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Register a new userMulti-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Grasps
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Added by
Jens Lundell
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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While there exists many methods for manipulating rigid objects with parallel-jaw grippers, grasping with multi-finger robotic hands remains a quite unexplored research topic. Reasoning and planning collision-free trajectories on the additional degrees of freedom of several fingers represents an important challenge that, so far, involves computationally costly and slow processes. In this work, we present Multi-FinGAN, a fast generative multi-finger grasp sampling method that synthesizes high quality grasps directly from RGB-D images in about a second. We achieve this by training in an end-to-end fashion a coarse-to-fine model composed of a classification network that distinguishes grasp types according to a specific taxonomy and a refinement network that produces refined grasp poses and joint angles. We experimentally validate and benchmark our method against a standard grasp-sampling method on 790 grasps in simulation and 20 grasps on a real Franka Emika Panda. All experimental results using our method show consistent improvements both in terms of grasp quality metrics and grasp success rate. Remarkably, our approach is up to 20-30 times faster than the baseline, a significant improvement that opens the door to feedback-based grasp re-planning and task informative grasping. Code is available at https://irobotics.aalto.fi/multi-fingan/.
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Multi-graph multi-label learning (textsc{Mgml}) is a supervised learning framework, which aims to learn a multi-label classifier from a set of labeled bags each containing a number of graphs. Prior techniques on the textsc{Mgml} are developed based on transfering graphs into instances and focus on learning the unseen labels only at the bag level. In this paper, we propose a textit{coarse} and textit{fine-grained} Multi-graph Multi-label (cfMGML) learning framework which directly builds the learning model over the graphs and empowers the label prediction at both the textit{coarse} (aka. bag) level and textit{fine-grained} (aka. graph in each bag) level. In particular, given a set of labeled multi-graph bags, we design the scoring functions at both graph and bag levels to model the relevance between the label and data using specific graph kernels. Meanwhile, we propose a thresholding rank-loss objective function to rank the labels for the graphs and bags and minimize the hamming-loss simultaneously at one-step, which aims to addresses the error accumulation issue in traditional rank-loss algorithms. To tackle the non-convex optimization problem, we further develop an effective sub-gradient descent algorithm to handle high-dimensional space computation required in cfMGML. Experiments over various real-world datasets demonstrate cfMGML achieves superior performance than the state-of-arts algorithms.
When faced with learning challenging new tasks, humans often follow sequences of steps that allow them to incrementally build up the necessary skills for performing these new tasks. However, in machine learning, models are most often trained to solve the target tasks directly.Inspired by human learning, we propose a novel curriculum learning approach which decomposes challenging tasks into sequences of easier intermediate goals that are used to pre-train a model before tackling the target task. We focus on classification tasks, and design the intermediate tasks using an automatically constructed label hierarchy. We train the model at each level of the hierarchy, from coarse labels to fine labels, transferring acquired knowledge across these levels. For instance, the model will first learn to distinguish animals from objects, and then use this acquired knowledge when learning to classify among more fine-grained classes such as cat, dog, car, and truck. Most existing curriculum learning algorithms for supervised learning consist of scheduling the order in which the training examples are presented to the model. In contrast, our approach focuses on the output space of the model. We evaluate our method on several established datasets and show significant performance gains especially on classification problems with many labels. We also evaluate on a new synthetic dataset which allows us to study multiple aspects of our method.
Facial landmark localization plays an important role in face recognition and analysis applications. In this paper, we give a brief introduction to a coarse-to-fine pipeline with neural networks and sequential regression. First, a global convolutional network is applied to the holistic facial image to give an initial landmark prediction. A pyramid of multi-scale local image patches is then cropped to feed to a new network for each landmark to refine the prediction. As the refinement network outputs a more accurate position estimation than the input, such procedure could be repeated several times until the estimation converges. We evaluate our system on the 300-W dataset [11] and it outperforms the recent state-of-the-arts.
Grasp planning for multi-fingered hands is computationally expensive due to the joint-contact coupling, surface nonlinearities and high dimensionality, thus is generally not affordable for real-time implementations. Traditional planning methods by optimization, sampling or learning work well in planning for parallel grippers but remain challenging for multi-fingered hands. This paper proposes a strategy called finger splitting, to plan precision grasps for multi-fingered hands starting from optimal parallel grasps. The finger splitting is optimized by a dual-stage iterative optimization including a contact point optimization (CPO) and a palm pose optimization (PPO), to gradually split fingers and adjust both the contact points and the palm pose. The dual-stage optimization is able to consider both the object grasp quality and hand manipulability, address the nonlinearities and coupling, and achieve efficient convergence within one second. Simulation results demonstrate the effectiveness of the proposed approach. The simulation video is available at: http://me.berkeley.edu/%7Eyongxiangfan/IROS2018/fingersplit.html
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