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Continuous-time fitted value iteration for robust policies

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arXiv 2021年

作者： Lutter, Michael Belousov, Boris Mannor, Shie Fox, Dieter Garg, Animesh Peters, Jan Intelligent Autonomous Systems group Computer Science Department Technical University of Darmstadt Darmstadt Germany Andrew and Erna Viterbi Faculty of Electrical & Computer Engineering Technion – Israel Institute of Technology and a Distinguished Scientist at NVIDIA Tel Aviv Israel Allen School of Computer Science & Engineering University of Washington and Senior Director of Robotics Research NVIDIA Washington Seattle United States Computer Science Department University of Toronto NVIDIA Toronto Canada

Solving the Hamilton-Jacobi-Bellman equation is important in many domains including control, robotics and economics. Especially for continuous control, solving this differential equation and its extension the Hamilton-Jacobi-Isaacs equation, is important as it yields the optimal policy that achieves the maximum reward on a give task. In the case of the Hamilton-Jacobi-Isaacs equation, which includes an adversary controlling the environment and minimizing the reward, the obtained policy is also robust to perturbations of the dynamics. In this paper we propose continuous fitted value iteration (cFVI) and robust fitted value iteration (rFVI). These algorithms leverage the non-linear control-affine dynamics and separable state and action reward of many continuous control problems to derive the optimal policy and optimal adversary in closed form. This analytic expression simplifies the differential equations and enables us to solve for the optimal value function using value iteration for continuous actions and states as well as the adversarial case. Notably, the resulting algorithms do not require discretization of states or actions. We apply the resulting algorithms to the Furuta pendulum and cartpole. We show that both algorithms obtain the optimal policy. The robustness Sim2Real experiments on the physical systems show that the policies successfully achieve the task in the real-world. When changing the masses of the pendulum, we observe that robust value iteration is more robust compared to deep reinforcement learning algorithm and the non-robust version of the algorithm. Videos of the experiments are shown at https://***/view/rfvi Copyright © 2021, The Authors. All rights reserved.

关键词： Dynamic programming

3d-Swim: 3d Vision Based Seam Width Measurement for Industrial Composite Fiber Layup In-Situ Inspection

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SSRN

SSRN 2022年

作者： Zhang, Yinlong Yuan, Libiao Liang, Wei Xia, Xiaofang Pang, Zhibo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Shenyang Pharmaceutical University China School of Computer Science and Technology Xidian University Xian710071 China Department of Automation Technology ABB Corporate Research Sweden Vasteras72178 Sweden Stockholm11428 Sweden

Composite fiber layup in-situ inspection plays an important role in the advanced manufacturing. An accurate seam width measurement is an indispensable procedure during the layup inspection. However, the traditional seam measurements may fail in presence of surface curvature variance, curved edges between sheets, to name a few. This paper intentionally designs a novel 3D vision based Seam Width Measurement for Industrial Composite Fiber Layup In-situ inspection (called 3D-SWiM). It aims to address three major challenges in measuring the seam width between the composite fiber sheets, namely, seam region over-segmentation, failures on region of interests (ROI) seam detection, seam width measurement inconsistency. Firstly, the region growing with semantic refinement is designed for 3D point cloud clustering, to overcome the over-segmentation on seam regions. Afterwards, the gridding model with edge discrimination is applied to extract the 3D potential candidates in the edge areas. Eventually, we use the cubic B-spline fitting model to describe the seam region curves and the improved particle swarm optimization model to estimate the minimum and maximum distance between the seam edges. Our method has been evaluated extensively on the developed composite fiber layup platform. The experimental results prove the competitive accuracy against the state-of-the-art methods in seam width measurement. © 2022, The Authors. All rights reserved.

关键词： Inspection

Artificial buildings: Safety, complexity and a quantifiable measure of beauty

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arXiv 2020年

作者： Mehrjou, Arash Department of Computer Science ETH Zürich & Max Planck Institute for Intelligent Systems Switzerland

A place to live is one of the most crucial necessities for all living organisms since the advent of life on planet Earth. The nature of homes has changed considerably over time. At the very early stages, human begins lived in natural places such as caves. Later on, they started to use their intelligence to build places with special purposes. Nowadays, modern technologies such as robotics and artificial intelligence have made their ways into the construction process and opened up a whole new area of opportunities and concerns that may be of interest to both technologists and philosophers. In this article, I review the evolution of buildings from fully natural to fully artificial and discuss philosophical thoughts that a fully automated construction technology may raise. I elaborate on the safety concerns of a fully automated architectural process. Then, I’ll borrow Kolmogorov complexity from algorithmic information theory to define a complexity measure for buildings. The proposed measure is then used to provide a quantifiable measure of beauty. Copyright © 2020, The Authors. All rights reserved.

关键词： Philosophical aspects

Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation

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arXiv 2021年

作者： Funk, Niklas Schaff, Charles Madan, Rishabh Yoneda, Takuma de Jesus, Julen Urain Watson, Joe Gordon, Ethan K. Widmaier, Felix Bauer, Stefan Srinivasa, Siddhartha S. Bhattacharjee, Tapomayukh Walter, Matthew R. Peters, Jan The Department of Computer Science Technical University of Darmstadt Darmstadt Germany The Toyota Technological Institute at Chicago ChicagoIL United States The Department of Computer Science Cornell University IthacaNY United States The University of Washington SeattleWA United States The Max Planck Institute for Intelligent Systems Tübingen Germany

Dexterous manipulation is a challenging and important problem in robotics. While data-driven methods are a promising approach, current benchmarks require simulation or extensive engineering support due to the sample inefficiency of popular methods. We present benchmarks for the TriFinger system, an open-source robotic platform for dexterous manipulation and the focus of the 2020 Real Robot Challenge. The benchmarked methods, which were successful in the challenge, can be generally described as structured policies, as they combine elements of classical robotics and modern policy optimization. This inclusion of inductive biases facilitates sample efficiency, interpretability, reliability and high performance. The key aspects of this benchmarking is validation of the baselines across both simulation and the real system, thorough ablation study over the core features of each solution, and a retrospective analysis of the challenge as a manipulation benchmark. Copyright © 2021, The Authors. All rights reserved.

关键词： Benchmarking

Efficient State Abstraction using Object-centered Predicates for Manipulation Planning

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arXiv 2020年

作者： Agostini, Alejandro Lee, Dongheui Human-centered Assistive Robotics Department of Electrical and Computer Engineering Technical University of Munich Munich80333 Germany Intelligent and Interactive Systems Department of Computer Science University of Innsbruck Innsbruck6020 Austria Institute of Robotics and Mechatronics Wessling Germany

The definition of symbolic descriptions that consistently represent relevant geometrical aspects in manipulation tasks is a challenging problem that has received little attention in the robotic community. This definition is usually done from an observer perspective of a finite set of object relations and orientations that only satisfy geometrical constraints to execute experiments in laboratory conditions. This restricts the possible changes with manipulation actions in the object configuration space to those compatible with that particular external reference definitions, which greatly limits the spectrum of possible manipulations. To tackle these limitations we propose an object-centered representation that permits characterizing a much wider set of possible changes in configuration spaces than the traditional observer perspective counterpart. Based on this representation, we define universal planning operators for picking and placing actions that permits generating plans with geometric and force consistency in manipulation tasks. This object-centered description is directly obtained from the poses and bounding boxes of objects using a novel learning mechanisms that permits generating signal-symbols relations without the need of handcrafting these relations for each particular scenario. Copyright © 2020, The Authors. All rights reserved.

关键词： Wave functions

Effects of Motion Parameters on Acceptability of Human-Robot Patting Touch

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Effects of Motion Parameters on Acceptability of Human-Robot...

International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator systems (HAPTICS)

作者： Naghmeh Zamani Pooja Moolchandani Naomi T. Fitter Heather Culbertson Department of Computer Science University of Southern California Los Angeles CA Institute of Robotics and Intelligent Machines Georgia Institute of Technology Atlanta GA Collaborative Robotics and Intelligent Systems (CoRIS) Institute Oregon State University Corvallis OR Departments of Computer Science and Aerospace and Mechanical Engineering University of Southern California Los Angeles CA

The following topics are dealt with: haptic interfaces; touch (physiological); vibrations; force feedback; virtual reality; skin; tactile sensors; feedback; biomechanics; and actuators.

ISBN: (数字)9781728102344

ISBN: (纸本)9781728102351

The following topics are dealt with: haptic interfaces; touch (physiological); vibrations; force feedback; virtual reality; skin; tactile sensors; feedback; biomechanics; and actuators.

关键词：

Creating Own AI Datasets from Different Language Sources Efficiently: Advantages, Disadvantages and Best Pracitces to Make Own Datasets

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Creating Own AI Datasets from Different Language Sources Eff...

International IeeE Conference and Workshop: Óbuda on Electrical and Power Engineering (CANDO-EPE)

作者： György Molnár József Cserkó Enikő Nagy Zoltán Balogh Kandó Kálmán Faculty of Electrical Engineering Óbuda University Budapest Hungary János Csere Apáczai Faculty Széchenyi University Győr Hungary GAMF Faculty of Engineering and Computer Science John Von Neumann University Kecskemét Hungary Széchenyi University Doctoral School of Multidisciplinary Engineering Sciences (MMTDI) Győr Hungary Antal Bejczy Center for Intelligent Robotics John von Neumann Faculty Institute of Cyberphysical Systems Óbuda University Budapest Hungary Department of Informatics Faculty of Natural Sciences and Informatics Constantine the Philosopher University in Nitra Nitra Slovakia

Artificial Intelligence (AI) has become a ubiquitous technology that has the potential to revolutionize many industries. However, AI requires access to vast amounts of data to achieve its full potential. By understanding these data sources and the best practices for working with them, we can unlock the full potential of AI and create groundbreaking solutions that benefit society as a whole. Data sources can be utilized to train AI algorithms, including structured and unstructured data, but finding relevant datasets is challenging. The main problem is the international sources. Most of the datasets are available only in English or other common languages. However these are good sources, but translating them is expensive and time-consuming. This paper shows how to generate own datasets from open-source data with translation.

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A Tendon-Driven Robotic Dexterous Hand Design for Grasping 4th

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A Tendon-Driven Robotic Dexterous Hand Design for Grasping

4th International Conference on Cognitive systems and Information Processing, ICCSIP 2018

作者： Xia, Ziwei Yuan, Jiahui Fang, Bin Sun, Fuchun Zhu, Chang Yang, Yiyong Min, Huasong State Key Laboratory of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Department of Computer Science and Technology Tsinghua University Haidian District Beijing100083 China Beijing100083 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China Beijing China

ISBN: (纸本)9789811379826

This paper focuses on the research of humanoid dexterous hand with tendon-driven. The structure of the dexterous hand is designed and its kinematics, dynamics and the relationship between the finger joints and the fingertip force are deduced. Then, based on the characteristics of the dexterous hand, a hierarchical control system is proposed and fuzzy adaptive PID is used as the motor control algorithm. The grasping experiments are implemented and the results indicate the hand has well performance. © 2019, Springer Nature Singapore Pte Ltd.

关键词： Kinematics

Bionic Soft Fingers with Hybrid Variable Stiffness Mechanisms for Multimode Grasping

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Bionic Soft Fingers with Hybrid Variable Stiffness Mechanism...

IeeE International Conference on robotics and Automation (ICRA)

作者： Xiangbo Wang Tianran Zhang Hongze Yu Zhenwei Wen Lide Fang Huaping Liu Fuchun Sun Lixue Tang Bin Fang College of Quality and Technical Supervision Hebei University Baoding China School of Artificial Intelligence Beijing University of Posts and Telecommunications Beijing China School of Mechanical Engineering & Automation Beihang University Beijing China International School Beijing University of Posts and Telecommunications Beijing China Department of Computer Science and Technology Beijing National Research Center for Information Science and Technology Institute for Artificial Intelligence State Key Lab of Intelligent Technology and Systems Tsinghua University Beijing China School of Biomedical Engineering Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application Capital Medical University Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents a novel Bionic Soft Finger (BSF) that aims to overcome the limitations of conventional rigid manipulators in terms of adaptability and safety, as well as the challenges faced by soft hands regarding carrying capacity and stability. The BSF design uses a hybrid variable stiffness mechanism combining memory alloy actuators with particle jamming to achieve the desired bending angle and actuator stiffness. Our innovative approach utilizes a bionic finger design that incorporates a memory alloy skeleton and a water-cooled recirculation system, leading to a substantial reduction in the time required for each operation. Through the integration of particle jamming, we have enhanced the overall stiffness and performance of the manipulator, enabling load capacities of up to 3N per finger and more than twice the stiffness of a normal condition. Additionally, our design enables multimode grasping and incorporates a liquid metal strain sensor (METT) for real-time monitoring of finger bending angles. Comparative analyses demonstrate that our design exhibits superior stiffness and enables five-mode grasping in comparison to pneumatic actuators. We believe that bionic soft fingers present a promising solution for enhancing adaptability, safety, and performance in human-robot interaction applications.

关键词： Metals Grasping Bending Manipulators Stability analysis Skeleton Real-time systems