scholarly journals Learning task-oriented grasping for tool manipulation from simulated self-supervision

2019 ◽  
Vol 39 (2-3) ◽  
pp. 202-216 ◽  
Author(s):  
Kuan Fang ◽  
Yuke Zhu ◽  
Animesh Garg ◽  
Andrey Kurenkov ◽  
Viraj Mehta ◽  
...  

Tool manipulation is vital for facilitating robots to complete challenging task goals. It requires reasoning about the desired effect of the task and, thus, properly grasping and manipulating the tool to achieve the task. Most work in robotics has focused on task-agnostic grasping, which optimizes for only grasp robustness without considering the subsequent manipulation tasks. In this article, we propose the Task-Oriented Grasping Network (TOG-Net) to jointly optimize both task-oriented grasping of a tool and the manipulation policy for that tool. The training process of the model is based on large-scale simulated self-supervision with procedurally generated tool objects. We perform both simulated and real-world experiments on two tool-based manipulation tasks: sweeping and hammering. Our model achieves overall 71.1% task success rate for sweeping and 80.0% task success rate for hammering.

AI Magazine ◽  
2011 ◽  
Vol 32 (4) ◽  
pp. 100-111 ◽  
Author(s):  
Sonia Chernova ◽  
Nick DePalma ◽  
Cynthia Breazeal

We present an innovative approach for large-scale data collection in human-robot interaction research through the use of online multi-player games. By casting a robotic task as a collaborative game, we gather thousands of examples of human-human interactions online, and then leverage this corpus of action and dialog data to create contextually relevant, social and task-oriented behaviors for human-robot interaction in the real world. We demonstrate our work in a collaborative search and retrieval task requiring dialog, action synchronization and action sequencing between the human and robot partners. A user study performed at the Boston Museum of Science shows that the autonomous robot exhibits many of the same patterns of behavior that were observed in the online dataset and survey results rate the robot similarly to human partners in several critical measures.


PLoS ONE ◽  
2021 ◽  
Vol 16 (4) ◽  
pp. e0249030
Author(s):  
Abhisek Tiwari ◽  
Tulika Saha ◽  
Sriparna Saha ◽  
Shubhashis Sengupta ◽  
Anutosh Maitra ◽  
...  

Purpose Existing virtual agents (VAs) present in dialogue systems are either information retrieval based or static goal-driven. However, in real-world situations, end-users might not have a known and fixed goal beforehand for the task, i.e., they may upgrade/downgrade/update their goal components in real-time to maximize their utility values. Existing VAs are unable to handle such dynamic goal-oriented situations. Methodology Due to the absence of any related dialogue dataset where such choice deviations are present, we have created a conversational dataset called Deviation adapted Virtual Agent(DevVA), with the manual annotation of its corresponding intents, slots, and sentiment labels. A Dynamic Goal Driven Dialogue Agent (DGDVA) has been developed by incorporating a Dynamic Goal Driven Module (GDM) on top of a deep reinforcement learning based dialogue manager. In the course of a conversation, the user sentiment provides grounded feedback about agent behavior, including goal serving action. User sentiment appears to be an appropriate indicator for goal discrepancy that guides the agent to complete the user’s desired task with gratification. The negative sentiment expressed by the user about an aspect of the provided choice is treated as a discrepancy that is being resolved by the GDM depending upon the observed discrepancy and current dialogue state. The goal update capability and the VA’s interactiveness trait enable end-users to accomplish their desired task satisfactorily. Findings The obtained experimental results illustrate that DGDVA can handle dynamic goals with maximum user satisfaction and a significantly higher success rate. The interaction drives the user to decide its final goal through the latent specification of possible choices and information retrieved and provided by the dialogue agent. Through the experimental results (qualitative and quantitative), we firmly conclude that the proposed sentiment-aware VA adapts users’ dynamic behavior for its goal setting with substantial efficacy in terms of primary objective i.e., task success rate (0.88). Practical implications In real world, it can be argued that many people do not have a predefined and fixed goal for tasks such as online shopping, movie booking & restaurant booking, etc. They tend to explore the available options first which are aligned with their minimum requirements and then decide one amongst them. The DGDVA provides maximum user satisfaction as it enables them to accomplish a dynamic goal that leads to additional utilities along with the essential ones. Originality To the best of our knowledge, this is the first effort towards the development of A Dynamic Goal Adapted Task-Oriented Dialogue Agent that can serve user goals dynamically until the user is satisfied.


Diabetes ◽  
2020 ◽  
Vol 69 (Supplement 1) ◽  
pp. 1588-P ◽  
Author(s):  
ROMIK GHOSH ◽  
ASHOK K. DAS ◽  
AMBRISH MITHAL ◽  
SHASHANK JOSHI ◽  
K.M. PRASANNA KUMAR ◽  
...  

Diabetes ◽  
2020 ◽  
Vol 69 (Supplement 1) ◽  
pp. 2258-PUB
Author(s):  
ROMIK GHOSH ◽  
ASHOK K. DAS ◽  
SHASHANK JOSHI ◽  
AMBRISH MITHAL ◽  
K.M. PRASANNA KUMAR ◽  
...  

2021 ◽  
Vol 51 (3) ◽  
pp. 9-16
Author(s):  
José Suárez-Varela ◽  
Miquel Ferriol-Galmés ◽  
Albert López ◽  
Paul Almasan ◽  
Guillermo Bernárdez ◽  
...  

During the last decade, Machine Learning (ML) has increasingly become a hot topic in the field of Computer Networks and is expected to be gradually adopted for a plethora of control, monitoring and management tasks in real-world deployments. This poses the need to count on new generations of students, researchers and practitioners with a solid background in ML applied to networks. During 2020, the International Telecommunication Union (ITU) has organized the "ITU AI/ML in 5G challenge", an open global competition that has introduced to a broad audience some of the current main challenges in ML for networks. This large-scale initiative has gathered 23 different challenges proposed by network operators, equipment manufacturers and academia, and has attracted a total of 1300+ participants from 60+ countries. This paper narrates our experience organizing one of the proposed challenges: the "Graph Neural Networking Challenge 2020". We describe the problem presented to participants, the tools and resources provided, some organization aspects and participation statistics, an outline of the top-3 awarded solutions, and a summary with some lessons learned during all this journey. As a result, this challenge leaves a curated set of educational resources openly available to anyone interested in the topic.


Omega ◽  
2021 ◽  
pp. 102442
Author(s):  
Lin Zhou ◽  
Lu Zhen ◽  
Roberto Baldacci ◽  
Marco Boschetti ◽  
Ying Dai ◽  
...  

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Seyed Hossein Jafari ◽  
Amir Mahdi Abdolhosseini-Qomi ◽  
Masoud Asadpour ◽  
Maseud Rahgozar ◽  
Naser Yazdani

AbstractThe entities of real-world networks are connected via different types of connections (i.e., layers). The task of link prediction in multiplex networks is about finding missing connections based on both intra-layer and inter-layer correlations. Our observations confirm that in a wide range of real-world multiplex networks, from social to biological and technological, a positive correlation exists between connection probability in one layer and similarity in other layers. Accordingly, a similarity-based automatic general-purpose multiplex link prediction method—SimBins—is devised that quantifies the amount of connection uncertainty based on observed inter-layer correlations in a multiplex network. Moreover, SimBins enhances the prediction quality in the target layer by incorporating the effect of link overlap across layers. Applying SimBins to various datasets from diverse domains, our findings indicate that SimBins outperforms the compared methods (both baseline and state-of-the-art methods) in most instances when predicting links. Furthermore, it is discussed that SimBins imposes minor computational overhead to the base similarity measures making it a potentially fast method, suitable for large-scale multiplex networks.


2021 ◽  
Vol 14 (7) ◽  
pp. 700
Author(s):  
Theodoros Mavridis ◽  
Christina I. Deligianni ◽  
Georgios Karagiorgis ◽  
Ariadne Daponte ◽  
Marianthi Breza ◽  
...  

Now more than ever is the time of monoclonal antibody use in neurology. In headaches, disease-specific and mechanism-based treatments existed only for symptomatic management of migraines (i.e., triptans), while the standard prophylactic anti-migraine treatments consist of non-specific and repurposed drugs that share limited safety profiles and high risk for interactions with other medications, resulting in rundown adherence rates. Recent advances in headache science have increased our understanding of the role of calcitonin gene relate peptide (CGRP) and pituitary adenylate cyclase-activating polypeptide (PACAP) pathways in cephalic pain neurotransmission and peripheral or central sensitization, leading to the development of monoclonal antibodies (mAbs) or small molecules targeting these neuropeptides or their receptors. Large scale randomized clinical trials confirmed that inhibition of the CGRP system attenuates migraine, while the PACAP mediated nociception is still under scientific and clinical investigation. In this review, we provide the latest clinical evidence for the use of anti-CGRP in migraine prevention with emphasis on efficacy and safety outcomes from Phase III and real-world studies.


Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1091
Author(s):  
Izaak Van Crombrugge ◽  
Rudi Penne ◽  
Steve Vanlanduit

Knowledge of precise camera poses is vital for multi-camera setups. Camera intrinsics can be obtained for each camera separately in lab conditions. For fixed multi-camera setups, the extrinsic calibration can only be done in situ. Usually, some markers are used, like checkerboards, requiring some level of overlap between cameras. In this work, we propose a method for cases with little or no overlap. Laser lines are projected on a plane (e.g., floor or wall) using a laser line projector. The pose of the plane and cameras is then optimized using bundle adjustment to match the lines seen by the cameras. To find the extrinsic calibration, only a partial overlap between the laser lines and the field of view of the cameras is needed. Real-world experiments were conducted both with and without overlapping fields of view, resulting in rotation errors below 0.5°. We show that the accuracy is comparable to other state-of-the-art methods while offering a more practical procedure. The method can also be used in large-scale applications and can be fully automated.


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