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Register a new userPyTouch: A Machine Learning Library for Touch Processing
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Added by
Roberto Calandra
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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With the increased availability of rich tactile sensors, there is an equally proportional need for open-source and integrated software capable of efficiently and effectively processing raw touch measurements into high-level signals that can be used for control and decision-making. In this paper, we present PyTouch -- the first machine learning library dedicated to the processing of touch sensing signals. PyTouch, is designed to be modular, easy-to-use and provides state-of-the-art touch processing capabilities as a service with the goal of unifying the tactile sensing community by providing a library for building scalable, proven, and performance-validated modules over which applications and research can be built upon. We evaluate PyTouch on real-world data from several tactile sensors on touch processing tasks such as touch detection, slip and object pose estimations. PyTouch is open-sourced at https://github.com/facebookresearch/pytouch .
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This article illustrates the application of deep learning to robot touch by considering a basic yet fundamental capability: estimating the relative pose of part of an object in contact with a tactile sensor. We begin by surveying deep learning applied to tactile robotics, focussing on optical tactile sensors, which help bridge from deep learning for vision to touch. We then show how deep learning can be used to train accurate pose models of 3D surfaces and edges that are insensitive to nuisance variables such as motion-dependent shear. This involves including representative motions as unlabelled perturbations of the training data and using Bayesian optimization of the network and training hyperparameters to find the most accurate models. Accurate estimation of pose from touch will enable robots to safely and precisely control their physical interactions, underlying a wide range of object exploration and manipulation tasks.
MLPACK is a state-of-the-art, scalable, multi-platform C++ machine learning library released in late 2011 offering both a simple, consistent API accessible to novice users and high performance and flexibility to expert users by leveraging modern features of C++. MLPACK provides cutting-edge algorithms whose benchmarks exhibit far better performance than other leading machine learning libraries. MLPACK version 1.0.3, licensed under the LGPL, is available at http://www.mlpack.org.
This paper introduces the first, open source software library for Constraint Consistent Learning (CCL). It implements a family of data-driven methods that are capable of (i) learning state-independent and -dependent constraints, (ii) decomposing the behaviour of redundant systems into task- and null-space parts, and (iii) uncovering the underlying null space control policy. It is a tool to analyse and decompose many everyday tasks, such as wiping, reaching and drawing. The library also includes several tutorials that demonstrate its use with both simulated and real world data in a systematic way. This paper documents the implementation of the library, tutorials and associated helper methods. The software is made freely available to the community, to enable code reuse and allow users to gain in-depth experience in statistical learning in this area.
Incorporating touch as a sensing modality for robots can enable finer and more robust manipulation skills. Existing tactile sensors are either flat, have small sensitive fields or only provide low-resolution signals. In this paper, we introduce OmniTact, a multi-directional high-resolution tactile sensor. OmniTact is designed to be used as a fingertip for robotic manipulation with robotic hands, and uses multiple micro-cameras to detect multi-directional deformations of a gel-based skin. This provides a rich signal from which a variety of different contact state variables can be inferred using modern image processing and computer vision methods. We evaluate the capabilities of OmniTact on a challenging robotic control task that requires inserting an electrical connector into an outlet, as well as a state estimation problem that is representative of those typically encountered in dexterous robotic manipulation, where the goal is to infer the angle of contact of a curved finger pressing against an object. Both tasks are performed using only touch sensing and deep convolutional neural networks to process images from the sensors cameras. We compare with a state-of-the-art tactile sensor that is only sensitive on one side, as well as a state-of-the-art multi-directional tactile sensor, and find that OmniTacts combination of high-resolution and multi-directional sensing is crucial for reliably inserting the electrical connector and allows for higher accuracy in the state estimation task. Videos and supplementary material can be found at https://sites.google.com/berkeley.edu/omnitact
Pylearn2 is a machine learning research library. This does not just mean that it is a collection of machine learning algorithms that share a common API; it means that it has been designed for flexibility and extensibility in order to facilitate research projects that involve new or unusual use cases. In this paper we give a brief history of the library, an overview of its basic philosophy, a summary of the librarys architecture, and a description of how the Pylearn2 community functions socially.
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