The advances in deep reinforcement learning re- cently revived interest in data-driven learning based approaches to navigation. In this paper we propose to learn viewpoint invariant and target invariant visual servoing for local mobile robot navigation; given an initial view and the goal view or an image of a target, we train deep convolutional network controller to reach the desired goal. We present a new architecture for this task which rests on the ability of establishing correspondences between the initial and goal view and novel reward structure motivated by the traditional feedback control error. The advantage of the proposed model is that it does not require calibration and depth information and achieves robust visual servoing in a variety of environments and targets without any parameter fine tuning. We present comprehensive evaluation of the approach and comparison with other deep learning architectures as well as classical visual servoing methods in visually realistic simulation environment [1]. The presented model overcomes the brittleness of classical visual servoing based methods and achieves significantly higher generalization capability compared to the previous learning approaches.
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Multi-Objective Engineering Design Via Computer Model Calibration
Abstract Computer model calibration typically operates by fine-tuning parameter values in a computer model so that the model output faithfully predicts reality. By using performance targets in place of observed data, we show that calibration techniques can be repurposed for solving multi-objective design problems. Our approach allows us to consider all relevant sources of uncertainty as an integral part of the design process. We demonstrate our proposed approach through both simulation and fine-tuning material design settings to meet performance targets for a wind turbine blade.
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- Award ID(s):
- 1826715
- NSF-PAR ID:
- 10227422
- Date Published:
- Journal Name:
- Journal of Mechanical Design
- Volume:
- 143
- Issue:
- 5
- ISSN:
- 1050-0472
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1115/1.4048216
