Immersive Demonstrations are the Key to Imitation Learning

Achieving successful robotic manipulation is an essential step towards robots being widely used in industry and home settings. Recently, many learning-based methods have been proposed to tackle this challenge, with imitation learning showing great promise. However, imperfect demonstrations and a lack of feedback from teleoperation systems may lead to poor or even unsafe results. In this work we explore the effect of demonstrator force feedback on imitation learning, using a feedback glove and a robot arm to render fingertip-level and palm-level forces, respectively. 10 participants recorded 5 demonstrations of a pick-and-place task with 3 grippers, under conditions with no force feedback, fingertip force feedback, and fingertip and palm force feedback. Results show that force feedback significantly reduces demonstrator fingertip and palm forces, leads to a lower variation in demonstrator forces, and recorded trajectories that a quicker to execute. Using behavioral cloning, we find that agents trained to imitate these trajectories mirror these benefits, even though agents have no force data shown to them during training. We conclude that immersive demonstrations, achieved with force feedback, may be the key to unlocking safer, quicker to execute dexterous manipulation policies.Comment: This paper is accepted to be presented on IEEE International Conference on Robotics and Automation (ICRA) 202

The Hydra Hand: A Mode-Switching Underactuated Gripper with Precision and Power Grasping Modes

Human hands are able to grasp a wide range of object sizes, shapes, and weights, achieved via reshaping and altering their apparent grasping stiffness between compliant power and rigid precision. Achieving similar versatility in robotic hands remains a challenge, which has often been addressed by adding extra controllable degrees of freedom, tactile sensors, or specialised extra grasping hardware, at the cost of control complexity and robustness. We introduce a novel reconfigurable four-fingered two-actuator underactuated gripper -- the Hydra Hand -- that switches between compliant power and rigid precision grasps using a single motor, while generating grasps via a single hydraulic actuator -- exhibiting adaptive grasping between finger pairs, enabling the power grasping of two objects simultaneously. The mode switching mechanism and the hand's kinematics are presented and analysed, and performance is tested on two grasping benchmarks: one focused on rigid objects, and the other on items of clothing. The Hydra Hand is shown to excel at grasping large and irregular objects, and small objects with its respective compliant power and rigid precision configurations. The hand's versatility is then showcased by executing the challenging manipulation task of safely grasping and placing a bunch of grapes, and then plucking a single grape from the bunch.Comment: This paper has been accepted for publication in IEEE Robotics and Automation Letters. For the purpose of open access, the author(s) has applied a Creative Commons Attribution (CC BY) license to any Accepted Manuscript version arising. 8 pages, 11 figure

When and Where to Step: Terrain-Aware Real-Time Footstep Location and Timing Optimization for Bipedal Robots

Online footstep planning is essential for bipedal walking robots, allowing them to walk in the presence of disturbances and sensory noise. Most of the literature on the topic has focused on optimizing the footstep placement while keeping the step timing constant. In this work, we introduce a footstep planner capable of optimizing footstep placement and step time online. The proposed planner, consisting of an Interior Point Optimizer (IPOPT) and an optimizer based on Augmented Lagrangian (AL) method with analytical gradient descent, solves the full dynamics of the Linear Inverted Pendulum (LIP) model in real time to optimize for footstep location as well as step timing at the rate of 200~Hz. We show that such asynchronous real-time optimization with the AL method (ARTO-AL) provides the required robustness and speed for successful online footstep planning. Furthermore, ARTO-AL can be extended to plan footsteps in 3D, allowing terrain-aware footstep planning on uneven terrains. Compared to an algorithm with no footstep time adaptation, our proposed ARTO-AL demonstrates increased stability in simulated walking experiments as it can resist pushes on flat ground and on a $10^{\circ}$ ramp up to 120 N and 100 N respectively. For the video, see https://youtu.be/ABdnvPqCUu4. For code, see https://github.com/WangKeAlchemist/ARTO-AL/tree/master.Comment: 32 pages, 15 figures. Submitted to Robotics and Autonomous System

Dimethyl fumarate in patients admitted to hospital with COVID-19 (RECOVERY): a randomised, controlled, open-label, platform trial

Dimethyl fumarate (DMF) inhibits inflammasome-mediated inflammation and has been proposed as a treatment for patients hospitalised with COVID-19. This randomised, controlled, open-label platform trial (Randomised Evaluation of COVID-19 Therapy [RECOVERY]), is assessing multiple treatments in patients hospitalised for COVID-19 (NCT04381936, ISRCTN50189673). In this assessment of DMF performed at 27 UK hospitals, adults were randomly allocated (1:1) to either usual standard of care alone or usual standard of care plus DMF. The primary outcome was clinical status on day 5 measured on a seven-point ordinal scale. Secondary outcomes were time to sustained improvement in clinical status, time to discharge, day 5 peripheral blood oxygenation, day 5 C-reactive protein, and improvement in day 10 clinical status. Between 2 March 2021 and 18 November 2021, 713 patients were enroled in the DMF evaluation, of whom 356 were randomly allocated to receive usual care plus DMF, and 357 to usual care alone. 95% of patients received corticosteroids as part of routine care. There was no evidence of a beneficial effect of DMF on clinical status at day 5 (common odds ratio of unfavourable outcome 1.12; 95% CI 0.86-1.47; p = 0.40). There was no significant effect of DMF on any secondary outcome

Hierarchical Decomposed-Objective Model Predictive Control for Autonomous Casualty Extraction

In recent years, several robots have been developed and deployed to perform casualty extraction tasks. However, the majority of these robots are overly complex, and require teleoperation via either a skilled operator or a specialised device, and often the operator must be present at the scene to navigate safely around the casualty. Instead, improving the autonomy of such robots can reduce the reliance on expert operators and potentially unstable communication systems, while still extracting the casualty in a safe manner. There are several stages in the casualty extraction procedure, from navigating to the location of the emergency, safely approaching and loading the casualty, to finally navigating back to the medical assistance location. In this paper, we propose a Hierarchical Decomposed-Objective based Model Predictive Control (HiDO-MPC) method for safely approaching and manoeuvring around the casualty. We implement this controller on ResQbot — a proof-of-concept mobile rescue robot we previously developed — capable of safely rescuing an injured person lying on the ground, i.e. performing the casualty extraction procedure. HiDO-MPC achieves the desired casualty extraction behaviour by decomposing the main objective into multiple sub-objectives with a hierarchical structure. At every time step, the controller evaluates this hierarchical decomposed objective and generates the optimal control decision. We have conducted a number of experiments both in simulation and using the real robot to evaluate the proposed method’s performance, and compare it with baseline approaches. The results demonstrate that the proposed control strategy gives significantly better results than baseline approaches in terms of accuracy, robustness, and execution time, when applied to casualty extraction scenarios

The impact of artificial intelligence on clinical education: perceptions of postgraduate trainee doctors in London (UK) and recommendations for trainers

Abstract Background Artificial intelligence (AI) technologies are increasingly used in clinical practice. Although there is robust evidence that AI innovations can improve patient care, reduce clinicians’ workload and increase efficiency, their impact on medical training and education remains unclear. Methods A survey of trainee doctors’ perceived impact of AI technologies on clinical training and education was conducted at UK NHS postgraduate centers in London between October and December 2020. Impact assessment mirrored domains in training curricula such as ‘clinical judgement’, ‘practical skills’ and ‘research and quality improvement skills’. Significance between Likert-type data was analysed using Fisher’s exact test. Response variations between clinical specialities were analysed using k-modes clustering. Free-text responses were analysed by thematic analysis. Results Two hundred ten doctors responded to the survey (response rate 72%). The majority (58%) perceived an overall positive impact of AI technologies on their training and education. Respondents agreed that AI would reduce clinical workload (62%) and improve research and audit training (68%). Trainees were skeptical that it would improve clinical judgement (46% agree, p = 0.12) and practical skills training (32% agree, p < 0.01). The majority reported insufficient AI training in their current curricula (92%), and supported having more formal AI training (81%). Conclusions Trainee doctors have an overall positive perception of AI technologies’ impact on clinical training. There is optimism that it will improve ‘research and quality improvement’ skills and facilitate ‘curriculum mapping’. There is skepticism that it may reduce educational opportunities to develop ‘clinical judgement’ and ‘practical skills’. Medical educators should be mindful that these domains are protected as AI develops. We recommend that ‘Applied AI’ topics are formalized in curricula and digital technologies leveraged to deliver clinical education

Activity pattern and thermal biology of a day-flying hawkmoth (Macroglossum stellatarum) under Mediterranean summer conditions

1 The daily activity pattern and aspects of the thermal biology are described for the day-flying hawkmoth, Macroglossum stellatarum L. (Lepidoptera: Sphingidae), while foraging at a flowering population of Lavandula latifolia (Labiatae) under the dry-hot summer conditions of a southeastern Spanish locality. 2 The average abundance of M.stellatarum remained fairly constant from sunrise to about 17.00 hours (GMT), and a distinct peak occurred in the evening (18.00—20.00 hours). 3 Foraging took place over a broad range of microclimatic conditions, as described by air temperature (Ta; range 19-36°C) and solar radiation (IR; range 1–1025 Wm-2). 4 The thoracic temperature (Tth) of insects remained within relatively narrow limits (39–46°C), with the highest values occurring around noon. Variation in Tth mainly reflected differences in Ta between foraging sites and times. Tth was nonlinearly related to Ta, the rate of increase of Tth with Ta decreasing with increasing Ta. 5 The unusual tolerance of high Tth exhibited by M.stellatarum, and its enhanced thermoregulatory capacity at high Ta, enable this species to withstand the severe environmental conditions faced during diurnal foraging in the Mediterranean summer.Peer reviewe