Domain-Independent Disperse and Pick method for Robotic Grasping

Picking unseen objects from clutter is a difficult problem because of the variability in objects (shape, size, and material) and occlusion due to clutter. As a result, it becomes difficult for grasping methods to segment the objects properly and they fail to singulate the object to be picked. This may result in grasp failure or picking of multiple objects together in a single attempt. A push-to-move action by the robot will be beneficial to disperse the objects in the workspace and thus assist the grasping and vision algorithm. We propose a disperse and pick method for domain-independent robotic grasping in a highly cluttered heap of objects. The novel contribution of our framework is the introduction of a heuristic clutter removal method that does not require deep learning and can work on unseen objects. At each iteration of the algorithm, the robot either performs a push-to-move action or a grasp action based on the estimated clutter profile. For grasp planning, we present an improved and adaptive version of a recent domain-independent grasping method. The efficacy of the integrated system is demonstrated in simulation as well as in the real-world.Comment: Published at 2022 International Joint Conference on Neural Networks (IJCNN

Build your own closed loop: Graph-based proof of concept in closed loop for autonomous networks

Next Generation Networks (NGNs) are expected to handle heterogeneous technologies, services, verticals and devices of increasing complexity. It is essential to fathom an innovative approach to automatically and efficiently manage NGNs to deliver an adequate end-to-end Quality of Experience (QoE) while reducing operational expenses. An Autonomous Network (AN) using a closed loop can self-monitor, self-evaluate and self-heal, making it a potential solution for managing the NGN dynamically. This study describes the major results of building a closed-loop Proof of Concept (PoC) for various AN use cases organized by the International Telecommunication Union Focus Group on Autonomous Networks (ITU FG-AN). The scope of this PoC includes the representation of closed-loop use cases in a graph format, the development of evolution/exploration mechanisms to create new closed loops based on the graph representations, and the implementation of a reference orchestrator to demonstrate the parsing and validation of the closed loops. The main conclusions and future directions are summarized here, including observations and limitations of the PoC