Task-relevant grasping is critical for industrial assembly, where downstream manipulation tasks constrain the set of valid grasps. Learning how to perform this task, however, is challenging, since task-relevant grasp labels are hard to define and annotate. There is also yet no consensus on proper representations for modeling or off-the-shelf tools for performing task-relevant grasps. This work proposes a framework to learn task-relevant grasping for industrial objects without the need of time-consuming real-world data collection or manual annotation. To achieve this, the entire framework is trained solely in simulation, including supervised training with synthetic label generation and self-supervised, hand-object interaction. In the context of this framework, this paper proposes a novel, object-centric canonical representation at the category level, which allows establishing dense correspondence across object instances and transferring task-relevant grasps to novel instances. Extensive experiments on task-relevant grasping of densely-cluttered industrial objects are conducted in both simulation and real-world setups, demonstrating the effectiveness of the proposed framework.
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A Parametric Grasping Methodology for Multi-Manual Interactions in Real-Time Dynamic Simulations
Interactive simulators are used in several important applications which include the training simulators for teleoperated robotic laparoscopic surgery. While stateof-art simulators are capable of rendering realistic visuals and accurate dynamics, grasping is often implemented using kinematic simplification techniques that prevent truly multimanual manipulation, which is often an important requirement of the actual task. Realistic grasping and manipulation in simulation is a challenging problem due to the constraints imposed by the implementation of rigid-body dynamics and collision computation techniques in state-of-the-art physics libraries. We present a penalty based parametric approach to achieve multi-manual grasping and manipulation of complex objects at arbitrary postures in a real-time dynamic simulation. This approach is demonstrated by accomplishing multi-manual tasks modeled after realistic scenarios, which include the grasping and manipulation of a two-handed screwdriver task and the manipulation of a deformable thread.
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- NSF-PAR ID:
- 10207766
- Date Published:
- Journal Name:
- 2020 IEEE International Conference on Robotics and Automation (ICRA)
- Page Range / eLocation ID:
- 8712 to 8718
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Promising results have been achieved recently in category-level manipulation that generalizes across object instances. Nevertheless, it often requires expensive real-world data collection and manual specification of semantic keypoints for each object category and task. Additionally, coarse keypoint predictions and ignoring intermediate action sequences hinder adoption in complex manipulation tasks beyond pick-and-place. This work proposes a novel, category-level manipulation framework that leverages an object-centric, category-level representation and model-free 6 DoF motion tracking. The canonical object representation is learned solely in simulation and then used to parse a category-level, task trajectory from a single demonstration video. The demonstration is reprojected to a target trajectory tailored to a novel object via the canonical representation. During execution, the manipulation horizon is decomposed into longrange, collision-free motion and last-inch manipulation. For the latter part, a category-level behavior cloning (CatBC) method leverages motion tracking to perform closed-loop control. CatBC follows the target trajectory, projected from the demonstration and anchored to a dynamically selected category-level coordinate frame. The frame is automatically selected along the manipulation horizon by a local attention mechanism. This framework allows to teach different manipulation strategies by solely providing a single demonstration, without complicated manual programming. Extensive experiments demonstrate its efficacy in a range of challenging industrial tasks in highprecision assembly, which involve learning complex, long-horizon policies. The process exhibits robustness against uncertainty due to dynamics as well as generalization across object instances and scene configurations.more » « less
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Abstract Background Statistical geneticists employ simulation to estimate the power of proposed studies, test new analysis tools, and evaluate properties of causal models. Although there are existing trait simulators, there is ample room for modernization. For example, most phenotype simulators are limited to Gaussian traits or traits transformable to normality, while ignoring qualitative traits and realistic, non-normal trait distributions. Also, modern computer languages, such as Julia, that accommodate parallelization and cloud-based computing are now mainstream but rarely used in older applications. To meet the challenges of contemporary big studies, it is important for geneticists to adopt new computational tools.
Results We present , an open-source Julia package that makes it trivial to quickly simulate phenotypes under a variety of genetic architectures. This package is integrated into our OpenMendel suite for easy downstream analyses. Julia was purpose-built for scientific programming and provides tremendous speed and memory efficiency, easy access to multi-CPU and GPU hardware, and to distributed and cloud-based parallelization. is designed to encourage flexible trait simulation, including via the standard devices of applied statistics, generalized linear models (GLMs) and generalized linear mixed models (GLMMs). also accommodates many study designs: unrelateds, sibships, pedigrees, or a mixture of all three. (Of course, for data with pedigrees or cryptic relationships, the simulation process must include the genetic dependencies among the individuals.) We consider an assortment of trait models and study designs to illustrate integrated simulation and analysis pipelines. Step-by-step instructions for these analyses are available in our electronic Jupyter notebooks on Github. These interactive notebooks are ideal for reproducible research.
Conclusion The package has three main advantages. (1) It leverages the computational efficiency and ease of use of Julia to provide extremely fast, straightforward simulation of even the most complex genetic models, including GLMs and GLMMs. (2) It can be operated entirely within, but is not limited to, the integrated analysis pipeline of OpenMendel. And finally (3), by allowing a wider range of more realistic phenotype models, brings power calculations and diagnostic tools closer to what investigators might see in real-world analyses.
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Manipulating volumetric deformable objects in the real world, like plush toys and pizza dough, brings substantial challenges due to infinite shape variations, non-rigid motions, and partial observability. We introduce ACID, an action-conditional visual dynamics model for volumetric deformable objects based on structured implicit neural representations. ACID integrates two new techniques: implicit representations for action-conditional dynamics and geodesics-based contrastive learning. To represent deformable dynamics from partial RGB-D observations, we learn implicit representations of occupancy and flow-based forward dynamics. To accurately identify state change under large non-rigid deformations, we learn a correspondence embedding field through a novel geodesics-based contrastive loss. To evaluate our approach, we develop a simulation framework for manipulating complex deformable shapes in realistic scenes and a benchmark containing over 17,000 action trajectories with six types of plush toys and 78 variants. Our model achieves the best performance in geometry, correspondence, and dynamics predictions over existing approaches. The ACID dynamics models are successfully employed for goal-conditioned deformable manipulation tasks, resulting in a 30% increase in task success rate over the strongest baseline. Furthermore, we apply the simulation-trained ACID model directly to real-world objects and show success in manipulating them into target configurations. https://b0ku1.github.io/acid/
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1109/ICRA40945.2020.9197099
