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1CONN Creative Reklam Ajansı
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Deep Haptic Model Predictive Control for Robot-Assisted Dressing
Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The physical implications of dressing are complicated by non-rigid garments, which can result in a robot indirectly applying high forces to a person's body. We present a deep recurrent model that, when given a proposed action by the robot, predicts the forces a garment will apply to a person's body. We also show that a robot can provide better dressing assistance by using this model with model predictive control. The predictions made by our model only use haptic and kinematic observations from the robot's end effector, which are readily attainable. Collecting training data from real world physical human-robot interaction can be time consuming, costly, and put people at risk. Instead, we train our predictive model using data collected in an entirely self-supervised fashion from a physics-based simulation. We evaluated our approach with a PR2 robot that attempted to pull a hospital gown onto the arms of 10 human participants. With a 0.2s prediction …
Learning to Navigate Cloth using Haptics
We present a controller that allows an arm-like manipulator to navigate deformable cloth garments in simulation through the use of haptic information. The main challenge of such a controller is to avoid getting tangled in, tearing or punching through the deforming cloth. Our controller aggregates force information from a number of haptic-sensing spheres all along the manipulator for guidance. Based on haptic forces, each individual sphere updates its target location, and the conflicts that arise between this set of desired positions is resolved by solving an inverse kinematic problem with constraints. Reinforcement learning is used to train the controller for a single haptic-sensing sphere, where a training run is terminated (and thus penalized) when large forces are detected due to contact between the sphere and a simplified model of the cloth. In simulation, we demonstrate successful navigation of a robotic arm through a variety of garments, including an isolated sleeve, a jacket, a shirt, and shorts. Our controller out-performs two baseline controllers: one without haptics and another that was trained based on large forces between the sphere and cloth, but without early …
Simulation and Retargeting of Complex Multi-Character Interactions
We present a method for reproducing complex multi-character interactions for physically simulated humanoid characters using deep reinforcement learning. Our method learns control policies for characters that imitate not only individual motions, but also the interactions between characters, while maintaining balance and matching the complexity of reference data. Our approach uses a novel reward formulation based on an interaction graph that measures distances between pairs of interaction landmarks. This reward encourages control policies to efficiently imitate the character's motion while preserving the spatial relationships of the interactions in the reference motion. We evaluate our method on a variety of activities, from simple interactions such as a high-five greeting to more complex interactions such as gymnastic exercises, Salsa dancing, and box carrying and throwing. This approach can be used to ``clean-up'' existing motion capture data to produce physically plausible interactions or to retarget motion to new characters with different sizes, kinematics or morphologies while maintaining the interactions in the original data.
Threat determination for radiation detection from the Remote Sensing Laboratory
The ability to search for radiation sources is of interest to the Homeland Security community. The hope is to find any radiation sources which may pose a reasonable chance for harm in a terrorist act. The best chance of success for search operations generally comes with fielding as many detection systems as possible. In doing this, the hoped for encounter with the threat source will inevitably be buried in an even larger number of encounters with non-threatening radiation sources commonly used for many medical and industrial use. The problem then becomes effectively filtering the non-threatening sources, and presenting the human-in-the-loop with a modest list of potential threats. Our approach is to field a collection of detection systems which utilize soft-sensing algorithms for the purpose of discriminating potential threat and non-threat objects, based on a variety of machine learning techniques.
An Application of CNNs to Time Sequenced One Dimensional Data in Radiation Detection
A Convolutional Neural Network architecture was used to classify various isotopes of time-sequenced gamma-ray spectra, a typical output of a radiation detection system of a type commonly fielded for security or environmental measurement purposes. A two-dimensional surface (waterfall plot) in time-energy space is interpreted as a monochromatic image and standard image-based CNN techniques are applied. This allows for the time-sequenced aspects of features in the data to be discovered by the network, as opposed to standard algorithms which arbitrarily time bin the data to satisfy the intuition of a human spectroscopist. The CNN architecture and results are presented along with a comparison to conventional techniques. The results of this novel application of image processing techniques to radiation data will be presented along with a comparison to more conventional adaptive methods.
Transversity and Collins Functions: from e+ e- --> h1 h2 X to SIDIS Processes
We present [1] the first simultaneous extraction of the transversity distribution and the Collins fragmentation function, obtained through a combined analysis of experimental data on azimuthal asymmetries in semi-inclusive deep inelastic scattering (SIDIS), from the HERMES and COMPASS Collaborations, and in e+ e- --> h1 h2 X processes, from the Belle Collaboration.
Learning Human Behaviors for Robot-Assisted Dressing
We investigate robotic assistants for dressing that can anticipate the motion of the person who is being helped. To this end, we use reinforcement learning to create models of human behavior during assistance with dressing. To explore this kind of interaction, we assume that the robot presents an open sleeve of a hospital gown to a person, and that the person moves their arm into the sleeve. The controller that models the person's behavior is given the position of the end of the sleeve and information about contact between the person's hand and the fabric of the gown. We simulate this system with a human torso model that has realistic joint ranges, a simple robot gripper, and a physics-based cloth model for the gown. Through reinforcement learning (specifically the TRPO algorithm) the system creates a model of human behavior that is capable of placing the arm into the sleeve. We aim to model what humans are capable of doing, rather than what they typically do. We demonstrate successfully trained human behaviors for three robot-assisted dressing strategies: 1) the robot gripper holds the sleeve motionless, 2) the gripper moves the sleeve linearly towards the person from the front, …
A Comparison of Adaptive and Template Matching Techniques for Radio-Isotope Identification
We compare and contrast the effectiveness of a set of adaptive and non-adaptive algorithms for isotope identification based on gamma-ray spectra. One dimensional energy spectra are simulated for a variety of dwell-times and source to detector distances in order to reflect conditions typically encountered in radiological emergency response and environmental monitoring applications. We find that adaptive methods are more accurate and computationally efficient than non-adaptive in cases of operational interest.
Learning to Collaborate from Simulation for Robot-Assisted Dressing
We investigated the application of haptic feedback control and deep reinforcement learning (DRL) to robot-assisted dressing. Our method uses DRL to simultaneously train human and robot control policies as separate neural networks using physics simulations. In addition, we modeled variations in human impairments relevant to dressing, including unilateral muscle weakness, involuntary arm motion, and limited range of motion. Our approach resulted in control policies that successfully collaborate in a variety of simulated dressing tasks involving a hospital gown and a T-shirt. In addition, our approach resulted in policies trained in simulation that enabled a real PR2 robot to dress the arm of a humanoid robot with a hospital gown. We found that training policies for specific impairments dramatically improved performance; that controller execution speed could be scaled after training to reduce the robot's speed without steep reductions in performance; that curriculum learning could be used to lower applied forces; and that multi-modal sensing, including a simulated capacitive sensor, improved performance.
CascadeServe: Unlocking Model Cascades for Inference Serving
Machine learning (ML) models are increasingly deployed to production, calling for efficient inference serving systems. Efficient inference serving is complicated by two challenges: (i) ML models incur high computational costs, and (ii) the request arrival rates of practical applications have frequent, high, and sudden variations which make it hard to correctly provision hardware. Model cascades are positioned to tackle both of these challenges, as they (i) save work while maintaining accuracy, and (ii) expose a high-resolution trade-off between work and accuracy, allowing for fine-grained adjustments to request arrival rates. Despite their potential, model cascades haven't been used inside an online serving system. This comes with its own set of challenges, including workload adaption, model replication onto hardware, inference scheduling, request batching, and more. In this work, we propose CascadeServe, which automates and optimizes end-to-end inference serving with cascades. CascadeServe operates in an offline and online phase. In the offline phase, the system pre-computes a gear plan that specifies how to serve inferences online. In the online phase, the gear plan allows the …
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