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A trajectory-level robot skill learning method based on fuzzy systems

Science China(Information Sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Enhanced Soil Property Estimations from Earth Observation Data with Differential Evolution-Based Multi-Objective TSK Model 13

Enhanced Soil Property Estimations from Earth Observation Da...

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13th IEEE Congress on Evolutionary Computation, CEC 2024

作者： Tsakiridis, Nikolaos L. Samarinas, Nikiforos Kalopesa, Eleni Theocharis, John B. Zalidis, George C. Aristotle University of Thessaloniki Spectra Lab Group Laboratory of Remote Sensing Spectroscopy and Gis Department of Agriculture Thessaloniki54124 Greece Aristotle University of Thessaloniki Automation and Robotics Laboratory Electrical and Computer Engineering Thessaloniki54124 Greece

ISBN: (纸本)9798350308365

This paper introduces a novel approach integrating Differential Evolution (DE) with multi-objective optimization techniques for enhancing Type-1 Takagi-Sugeno-Kang (TSK) fuzzy rule-based systems to attain both fair predictive performance and enhanced interpretability within the context of explainable artificial intelligence. The developed approach encodes the whole knowledge base into one chromosome and endeavors to concurrently optimize the prediction accuracy, the number of rules, and the selection of relevant input features. The methodology was tested on Earth observation data for the estimation of soil health parameters via infrared spectroscopy, and more concretely i) on the 2015 LUCAS topsoil dataset to predict three key soil properties (namely, soil organic carbon, clay content, and pH) from laboratory spectra, and ii) on a set of PRISMA hyperspectral images to predict soil organic carbon in a region of northern Greece. Compared to the classical Random Forest (RF) algorithm, our proposed learning algorithm attains a fair balance between accuracy and interpretability, and is statistically equivalent to RF in terms of accuracy. The findings underscore the potential of the proposed methodology in refining TSK models and its applicability in Earth observation-driven predictions, paving the way for both enhanced modeling accuracy and sparse feature selection. © 2024 IEEE.

关键词： Fuzzy rules

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Application of Deep Learning Method to Estimate Bottomhole Pressure Dynamics of Oil Wells 32

Application of Deep Learning Method to Estimate Bottomhole P...

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32nd IEEE International Symposium on Industrial Electronics, ISIE 2023

作者： Cheng, Haibo Li, Shichao Zeng, Peng Vyatkin, Valeriy State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Luleå University of Technology Electrical and Space Engineering Department of Computer Science Luleå Sweden Aalto University Department of Electrical Engineering and Automation Helsinki Finland

ISBN: (纸本)9798350399714

Surrogate models, which have become an effective and popular method to close loop reservoir management problems, use a data-driven approach to predict dynamic injection and production wells parameters and optimize waterflooding development. In this study, a deep learning-based surrogate model method is proposed to estimate bottomhole pressure (BHP) of production wells in waterflooding reservoirs. Bidirectional long short-term memory (BiLSTM) network, as an efficient deep learning approach, is applied to BHP estimation using fluctuation data. Extended Fourier amplitude sensitivity test (EFAST) method is employed to analyse the influence of different input factors on BHP dynamics, and a reduced dataset is rebuilt to predict BHP parameter based on BiLSTM-EFAST algorithm. The estimation results are tested on a dataset from Volve oilfield in North Sea, and compared with other deep learning methods. The test results indicate that the proposed method can achieve higher prediction accuracy. A reduced dataset-based approach provides a new attempt to reduce model complexity and improve calculation speed for big data-driven surrogate model in oil and gas industry. © 2023 IEEE.

关键词： Long short-term memory

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Integrating Trajectory Optimization in Quality-Diversity for Kinodynamic Motion Planning

Integrating Trajectory Optimization in Quality-Diversity for...

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International Conference on Autonomous Robots and Agents, ICARA

作者： Konstantinos A. Asimakopoulos Konstantinos I. Chatzilygeroudis Department of Electrical & Computer Engineering Laboratory of Automation & Robotics (LAR) Patras Greece Department of Mathematics Computational Intelligence Laboratory (CILab) University of Patras Patras Greece

ISBN: (数字)9798331509231

ISBN: (纸本)9798331509248

Kinodynamic planning is a critical component of robotics, enabling robots to generate dynamically feasible trajectories while adhering to geometric constraints. Existing methods for kinodynamic planning primarily fall into two categories: (a) stochastic planners, such as Rapidly-Exploring Random Trees (RRT) and Probabilistic Roadmaps (PRM), which excel in state-space exploration due to their directed randomness, and (b) optimization-based approaches, which are well-suited for structured environments, producing smooth and optimal solutions. In this work, we present Hybrid Trajectory Exploration for Kinodynamic Planning (HyTraX), a hybrid framework that integrates the strengths of these two paradigms. Specifically, HyTraX enhances the effectiveness of the Go-Explore algorithm by incorporating trajectory optimization with random target selection as its core exploration strategy. We evaluate HyTraX on two challenging kinodynamic motion planning tasks: a car-like agent and a planar quadrotor navigating through maze environments. Our results demonstrate significant performance improvements with minimal task-specific tuning, highlighting the robustness and versatility of the proposed approach.

关键词： Legged locomotion Scalability Performance gain Probabilistic logic Robustness Planning Trajectory optimization Robots Tuning Quadrotors

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Entropy-Guided Reinforced Open World Active 3D Object Detection Learning

Entropy-Guided Reinforced Open World Active 3D Object Detect...

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2024 China automation Congress, CAC 2024

作者： Zhang, Haozhe Ma, Liyan Ying, Shihui Institute of Artificial Intelligence Shanghai University Shanghai200444 China School of Computer Engineering and Science School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai200444 China Department of Mathematics School of Science Shanghai University Shanghai200444 China

ISBN: (纸本)9798350368604

Traditional fully annotated closed set 3D object detection methods improve model performance but are impractical in real-world settings due to the emergence of new categories and the complexity of 3D annotations. Open-World Object Detection (OWOD) addresses these issues but relies heavily on manual labeling, which is costly. This paper focuses on open world active learning and proposes an entropy-guided reinforced open world active 3D object detection (EROA). EROA regards active learning as a reinforcement learning problem tailored for open driving scenarios. We use entropy as a reward metric for efficient reinforcement learning. We also leverage knowledge from the 2D domain using object-level large-scale vision-language models to enhance sample selection. Extensive experiments evidence that the proposed EROA meets the dynamic and cost-sensitive requirements of autonomous driving, enabling real-time detection of both known and unknown objects. © 2024 IEEE.

关键词： Active learning

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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

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Journal of Bionic engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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Deep Learning-Based Prediction of Subsurface Oil Reservoir Pressure Using Spatio-Temporal Data 49

Deep Learning-Based Prediction of Subsurface Oil Reservoir P...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Cheng, Haibo He, Yunpeng Zeng, Peng Li, Shichao Vyatkin, Valeriy Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Luleå University of Technology Department of Computer Science Electrical and Space Engineering Luleå Sweden Aalto University Department of Electrical Engineering and Automation Helsinki Finland

ISBN: (纸本)9798350331820

Prediction of subsurface oil reservoir pressure are critical to hydrocarbon production. However, the accurate pressure estimation faces great challenges due to the complexity and uncertainty of reservoir. The underground seepage flow and petrophysical parameters (permeability and porosity) are important but difficult to measure in oilfield. Deep learning methods have been successfully used in reservoir engineering and oil & gas production process. In this study, the effective but inaccessible subsurface seepage fields are not used, only the spatial coordinates and temporal information are selected as model input to predict reservoir pressure. A stacked GRU-based deep learning model is proposed to map the relationship between spatio-temporal data and reservoir pressure. The proposed deep learning method is verified by using a three-dimensional reservoir model, and compared with commonly-used methods. The results show that the stacked GRU model has a better performance and higher accuracy than other deep learning or machine learning methods in pressure prediction. © 2023 IEEE.

关键词： Forecasting

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Lumbar spine localisation method based on feature fusion

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CAAI Transactions on Intelligence Technology 2023年第3期8卷 931-945页

作者： Yonghong Zhang Ning Hu Zhuofu Li Xuquan Ji Shanshan Liu Youyang Sha Xiongkang Song Jian Zhang Lei Hu Weishi Li Robotics Institute School of Mechanical Engineering and AutomationBeihang UniversityBeijingChina Beijing Zhuzheng Robot Co. LTDBeijingChina Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKnoxvilleTennesseeUSA Department of Orthopaedics Peking University Third HospitalBeijingChina Engineering Research Center of Bone and Joint Precision Medicine Ministry of EducationBeijingChina Beijing Key Laboratory of Spinal Disease Research BeijingChina School of Biological Science and Medical Engineering Beihang UniversityBeijingChina Department of Computer Science University of WarwickCoventryUK

To eliminate unnecessary background information,such as soft tissues in original CT images and the adverse impact of the similarity of adjacent spines on lumbar image segmentation and surgical path planning,a two‐stage approach for localising lumbar segments is ***,based on the multi‐scale feature fusion technology,a non‐linear regression method is used to achieve accurate localisation of the overall spatial region of the lumbar spine,effectively eliminating useless background information,such as soft *** the second stage,we directly realised the precise positioning of each segment in the lumbar spine space region based on the non‐linear regression method,thus effectively eliminating the interference caused by the adjacent *** 3D Intersection over Union(3D_IOU)is used as the main evaluation indicator for the positioning *** an open dataset,3D_IOU values of 0.8339�0.0990 and 0.8559�0.0332 in the first and second stages,respectively is *** addition,the average time required for the proposed method in the two stages is 0.3274 and 0.2105 s ***,the proposed method performs very well in terms of both pre-cision and speed and can effectively improve the accuracy of lumbar image segmentation and the effect of surgical path planning.

关键词： CT image lumbar spatial orientation multi‐scale information fusion

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Review of Inference Time Prediction Approaches of DNN: Emphasis on Service robots with cloud-edge-device architecture

Review of Inference Time Prediction Approaches of DNN: Empha...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Xiang, Tian Meng, Qiwei Zhang, Ji Zhang, Beibei Song, Wei Xie, Anhuan Gu, Jason Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Research Center for Intelligent Robotics Hangzhou311100 China The Chinese University of Hong Kong T Stone Robotics Institute Department of Mechanical and Automation Engineering Hong Kong Research Institute of Intelligent Computing Zhejiang Laboratory Research Center for Intelligent Computing Software Hangzhou311100 China Dalhousie University Electrical and Computer Engineering Halifax Canada

ISBN: (纸本)9798350325706

In recent years, the global robot market has witnessed substantial growth, particularly in the domain of service robots. Despite their expanding presence, service robots encounter limitations when operating autonomously in unstructured environments, primarily due to their constrained computational capacities. As a solution, the fusion of cloud and edge computing resources becomes imperative to expedite task inference and enhance scenario perception capabilities. The integration of cloud-edge-device models holds significant promise in bolstering the operational efficiency of robots. This entails the dynamic partitioning of intricate robotic tasks, executed collaboratively across cloud, edge, and device resources. In this landscape, deep neural network (DNN) models play a pivotal role in facilitating a wide array of robotic tasks. The inference time for each layer of a DNN model in actual deployment, emerges as a critical determinant in the model's partitioning strategy. It also serves as an important metric influencing the model's suitability for a specific hardware platform. This article presents an overview of recent advancements in predicting inference and training time of DNN models, summarizes the related methods, and finally discusses the challenges in this field and the research that can be studied in the future. © 2023 IEEE.

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Gait Optimization for Legged Systems Through Mixed Distribution Cross-Entropy Optimization

Gait Optimization for Legged Systems Through Mixed Distribut...

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IEEE-RAS International Conference on Humanoid Robots

作者： Ioannis Tsikelis Konstantinos Chatzilygeroudis Computer Engineering and Informatics Department University of Patras Patras Greece Department of Electrical & Computer Engineering Laboratory of Automation and Robotics (LAR) University of Patras Patras Greece Department of Mathematics Computational Intelligence Laboratory (CILab) University of Patras Patras Greece

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

Legged robotic systems can play an important role in real-world applications due to their superior load-bearing capabilities, enhanced autonomy, and effective navigation on uneven terrain. They offer an optimal trade-off between mobility and payload capacity, excelling in diverse environments while maintaining efficiency in transporting heavy loads. However, planning and optimizing gaits and gait sequences for these robots presents significant challenges due to the complexity of their dynamic motion and the numerous optimization variables involved. Traditional trajectory optimization methods address these challenges by formulating the problem as an optimization task, aiming to minimize cost functions, and to automatically discover contact sequences. Despite their structured approach, optimization-based methods face substantial difficulties, particularly because such formulations result in highly nonlinear and difficult to solve problems. To address these limitations, we propose CrEGOpt, a bi-level optimization method that combines traditional trajectory optimization with a black-box optimization scheme. CrEGOpt at the higher level employs the Mixed Distribution Cross-Entropy Method to optimize both the gait sequence and the phase durations, thus simplifying the lower level trajectory optimization problem. This approach allows for fast solutions of complex gait optimization problems. Extensive evaluation in simulated environments demonstrates that CrEGOpt can find solutions for biped, quadruped, and hexapod robots in under 10 seconds. This novel bi-level optimization scheme offers a promising direction for future research in automatic contact scheduling.

关键词： Pipelines Closed box Humanoid robots Graphics processing units Real-time systems Planning Quadrupedal robots Optimization Trajectory optimization Convergence

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