International Symposium of Robotics Research最新文献

Learning Agile, Vision-based Drone Flight: from Simulation to Reality 学习敏捷，基于视觉的无人机飞行:从模拟到现实

International Symposium of Robotics Research Pub Date : 2023-04-09 DOI: 10.48550/arXiv.2304.04128

D. Scaramuzza, Elia Kaufmann

引用次数: 2

Monocular Camera and Single-Beam Sonar-Based Underwater Collision-Free Navigation with Domain Randomization 基于域随机化的单目相机和单波束声纳水下无碰撞导航

International Symposium of Robotics Research Pub Date : 2022-12-08 DOI: 10.48550/arXiv.2212.04373

Pengzhi Yang, Haowen Liu, Monika Roznere, Alberto Quattrini Li

{"title":"Monocular Camera and Single-Beam Sonar-Based Underwater Collision-Free Navigation with Domain Randomization","authors":"Pengzhi Yang, Haowen Liu, Monika Roznere, Alberto Quattrini Li","doi":"10.48550/arXiv.2212.04373","DOIUrl":"https://doi.org/10.48550/arXiv.2212.04373","url":null,"abstract":"Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater robots are scant and costly; and many sensors like RGB-D cameras and LiDAR only work in-air. To enable reliable mapless underwater navigation despite these challenges, we propose a low-cost end-to-end navigation system, based on a monocular camera and a fixed single-beam echo-sounder, that efficiently navigates an underwater robot to waypoints while avoiding nearby obstacles. Our proposed method is based on Proximal Policy Optimization (PPO), which takes as input current relative goal information, estimated depth images, echo-sounder readings, and previous executed actions, and outputs 3D robot actions in a normalized scale. End-to-end training was done in simulation, where we adopted domain randomization (varying underwater conditions and visibility) to learn a robust policy against noise and changes in visibility conditions. The experiments in simulation and real-world demonstrated that our proposed method is successful and resilient in navigating a low-cost underwater robot in unknown underwater environments. The implementation is made publicly available at https://github.com/dartmouthrobotics/deeprl-uw-robot-navigation.","PeriodicalId":136210,"journal":{"name":"International Symposium of Robotics Research","volume":"162 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115546999","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Contact-Implicit Planning and Control for Non-Prehensile Manipulation Using State-Triggered Constraints 基于状态触发约束的非握盘操作的隐式接触规划与控制

International Symposium of Robotics Research Pub Date : 2022-10-18 DOI: 10.48550/arXiv.2210.09540

Maozhen Wang, Aykut Özgün Önol, P. Long, T. Padır

{"title":"Contact-Implicit Planning and Control for Non-Prehensile Manipulation Using State-Triggered Constraints","authors":"Maozhen Wang, Aykut Özgün Önol, P. Long, T. Padır","doi":"10.48550/arXiv.2210.09540","DOIUrl":"https://doi.org/10.48550/arXiv.2210.09540","url":null,"abstract":"We present a contact-implicit planning approach that can generate contact-interaction trajectories for non-prehensile manipulation problems without tuning or a tailored initial guess and with high success rates. This is achieved by leveraging the concept of state-triggered constraints (STCs) to capture the hybrid dynamics induced by discrete contact modes without explicitly reasoning about the combinatorics. STCs enable triggering arbitrary constraints by a strict inequality condition in a continuous way. We first use STCs to develop an automatic contact constraint activation method to minimize the effective constraint space based on the utility of contact candidates for a given task. Then, we introduce a re-formulation of the Coulomb friction model based on STCs that is more efficient for the discovery of tangential forces than the well-studied complementarity constraints-based approach. Last, we include the proposed friction model in the planning and control of quasi-static planar pushing. The performance of the STC-based contact activation and friction methods is evaluated by extensive simulation experiments in a dynamic pushing scenario. The results demonstrate that our methods outperform the baselines based on complementarity constraints with a significant decrease in the planning time and a higher success rate. We then compare the proposed quasi-static pushing controller against a mixed-integer programming-based approach in simulation and find that our method is computationally more efficient and provides a better tracking accuracy, with the added benefit of not requiring an initial control trajectory. Finally, we present hardware experiments demonstrating the usability of our framework in executing complex trajectories in real-time even with a low-accuracy tracking system.","PeriodicalId":136210,"journal":{"name":"International Symposium of Robotics Research","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132162553","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Ball-and-socket joint pose estimation using magnetic field 基于磁场的球窝关节姿态估计

International Symposium of Robotics Research Pub Date : 2022-10-08 DOI: 10.48550/arXiv.2210.03984

Tai Hoang, Alona Kharchenko, Simon Trendel, Rafael Hostettler

{"title":"Ball-and-socket joint pose estimation using magnetic field","authors":"Tai Hoang, Alona Kharchenko, Simon Trendel, Rafael Hostettler","doi":"10.48550/arXiv.2210.03984","DOIUrl":"https://doi.org/10.48550/arXiv.2210.03984","url":null,"abstract":"Roboy 3.0 is an open-source tendon-driven humanoid robot that mimics the musculoskeletal system of the human body. Roboy 3.0 is being developed as a remote robotic body - or a robotic avatar - for humans to achieve remote physical presence. Artificial muscles and tendons allow it to closely resemble human morphology with 3-DoF neck, shoulders and wrists. Roboy 3.0 3-DoF joints are implemented as ball-and-socket joints. While industry provides a clear solution for 1-DoF joint pose sensing, it is not the case for the ball-and-socket joint type. In this paper we present a custom solution to estimate the pose of a ball-and-socket joint. We embed an array of magnets into the ball and an array of 3D magnetic sensors into the socket. We then, based on the changes in the magnetic field as the joint rotates, are able to estimate the orientation of the joint. We evaluate the performance of two neural network approaches using the LSTM and Bayesian-filter like DVBF. Results show that in order to achieve the same mean square error (MSE) DVBFs require significantly more time training and hyperparameter tuning compared to LSTMs, while DVBF cope with sensor noise better. Both methods are capable of real-time joint pose estimation at 37 Hz with MSE of around 0.03 rad for all three degrees of freedom combined. The LSTM model is deployed and used for joint pose estimation of Roboy 3.0's shoulder and neck joints. The software implementation and PCB designs are open-sourced under https://github.com/Roboy/ball_and_socket_estimator","PeriodicalId":136210,"journal":{"name":"International Symposium of Robotics Research","volume":"19 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125772079","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Riemannian geometry as a unifying theory for robot motion learning and control 黎曼几何作为机器人运动学习和控制的统一理论

International Symposium of Robotics Research Pub Date : 2022-09-30 DOI: 10.48550/arXiv.2209.15539

Noémie Jaquier, T. Asfour

引用次数: 1

Scale-Invariant Fast Functional Registration 尺度不变快速函数注册

International Symposium of Robotics Research Pub Date : 2022-09-26 DOI: 10.48550/arXiv.2209.12763

Muchen Sun, Allison Pinosky, Ian Abraham, T. Murphey

{"title":"Scale-Invariant Fast Functional Registration","authors":"Muchen Sun, Allison Pinosky, Ian Abraham, T. Murphey","doi":"10.48550/arXiv.2209.12763","DOIUrl":"https://doi.org/10.48550/arXiv.2209.12763","url":null,"abstract":"Functional registration algorithms represent point clouds as functions (e.g. spacial occupancy field) avoiding unreliable correspondence estimation in conventional least-squares registration algorithms. However, existing functional registration algorithms are computationally expensive. Furthermore, the capability of registration with unknown scale is necessary in tasks such as CAD model-based object localization, yet no such support exists in functional registration. In this work, we propose a scale-invariant, linear time complexity functional registration algorithm. We achieve linear time complexity through an efficient approximation of L2-distance between functions using orthonormal basis functions. The use of orthonormal basis functions leads to a formulation that is compatible with least-squares registration. Benefited from the least-square formulation, we use the theory of translation-rotation-invariant measurement to decouple scale estimation and therefore achieve scale-invariant registration. We evaluate the proposed algorithm, named FLS (functional least-squares), on standard 3D registration benchmarks, showing FLS is an order of magnitude faster than state-of-the-art functional registration algorithm without compromising accuracy and robustness. FLS also outperforms state-of-the-art correspondence-based least-squares registration algorithm on accuracy and robustness, with known and unknown scale. Finally, we demonstrate applying FLS to register point clouds with varying densities and partial overlaps, point clouds from different objects within the same category, and point clouds from real world objects with noisy RGB-D measurements.","PeriodicalId":136210,"journal":{"name":"International Symposium of Robotics Research","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127943631","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Reactive Anticipatory Robot Skills with Memory 具有记忆的反应性预期机器人技能

International Symposium of Robotics Research Pub Date : 2022-09-23 DOI: 10.48550/arXiv.2209.11500

Hakan Girgin, Julius Jankowski, S. Calinon

引用次数: 1

Nonmyopic Distilled Data Association Belief Space Planning Under Budget Constraints 预算约束下的非近视眼数据关联信念空间规划

International Symposium of Robotics Research Pub Date : 2022-07-17 DOI: 10.48550/arXiv.2207.08096

Moshe Shienman, V. Indelman

引用次数: 5

Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects 具有有效堆放和拆卸物品的货架上的机械搜索

International Symposium of Robotics Research Pub Date : 2022-07-05 DOI: 10.48550/arXiv.2207.02347

Huang Huang, Letian Fu, Michael Danielczuk, C. Kim, Zachary Tam, Jeffrey Ichnowski, A. Angelova, Brian Ichter, Ken Goldberg

{"title":"Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects","authors":"Huang Huang, Letian Fu, Michael Danielczuk, C. Kim, Zachary Tam, Jeffrey Ichnowski, A. Angelova, Brian Ichter, Ken Goldberg","doi":"10.48550/arXiv.2207.02347","DOIUrl":"https://doi.org/10.48550/arXiv.2207.02347","url":null,"abstract":"Stacking increases storage efficiency in shelves, but the lack of visibility and accessibility makes the mechanical search problem of revealing and extracting target objects difficult for robots. In this paper, we extend the lateral-access mechanical search problem to shelves with stacked items and introduce two novel policies -- Distribution Area Reduction for Stacked Scenes (DARSS) and Monte Carlo Tree Search for Stacked Scenes (MCTSSS) -- that use destacking and restacking actions. MCTSSS improves on prior lookahead policies by considering future states after each potential action. Experiments in 1200 simulated and 18 physical trials with a Fetch robot equipped with a blade and suction cup suggest that destacking and restacking actions can reveal the target object with 82--100% success in simulation and 66--100% in physical experiments, and are critical for searching densely packed shelves. In the simulation experiments, both policies outperform a baseline and achieve similar success rates but take more steps compared with an oracle policy that has full state information. In simulation and physical experiments, DARSS outperforms MCTSSS in median number of steps to reveal the target, but MCTSSS has a higher success rate in physical experiments, suggesting robustness to perception noise. See https://sites.google.com/berkeley.edu/stax-ray for supplementary material.","PeriodicalId":136210,"journal":{"name":"International Symposium of Robotics Research","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130658783","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

Visual Foresight With a Local Dynamics Model 基于局部动力学模型的视觉预见

International Symposium of Robotics Research Pub Date : 2022-06-29 DOI: 10.48550/arXiv.2206.14802

Colin Kohler, Robert W. Platt

引用次数: 0