International Journal of Robotics Research最新文献_第6页

Control-oriented meta-learning Control-oriented元学习

1区计算机科学

International Journal of Robotics Research Pub Date : 2023-06-07 DOI: 10.1177/02783649231165085

Spencer M. Richards, Navid Azizan, Jean-Jacques Slotine, Marco Pavone

{"title":"Control-oriented meta-learning","authors":"Spencer M. Richards, Navid Azizan, Jean-Jacques Slotine, Marco Pavone","doi":"10.1177/02783649231165085","DOIUrl":"https://doi.org/10.1177/02783649231165085","url":null,"abstract":"Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics terms are linearly parameterizable with known nonlinear features. However, it is often difficult to specify such features a priori, such as for aerodynamic disturbances on rotorcraft or interaction forces between a manipulator arm and various objects. In this paper, we turn to data-driven modeling with neural networks to learn, offline from past data, an adaptive controller with an internal parametric model of these nonlinear features. Our key insight is that we can better prepare the controller for deployment with control-oriented meta-learning of features in closed-loop simulation, rather than regression-oriented meta-learning of features to fit input-output data. Specifically, we meta-learn the adaptive controller with closed-loop tracking simulation as the base-learner and the average tracking error as the meta-objective. With both fully actuated and underactuated nonlinear planar rotorcraft subject to wind, we demonstrate that our adaptive controller outperforms other controllers trained with regression-oriented meta-learning when deployed in closed-loop for trajectory tracking control.","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135403611","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: 10

Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces 通过触觉足接口控制两个机器人助手，实现四臂腹腔镜手术

IF 9.2 1区计算机科学

International Journal of Robotics Research Pub Date : 2023-06-01 DOI: 10.1177/02783649231180366

Jacob Hernandez Sanchez, Walid Amanhoud, A. Billard, M. Bouri

{"title":"Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces","authors":"Jacob Hernandez Sanchez, Walid Amanhoud, A. Billard, M. Bouri","doi":"10.1177/02783649231180366","DOIUrl":"https://doi.org/10.1177/02783649231180366","url":null,"abstract":"Robotic surgery is a promising direction to improve surgeons and assistants’ daily life with respect to conventional surgery. In this work, we propose solo laparoscopic surgery in which two robotic arms, controlled via haptic foot interfaces, assist the task of the hands. Such a system opens the door for simultaneous control of four laparoscopic tools by the same user. Each hand controls a manipulative tool while a foot controls an endoscope/camera and another controls an actuated gripper. In this scenario, the surgeon and robots need to work collaboratively within a concurrent workspace, while meeting the precision demands of surgery. To this end, we propose a control framework for the robotic arms that deals with all the task- and safety-related constraints. Furthermore, to ease the control through the feet, two assistance modalities are proposed: adaptive visual tracking of the laparoscopic instruments with the camera and grasping assistance for the gripper. A user study is conducted on twelve subjects to highlight the ease of use of the system and to evaluate the relevance of the proposed shared control strategies. The results confirm the feasibility of four-arm surgical-like tasks without extensive training in tasks that involve visual-tracking and manipulation goals for the feet, as well as coordination with both hands. Moreover, our study characterizes and motivates the use of robotic assistance for reducing task load, improving performance, increasing fluency, and eliciting higher coordination during four-arm laparoscopic tasks.","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":"42 1","pages":"475 - 503"},"PeriodicalIF":9.2,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41513852","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

Integrated planning and control of robotic surgical instruments for task autonomy 机器人手术器械任务自主性的综合规划与控制

IF 9.2 1区计算机科学

International Journal of Robotics Research Pub Date : 2023-05-13 DOI: 10.1177/02783649231179753

Fangxun Zhong, Yun-hui Liu

{"title":"Integrated planning and control of robotic surgical instruments for task autonomy","authors":"Fangxun Zhong, Yun-hui Liu","doi":"10.1177/02783649231179753","DOIUrl":"https://doi.org/10.1177/02783649231179753","url":null,"abstract":"Agile maneuvers are essential for robot-enabled complex tasks such as surgical procedures. Prior explorations on surgery autonomy are limited to feasibility study of completing a single task without systematically addressing generic manipulation safety across different tasks. We present an integrated planning and control framework for 6-DoF robotic instruments for pipeline automation of surgical tasks. We leverage the geometry of a robotic instrument and propose the nodal state space to represent the robot state in SE(3) space. Each elementary robot motion could be encoded by regulation of the state parameters via a dynamical system. This theoretically ensures that every in-process trajectory is globally feasible and stably reached to an admissible target, and the controller is of closed-form without computing 6-DoF inverse kinematics. Then, to plan the motion steps reliably, we propose an interactive (instant) goal state of the robot that transforms manipulation planning through desired path constraints into a goal-varying manipulation (GVM) problem. We detail how GVM could adaptively and smoothly plan the procedure (could proceed or rewind the process as needed) based on on-the-fly situations under dynamic or disturbed environment. Finally, we extend the above policy to characterize complete pipelines of various surgical tasks. Simulations show that our framework could smoothly solve twisted maneuvers while avoiding collisions. Physical experiments using the da Vinci Research Kit validates the capability of automating individual tasks including tissue debridement, dissection, and wound suturing. The results confirm good task-level consistency and reliability compared to state-of-the-art automation algorithms.","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":"42 1","pages":"504 - 536"},"PeriodicalIF":9.2,"publicationDate":"2023-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42888141","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

Eiffel Tower: A deep-sea underwater dataset for long-term visual localization 埃菲尔铁塔：用于长期视觉定位的深海水下数据集

IF 9.2 1区计算机科学

International Journal of Robotics Research Pub Date : 2023-05-09 DOI: 10.1177/02783649231177322

Clémentin Boittiaux, C. Dune, Maxime Ferrera, A. Arnaubec, R. Marxer, M. Matabos, Loïc Van Audenhaege, Vincent Hugel

{"title":"Eiffel Tower: A deep-sea underwater dataset for long-term visual localization","authors":"Clémentin Boittiaux, C. Dune, Maxime Ferrera, A. Arnaubec, R. Marxer, M. Matabos, Loïc Van Audenhaege, Vincent Hugel","doi":"10.1177/02783649231177322","DOIUrl":"https://doi.org/10.1177/02783649231177322","url":null,"abstract":"Visual localization plays an important role in the positioning and navigation of robotics systems within previously visited environments. When visits occur over long periods of time, changes in the environment related to seasons or day-night cycles present a major challenge. Under water, the sources of variability are due to other factors such as water conditions or growth of marine organisms. Yet, it remains a major obstacle and a much less studied one, partly due to the lack of data. This paper presents a new deep-sea dataset to benchmark underwater long-term visual localization. The dataset is composed of images from four visits to the same hydrothermal vent edifice over the course of 5 years. Camera poses and a common geometry of the scene were estimated using navigation data and Structure-from-Motion. This serves as a reference when evaluating visual localization techniques. An analysis of the data provides insights about the major changes observed throughout the years. Furthermore, several well-established visual localization methods are evaluated on the dataset, showing there is still room for improvement in underwater long-term visual localization. The data is made publicly available at seanoe.org/data/00810/92226/.","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":"42 1","pages":"689 - 699"},"PeriodicalIF":9.2,"publicationDate":"2023-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46759361","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: 3

Autogenerated manipulation primitives 自动生成的操作原语

IF 9.2 1区计算机科学

International Journal of Robotics Research Pub Date : 2023-05-01 DOI: 10.1177/02783649231170897

Eric Huang, Xianyi Cheng, Yuemin Mao, Arnav Gupta, M. T. Mason

{"title":"Autogenerated manipulation primitives","authors":"Eric Huang, Xianyi Cheng, Yuemin Mao, Arnav Gupta, M. T. Mason","doi":"10.1177/02783649231170897","DOIUrl":"https://doi.org/10.1177/02783649231170897","url":null,"abstract":"The central theme in robotic manipulation is that of the robot interacting with the world through physical contact. We tend to describe that physical contact using specific words that capture the nature of the contact and the action, such as grasp, roll, pivot, push, pull, tilt, close, open etc. We refer to these situation-specific actions as manipulation primitives. Due to the nonlinear and nonsmooth nature of physical interaction, roboticists have devoted significant efforts towards studying individual manipulation primitives. However, studying individual primitives one by one is an inherently limited process, due engineering costs, overfitting to specific tasks, and lack of robustness to unforeseen variations. These limitations motivate the main contribution of this paper: a complete and general framework to autogenerate manipulation primitives. To do so, we develop the theory and computation of contact modes as a means to classify and enumerate manipulation primitives. The contact modes form a graph, specifically a lattice. Our algorithm to autogenerate manipulation primitives (AMP) performs graph-based optimization on the contact mode lattice and solves a linear program to generate each primitive. We designed several experiments to validate our approach. We benchmarked a wide range of contact scenarios and our pipeline’s runtime was consistently in the 10 s of milliseconds. In simulation, we planned manipulation sequences using AMP. In the real-world, we showcased the robustness of our approach to real-world modeling errors. We hope that our contributions will lead to more general and robust approaches for robotic manipulation.","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":"42 1","pages":"433 - 458"},"PeriodicalIF":9.2,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42313108","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: 2

Selected papers from WAFR2020 WAFR2020论文选集

1区计算机科学

International Journal of Robotics Research Pub Date : 2023-05-01 DOI: 10.1177/02783649231187014

Jingjin Yu, Ming C. Lin

引用次数: 0

IJRR: A look back and a look forward IJRR:回顾过去，展望未来

IF 9.2 1区计算机科学

International Journal of Robotics Research Pub Date : 2023-05-01 DOI: 10.1177/02783649231187463

A. Bicchi

引用次数: 0

USTC FLICAR: A sensors fusion dataset of LiDAR-inertial-camera for heavy-duty autonomous aerial work robots 中国科大fliar:重型自主高空作业机器人激光雷达-惯性相机传感器融合数据集

IF 9.2 1区计算机科学

International Journal of Robotics Research Pub Date : 2023-04-04 DOI: 10.1177/02783649231195650

Ziming Wang, Yujiang Liu, Yifan Duan, Xingchen Li, Xinran Zhang, Jianmin Ji, Erbao Dong, Yanyong Zhang

{"title":"USTC FLICAR: A sensors fusion dataset of LiDAR-inertial-camera for heavy-duty autonomous aerial work robots","authors":"Ziming Wang, Yujiang Liu, Yifan Duan, Xingchen Li, Xinran Zhang, Jianmin Ji, Erbao Dong, Yanyong Zhang","doi":"10.1177/02783649231195650","DOIUrl":"https://doi.org/10.1177/02783649231195650","url":null,"abstract":"In this paper, we present the USTC FLICAR Dataset, which is dedicated to the development of simultaneous localization and mapping and precise 3D reconstruction of the workspace for heavy-duty autonomous aerial work robots. In recent years, numerous public datasets have played significant roles in the advancement of autonomous cars and unmanned aerial vehicles (UAVs). However, these two platforms differ from aerial work robots: UAVs are limited in their payload capacity, while cars are restricted to two-dimensional movements. To fill this gap, we create the “Giraffe” mapping robot based on a bucket truck, which is equipped with a variety of well-calibrated and synchronized sensors: four 3D LiDARs, two stereo cameras, two monocular cameras, Inertial Measurement Units (IMUs), and a GNSS/INS system. A laser tracker is used to record the millimeter-level ground truth positions. We also make its ground twin, the “Okapi” mapping robot, to gather data for comparison. The proposed dataset extends the typical autonomous driving sensing suite to aerial scenes, demonstrating the potential of combining autonomous driving perception systems with bucket trucks to create a versatile autonomous aerial working platform. Moreover, based on the Segment Anything Model (SAM), we produce the Semantic FLICAR dataset, which provides fine-grained semantic segmentation annotations for multimodal continuous data in both temporal and spatial dimensions. The dataset is available for download at: https://ustc-flicar.github.io/ .","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":" ","pages":""},"PeriodicalIF":9.2,"publicationDate":"2023-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49061573","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

The blindfolded traveler’s problem: A search framework for motion planning with contact estimates 蒙眼旅行者的问题:带接触估计的运动规划搜索框架

IF 9.2 1区计算机科学

International Journal of Robotics Research Pub Date : 2023-04-01 DOI: 10.1177/02783649231170893

Brad Saund, Sanjiban Choudhury, S. Srinivasa, D. Berenson

{"title":"The blindfolded traveler’s problem: A search framework for motion planning with contact estimates","authors":"Brad Saund, Sanjiban Choudhury, S. Srinivasa, D. Berenson","doi":"10.1177/02783649231170893","DOIUrl":"https://doi.org/10.1177/02783649231170893","url":null,"abstract":"We address the problem of robot motion planning under uncertainty where the only observations are through contact with the environment. Such problems are typically solved by planning optimistically assuming unknown space is free, moving along the planned path and re-planning if the robot collides. However this approach can be very inefficient, leading to many unnecessary collisions and unproductive motion. We propose a new formulation, the Blindfolded Traveler’s Problem (BTP), for planning on a graph containing edges with unknown validity, with true validity observed only through attempted traversal by the robot. The solution to a BTP is a policy indicating the next edge to attempt given previous observations and an initial belief. We prove that BTP is NP-complete and show that exact modeling of the belief is intractable, therefore we present several approximation-based policies and beliefs. For the policy we propose graph search with edge weights augmented by the probability of collision. For the belief representation we propose a weighted Mixture of Experts of Collision Hypothesis Sets and a Manifold Particle Filter. Empirical evaluation in simulation and on a real robot arm shows that our proposed approach vastly outperforms several baselines as well as a previous approach that does not employ the BTP framework.","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":"42 1","pages":"289 - 309"},"PeriodicalIF":9.2,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44521125","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

Asymptotically optimal inspection planning via efficient near-optimal search on sampled roadmaps 基于采样路线图的有效近似最优搜索的渐进最优检测规划

IF 9.2 1区计算机科学

International Journal of Robotics Research Pub Date : 2023-04-01 DOI: 10.1177/02783649231171646

Mengyu Fu, A. Kuntz, Oren Salzman, R. Alterovitz

{"title":"Asymptotically optimal inspection planning via efficient near-optimal search on sampled roadmaps","authors":"Mengyu Fu, A. Kuntz, Oren Salzman, R. Alterovitz","doi":"10.1177/02783649231171646","DOIUrl":"https://doi.org/10.1177/02783649231171646","url":null,"abstract":"Inspection planning, the task of planning motions for a robot that enable it to inspect a set of points of interest, has applications in domains such as industrial, field, and medical robotics. Inspection planning can be computationally challenging, as the search space over motion plans grows exponentially with the number of points of interest to inspect. We propose a novel method, Incremental Random Inspection-roadmap Search (IRIS), that computes inspection plans whose length and set of successfully inspected points asymptotically converge to those of an optimal inspection plan. IRIS incrementally densifies a motion-planning roadmap using a sampling-based algorithm and performs efficient near-optimal graph search over the resulting roadmap as it is generated. We prove the resulting algorithm is asymptotically optimal under very general assumptions about the robot and the environment. We demonstrate IRIS’s efficacy on a simulated inspection task with a planar five DOF manipulator, on a simulated bridge inspection task with an Unmanned Aerial Vehicle (UAV), and on a medical endoscopic inspection task for a continuum parallel surgical robot in cluttered human anatomy. In all these systems IRIS computes higher-quality inspection plans orders of magnitudes faster than a prior state-of-the-art method.","PeriodicalId":54942,"journal":{"name":"International Journal of Robotics Research","volume":"42 1","pages":"150 - 175"},"PeriodicalIF":9.2,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46384380","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