventive maintenance and using detailed simulations will be discussed in details. Data logging and monitoring of critical parameters will give clear picture of the drive system conditions. Automated analysis of this data can be used to prevent any unplanned shutdown. Detailed information about medium voltage drive train analytics will be provided. Simulation models can be used to analyse complex drive system topics such as Voltage dips or protective measures in case of short circuits which can not be tested physically in the field. Also simulations can be used to reduce the risk during commissioning by performing pre commissioning studies. This helps to identify the project specific drive system parameters prior to commissioning. Examples of each of these simulation cases and their advantages will be discussed

Human-in-the-Loop Task and Motion Planning for Imitation Learning

Imitation learning from human demonstrations can teach robots complex manipulation skills, but is time-consuming and labor intensive. In contrast, Task and Motion Planning (TAMP) systems are automated and excel at solving long-horizon tasks, but they are difficult to apply to contact-rich tasks. In this paper, we present Human-in-the-Loop Task and Motion Planning (HITL-TAMP), a novel system that leverages the benefits of both approaches. The system employs a TAMP-gated control mechanism, which selectively gives and takes control to and from a human teleoperator. This enables the human teleoperator to manage a fleet of robots, maximizing data collection efficiency. The collected human data is then combined with an imitation learning framework to train a TAMP-gated policy, leading to superior performance compared to training on full task demonstrations. We compared HITL-TAMP to a conventional teleoperation system -- users gathered more than 3x the number of demos given the same time budget. Furthermore, proficient agents (75\%+ success) could be trained from just 10 minutes of non-expert teleoperation data. Finally, we collected 2.1K demos with HITL-TAMP across 12 contact-rich, long-horizon tasks and show that the system often produces near-perfect agents. Videos and additional results at https://hitltamp.github.io .Comment: Conference on Robot Learning (CoRL) 202

NOD-TAMP: Multi-Step Manipulation Planning with Neural Object Descriptors

Developing intelligent robots for complex manipulation tasks in household and factory settings remains challenging due to long-horizon tasks, contact-rich manipulation, and the need to generalize across a wide variety of object shapes and scene layouts. While Task and Motion Planning (TAMP) offers a promising solution, its assumptions such as kinodynamic models limit applicability in novel contexts. Neural object descriptors (NODs) have shown promise in object and scene generalization but face limitations in addressing broader tasks. Our proposed TAMP-based framework, NOD-TAMP, extracts short manipulation trajectories from a handful of human demonstrations, adapts these trajectories using NOD features, and composes them to solve broad long-horizon tasks. Validated in a simulation environment, NOD-TAMP effectively tackles varied challenges and outperforms existing methods, establishing a cohesive framework for manipulation planning. For videos and other supplemental material, see the project website: https://sites.google.com/view/nod-tamp/

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

robosuite is a simulation framework for robot learning powered by the MuJoCo physics engine. It offers a modular design for creating robotic tasks as well as a suite of benchmark environments for reproducible research. This paper discusses the key system modules and the benchmark environments of our new release robosuite v1.0.Comment: For more information, please visit https://robosuite.a

Active Task Randomization: Learning Robust Skills via Unsupervised Generation of Diverse and Feasible Tasks

Solving real-world manipulation tasks requires robots to have a repertoire of skills applicable to a wide range of circumstances. When using learning-based methods to acquire such skills, the key challenge is to obtain training data that covers diverse and feasible variations of the task, which often requires non-trivial manual labor and domain knowledge. In this work, we introduce Active Task Randomization (ATR), an approach that learns robust skills through the unsupervised generation of training tasks. ATR selects suitable tasks, which consist of an initial environment state and manipulation goal, for learning robust skills by balancing the diversity and feasibility of the tasks. We propose to predict task diversity and feasibility by jointly learning a compact task representation. The selected tasks are then procedurally generated in simulation using graph-based parameterization. The active selection of these training tasks enables skill policies trained with our framework to robustly handle a diverse range of objects and arrangements at test time. We demonstrate that the learned skills can be composed by a task planner to solve unseen sequential manipulation problems based on visual inputs. Compared to baseline methods, ATR can achieve superior success rates in single-step and sequential manipulation tasks.Comment: 9 pages, 5 figure