International Journal of Robotics Research最新文献_第4页

Abstracting road traffic via topological braids: Applications to traffic flow analysis and distributed control 通过拓扑辫提取道路交通：在交通流分析和分布式控制中的应用

IF 9.2 1区计算机科学

International Journal of Robotics Research Pub Date : 2023-09-08 DOI: 10.1177/02783649231188740

Christoforos Mavrogiannis, Jonathan DeCastro, S. Srinivasa

{"title":"Abstracting road traffic via topological braids: Applications to traffic flow analysis and distributed control","authors":"Christoforos Mavrogiannis, Jonathan DeCastro, S. Srinivasa","doi":"10.1177/02783649231188740","DOIUrl":"https://doi.org/10.1177/02783649231188740","url":null,"abstract":"Despite the structure of road environments, imposed via geometry and rules, traffic flows exhibit complex multiagent dynamics. Reasoning about such dynamics is challenging due to the high dimensionality of possible behavior, the heterogeneity of agents, and the stochasticity of their decision-making. Modeling approaches learning associations in Euclidean spaces are often limited by their high sample complexity and the sparseness of available datasets. Our key insight is that the structure of traffic behavior could be effectively captured by lower-dimensional abstractions that emphasize critical interaction relationships. In this article, we abstract the space of behavior in traffic scenes into a discrete set of interaction modes, described in interpretable, symbolic form using topological braids. First, through a case study across real-world datasets, we show that braids can describe a wide range of complex behavior and uncover insights about the interactivity of vehicles. For instance, we find that high vehicle density does not always map to rich mixing patterns among them. Further, we show that our representation can effectively guide decision-making in traffic scenes. We describe a mechanism that probabilistically maps vehicles’ past behavior to modes of future interaction. We integrate this mechanism into a control algorithm that treats navigation as minimization of uncertainty over interaction modes, and investigate its performance on the task of traversing uncontrolled intersections in simulation. We show that our algorithm enables agents to coordinate significantly safer traversals for similar efficiency compared to baselines explicitly reasoning in the space of trajectories across a series of challenging scenarios.","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":" ","pages":""},"PeriodicalIF":9.2,"publicationDate":"2023-09-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48199767","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Iterative residual policy: For goal-conditioned dynamic manipulation of deformable objects 迭代残差策略:用于可变形对象的目标条件动态操作

1区计算机科学

International Journal of Robotics Research Pub Date : 2023-09-07 DOI: 10.1177/02783649231201201

Cheng Chi, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song

{"title":"Iterative residual policy: For goal-conditioned dynamic manipulation of deformable objects","authors":"Cheng Chi, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song","doi":"10.1177/02783649231201201","DOIUrl":"https://doi.org/10.1177/02783649231201201","url":null,"abstract":"This paper tackles the task of goal-conditioned dynamic manipulation of deformable objects. This task is highly challenging due to its complex dynamics (introduced by object deformation and high-speed action) and strict task requirements (defined by a precise goal specification). To address these challenges, we present Iterative Residual Policy (IRP), a general learning framework applicable to repeatable tasks with complex dynamics. IRP learns an implicit policy via delta dynamics—instead of modeling the entire dynamical system and inferring actions from that model, IRP learns delta dynamics that predict the effects of delta action on the previously observed trajectory. When combined with adaptive action sampling, the system can quickly optimize its actions online to reach a specified goal. We demonstrate the effectiveness of IRP on two tasks: whipping a rope to hit a target point and swinging a cloth to reach a target pose. Despite being trained only in simulation on a fixed robot setup, IRP is able to efficiently generalize to noisy real-world dynamics, new objects with unseen physical properties, and even different robot hardware embodiments, demonstrating its excellent generalization capability relative to alternative approaches.","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135048632","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Sequential Monte Carlo localization in topometric appearance maps 地形图外观图的顺序蒙特卡罗定位

IF 9.2 1区计算机科学

International Journal of Robotics Research Pub Date : 2023-09-05 DOI: 10.1177/02783649231197723

Alberto Jaenal, Francisco-Angel Moreno, J. Gonzalez-Jimenez

{"title":"Sequential Monte Carlo localization in topometric appearance maps","authors":"Alberto Jaenal, Francisco-Angel Moreno, J. Gonzalez-Jimenez","doi":"10.1177/02783649231197723","DOIUrl":"https://doi.org/10.1177/02783649231197723","url":null,"abstract":"Representing the scene appearance by a global image descriptor (BoW, NetVLAD, etc.) is a widely adopted choice to address Visual Place Recognition (VPR). The main reasons are that appearance descriptors can be effectively provided with radiometric and perspective invariances as well as they can deal with large environments because of their compactness. However, addressing metric localization with such descriptors (a problem called Appearance-based Localization or AbL) achieves much poorer accuracy than those techniques exploiting the observation of 3D landmarks, which represent the standard for visual localization. In this paper, we propose ALLOM (Appearance-based Localization with Local Observation Models) which addresses AbL by leveraging the topological location of a robot within a map to achieve accurate metric estimations. This topology-assisted metric localization is implemented with a sequential Monte Carlo Bayesian filter that applies a specific observation model for each different place of the environment, thus taking advantage of the local correlation between the pose and the appearance descriptor within each region. ALLOM also benefits from the topological structure of the map to detect eventual robot loss-of-tracking and to effectively cope with its relocalization by applying VPR. Our proposal demonstrates superior metric localization capability compared to different state-of-the-art AbL methods under a wide range of situations.","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":" ","pages":""},"PeriodicalIF":9.2,"publicationDate":"2023-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47074445","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Modal-graph 3D shape servoing of deformable objects with raw point clouds 具有原始点云的可变形物体的模态图三维形状伺服

1区计算机科学

International Journal of Robotics Research Pub Date : 2023-09-04 DOI: 10.1177/02783649231198900

Bohan Yang, Congying Sui, Fangxun Zhong, Yun-Hui Liu

{"title":"Modal-graph 3D shape servoing of deformable objects with raw point clouds","authors":"Bohan Yang, Congying Sui, Fangxun Zhong, Yun-Hui Liu","doi":"10.1177/02783649231198900","DOIUrl":"https://doi.org/10.1177/02783649231198900","url":null,"abstract":"Deformable object manipulation (DOM) with point clouds has great potential as nonrigid 3D shapes can be measured without detecting and tracking image features. However, robotic shape control of deformable objects with point clouds is challenging due to: the unknown point correspondences and the noisy partial observability of raw point clouds; the modeling difficulties of the relationship between point clouds and robot motions. To tackle these challenges, this paper introduces a novel modal-graph framework for the model-free shape servoing of deformable objects with raw point clouds. Unlike the existing works studying the object’s geometry structure, we propose a modal graph to describe the low-frequency deformation structure of the DOM system, which is robust to the measurement irregularities. The modal graph enables us to directly extract low-dimensional deformation features from raw point clouds without extra processing of registrations, refinements, and occlusion removal. It also preserves the spatial structure of the DOM system to inverse the feature changes into robot motions. Moreover, as the framework is built with unknown physical and geometric object models, we design an adaptive robust controller to deform the object toward the desired shape while tackling the modeling uncertainties, noises, and disturbances online. The system is proved to be input-to-state stable (ISS) using Lyapunov-based methods. Extensive experiments are conducted to validate our method using linear, planar, tubular, and volumetric objects under different settings.","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135403222","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Continuous latent state preintegration for inertial-aided systems 惯性辅助系统的连续潜态预积分

IF 9.2 1区计算机科学

International Journal of Robotics Research Pub Date : 2023-09-01 DOI: 10.1177/02783649231199537

Cedric Le Gentil, Teresa Vidal-Calleja

{"title":"Continuous latent state preintegration for inertial-aided systems","authors":"Cedric Le Gentil, Teresa Vidal-Calleja","doi":"10.1177/02783649231199537","DOIUrl":"https://doi.org/10.1177/02783649231199537","url":null,"abstract":"Traditionally, the pose and velocity prediction of a system at time t2 given inertial measurements from a 6-DoF IMU depends on the knowledge of the system’s state at time t1. It involves a series of integration and double integration that can be computationally expensive if performed regularly, in particular in the context of inertial-aided optimisation-based state estimation. The concept of preintegration consists of creating pseudo-measurements that are independent of the system’s initial conditions (pose and velocity at t1) in order to predict the system’s state at t2. These pseudo-measurements, so-called preintegrated measurements, were originally computed numerically using the integration rectangle rule. This article presents a novel method to perform continuous preintegration using Gaussian processes (GPs) to model the system’s dynamics focusing on high accuracy. It represents the preintegrated measurement’s derivatives in a continuous latent state that is learnt/optimised according to asynchronous IMU gyroscope and accelerometer measurements. The GP models allow for analytical integration and double integration of the latent state to generate accurate preintegrated measurements called unified Gaussian preintegrated measurements (UGPMs). We show through extensive quantitative experiments that the proposed UGPMs outperform the standard preintegration method by an order of magnitude. Additionally, we demonstrate that the UGPMs can be integrated into off-the-shelf multi-modal estimation frameworks with ease based on lidar-inertial, RGBD-inertial, and visual-inertial real-world experiments.","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":" ","pages":""},"PeriodicalIF":9.2,"publicationDate":"2023-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42681604","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robust grasping across diverse sensor qualities: The GraspNet-1Billion dataset 跨不同传感器质量的鲁棒抓取:graspnet - 10亿数据集

IF 9.2 1区计算机科学

International Journal of Robotics Research Pub Date : 2023-08-19 DOI: 10.1177/02783649231193710

Haoshu Fang, Minghao Gou, Chenxi Wang, Cewu Lu

{"title":"Robust grasping across diverse sensor qualities: The GraspNet-1Billion dataset","authors":"Haoshu Fang, Minghao Gou, Chenxi Wang, Cewu Lu","doi":"10.1177/02783649231193710","DOIUrl":"https://doi.org/10.1177/02783649231193710","url":null,"abstract":"Robust object grasping in cluttered scenes is vital to all robotic prehensile manipulation. In this paper, we present the GraspNet-1Billion benchmark that contains rich real-world captured cluttered scenarios and abundant annotations. This benchmark aims at solving two critical problems for the cluttered scenes parallel-finger grasping: the insufficient real-world training data and the lacking of evaluation benchmark. We first contribute a large-scale grasp pose detection dataset. Two different depth cameras based on structured-light and time-of-flight technologies are adopted. Our dataset contains 97,280 RGB-D images with over one billion grasp poses. In total, 190 cluttered scenes are collected, among which 100 are training set and 90 are for testing. Meanwhile, we build an evaluation system that is general and user-friendly. It directly reports a predicted grasp pose’s quality by analytic computation, which is able to evaluate any kind of grasp representation without exhaustively labeling the ground-truth. We further divide the test set into three difficulties to better evaluate algorithms’ generalization ability. Our dataset, accessing API and evaluation code, are publicly available at www.graspnet.net.","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":" ","pages":""},"PeriodicalIF":9.2,"publicationDate":"2023-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46583695","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Optimizing contact patterns for robot locomotion via geometric mechanics 基于几何力学的机器人运动接触模式优化

IF 9.2 1区计算机科学

International Journal of Robotics Research Pub Date : 2023-08-11 DOI: 10.1177/02783649231188387

Baxi Chong, Tianyu Wang, Lin Bo, Shengkai Li, Pranav Muthukrishnan, Juntao He, Daniel Irvine, H. Choset, Grigoriy Blekherman, D. Goldman

{"title":"Optimizing contact patterns for robot locomotion via geometric mechanics","authors":"Baxi Chong, Tianyu Wang, Lin Bo, Shengkai Li, Pranav Muthukrishnan, Juntao He, Daniel Irvine, H. Choset, Grigoriy Blekherman, D. Goldman","doi":"10.1177/02783649231188387","DOIUrl":"https://doi.org/10.1177/02783649231188387","url":null,"abstract":"Contact planning is crucial to the locomotion performance of robots: to properly self-propel forward, it is not only important to determine the sequence of internal shape changes (e.g., body bending and limb shoulder joint oscillation) but also the sequence by which contact is made and broken between the mechanism and its environment. Prior work observed that properly coupling contact patterns and shape changes allows for computationally tractable gait design and efficient gait performance. The state of the art, however, made assumptions, albeit motivated by biological observation, as to how contact and shape changes can be coupled. In this paper, we extend the geometric mechanics (GM) framework to design contact patterns. Specifically, we introduce the concept of “contact space” to the GM framework. By establishing the connection between velocities in shape and position spaces, we can estimate the benefits of each contact pattern change and therefore optimize the sequence of contact patterns. In doing so, we can also analyze how a contact pattern sequence will respond to perturbations. We apply our framework to sidewinding robots and enable (1) effective locomotion direction control and (2) robust locomotion performance as the spatial resolution decreases. We also apply our framework to a hexapod robot with two back-bending joints and show that we can simplify existing hexapod gaits by properly reducing the number of contact state switches (during a gait cycle) without significant loss of locomotion speed. We test our designed gaits with robophysical experiments, and we obtain good agreement between theory and experiments.","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":9.2,"publicationDate":"2023-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41922088","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Adaptive Discretization using Voronoi trees for continuous pOMDPs 基于Voronoi树的连续pomdp自适应离散化

1区计算机科学

International Journal of Robotics Research Pub Date : 2023-08-08 DOI: 10.1177/02783649231188984

Marcus Hoerger, Hanna Kurniawati, Dirk Kroese, Nan Ye

{"title":"Adaptive Discretization using Voronoi trees for continuous pOMDPs","authors":"Marcus Hoerger, Hanna Kurniawati, Dirk Kroese, Nan Ye","doi":"10.1177/02783649231188984","DOIUrl":"https://doi.org/10.1177/02783649231188984","url":null,"abstract":"Solving continuous Partially Observable Markov Decision Processes (POMDPs) is challenging, particularly for high-dimensional continuous action spaces. To alleviate this difficulty, we propose a new sampling-based online POMDP solver, called A daptive D iscretization using V oronoi T rees (ADVT). It uses Monte Carlo Tree Search in combination with an adaptive discretization of the action space as well as optimistic optimization to efficiently sample high-dimensional continuous action spaces and compute the best action to perform. Specifically, we adaptively discretize the action space for each sampled belief using a hierarchical partition called Voronoi tree, which is a Binary Space Partitioning that implicitly maintains the partition of a cell as the Voronoi diagram of two points sampled from the cell. ADVT uses the estimated diameters of the cells to form an upper-confidence bound on the action value function within the cell, guiding the Monte Carlo Tree Search expansion and further discretization of the action space. This enables ADVT to better exploit local information with respect to the action value function, allowing faster identification of the most promising regions in the action space, compared to existing solvers. Voronoi trees keep the cost of partitioning and estimating the diameter of each cell low, even in high-dimensional spaces where many sampled points are required to cover the space well. ADVT additionally handles continuous observation spaces, by adopting an observation progressive widening strategy, along with a weighted particle representation of beliefs. Experimental results indicate that ADVT scales substantially better to high-dimensional continuous action spaces, compared to state-of-the-art methods.","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":"126 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135794789","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Survey of maps of dynamics for mobile robots 移动机器人动力学图综述

IF 9.2 1区计算机科学

International Journal of Robotics Research Pub Date : 2023-08-03 DOI: 10.1177/02783649231190428

T. Kucner, Martin Magnusson, Sariah Mghames, Luigi Palmieri, Francesco Verdoja, Chittaranjan Srinivas Swaminathan, T. Krajník, E. Schaffernicht, N. Bellotto, Marc Hanheide, A. Lilienthal

{"title":"Survey of maps of dynamics for mobile robots","authors":"T. Kucner, Martin Magnusson, Sariah Mghames, Luigi Palmieri, Francesco Verdoja, Chittaranjan Srinivas Swaminathan, T. Krajník, E. Schaffernicht, N. Bellotto, Marc Hanheide, A. Lilienthal","doi":"10.1177/02783649231190428","DOIUrl":"https://doi.org/10.1177/02783649231190428","url":null,"abstract":"Robotic mapping provides spatial information for autonomous agents. Depending on the tasks they seek to enable, the maps created range from simple 2D representations of the environment geometry to complex, multilayered semantic maps. This survey article is about maps of dynamics (MoDs), which store semantic information about typical motion patterns in a given environment. Some MoDs use trajectories as input, and some can be built from short, disconnected observations of motion. Robots can use MoDs, for example, for global motion planning, improved localization, or human motion prediction. Accounting for the increasing importance of maps of dynamics, we present a comprehensive survey that organizes the knowledge accumulated in the field and identifies promising directions for future work. Specifically, we introduce field-specific vocabulary, summarize existing work according to a novel taxonomy, and describe possible applications and open research problems. We conclude that the field is mature enough, and we expect that maps of dynamics will be increasingly used to improve robot performance in real-world use cases. At the same time, the field is still in a phase of rapid development where novel contributions could significantly impact this research area.","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":" ","pages":""},"PeriodicalIF":9.2,"publicationDate":"2023-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42978612","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

BED-BPP: Benchmarking dataset for robotic bin packing problems BED-BPP:机器人装箱问题的基准数据集

IF 9.2 1区计算机科学

International Journal of Robotics Research Pub Date : 2023-08-02 DOI: 10.1177/02783649231193048

Florian Kagerer, Maximilian Beinhofer, Stefan Stricker, A. Nüchter

引用次数: 0