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Register a new userAction Image Representation: Learning Scalable Deep Grasping Policies with Zero Real World Data
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Mohi Khansari
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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This paper introduces Action Image, a new grasp proposal representation that allows learning an end-to-end deep-grasping policy. Our model achieves $84%$ grasp success on $172$ real world objects while being trained only in simulation on $48$ objects with just naive domain randomization. Similar to computer vision problems, such as object detection, Action Image builds on the idea that object features are invariant to translation in image space. Therefore, grasp quality is invariant when evaluating the object-gripper relationship; a successful grasp for an object depends on its local context, but is independent of the surrounding environment. Action Image represents a grasp proposal as an image and uses a deep convolutional network to infer grasp quality. We show that by using an Action Image representation, trained networks are able to extract local, salient features of grasping tasks that generalize across different objects and environments. We show that this representation works on a variety of inputs, including color images (RGB), depth images (D), and combined color-depth (RGB-D). Our experimental results demonstrate that networks utilizing an Action Image representation exhibit strong domain transfer between training on simulated data and inference on real-world sensor streams. Finally, our experiments show that a network trained with Action Image improves grasp success ($84%$ vs. $53%$) over a baseline model with the same structure, but using actions encoded as vectors.
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Federated learning is a new machine learning paradigm which allows data parties to build machine learning models collaboratively while keeping their data secure and private. While research efforts on federated learning have been growing tremendously in the past two years, most existing works still depend on pre-existing public datasets and artificial partitions to simulate data federations due to the lack of high-quality labeled data generated from real-world edge applications. Consequently, advances on benchmark and model evaluations for federated learning have been lagging behind. In this paper, we introduce a real-world image dataset. The dataset contains more than 900 images generated from 26 street cameras and 7 object categories annotated with detailed bounding box. The data distribution is non-IID and unbalanced, reflecting the characteristic real-world federated learning scenarios. Based on this dataset, we implemented two mainstream object detection algorithms (YOLO and Faster R-CNN) and provided an extensive benchmark on model performance, efficiency, and communication in a federated learning setting. Both the dataset and algorithms are made publicly available.
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Using simulation to train robot manipulation policies holds the promise of an almost unlimited amount of training data, generated safely out of harms way. One of the key challenges of using simulation, to date, has been to bridge the reality gap, so that policies trained in simulation can be deployed in the real world. We explore the reality gap in the context of learning a contextual policy for multi-fingered robotic grasping. We propose a Grasping Objects Approach for Tactile (GOAT) robotic hands, learning to overcome the reality gap problem. In our approach we use human hand motion demonstration to initialize and reduce the search space for learning. We contextualize our policy with the bounding cuboid dimensions of the object of interest, which allows the policy to work on a more flexible representation than directly using an image or point cloud. Leveraging fingertip touch sensors in the hand allows the policy to overcome the reduction in geometric information introduced by the coarse bounding box, as well as pose estimation uncertainty. We show our learned policy successfully runs on a real robot without any fine tuning, thus bridging the reality gap.
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