Improving Robotic Manipulation with Vision and Learning @AmazonDevCentre Berlin
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My talk at the Amazon Development Centre in Berlin. Including work on how to improve robotic reaching, grasping and manipulation. And getting away from chasing grasp success rates.
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Improving Robotic Manipulation with Vision and Learning @AmazonDevCentre Berlin
- 1. Juxi Leitner arc centre of excellence for robotic vision queensland university of technology <j.leitner@qut.edu.au> http://Juxi.net robotic vision and manipulation ACRV @ UC Berkeley & learning
- 5. No more pesky grasp success rates!
- 7. Dalle Molle Institute for AI (IDSIA) Work Juxi Leitner PhD Informatics / Intelligent Systems MSc Space Robotics & Automation BSc Information & Software Engineering Intelligent (Space) Robots European Space Agency (ESA) Erasmus Intelligent Systems Work (Humanoid) Robot Vision Instituto Superior Técnico (IST) Mobility Intelligent Space Systems Laboratory About Me Current Robotic Vision and Actions h+p://Juxi.net Queensland University of Technology (QUT)
- 11. RSS 2018 Workshop? Stay tuned :)
- 12. [Zhang et al, ACRA 2015] deep learning visual control
- 13. understanding limita.ons of deep nets, reinforcement learning & transfer of knowledge deep learning visual control Perception Module Control Module Conv1 Conv2 Conv3 FC_c2 FC_c3FC_c1 Q-values 7×7conv+ReLU stride2 4×4conv+ReLU stride2 3×3conv+ReLU stride1 64 lters 64 lters 64 lters fullyconn. 300units 9units 84×84 400units fullyconn. fullyconn.+ReLU fullyconn.+ReLU I BN 5units θ Bottleneck Or [Zhang et al, arxiv] Occlusion Occlusion Occlusion Occlusion
- 14. [Zhang et al, 2018 (submitted)]deep learning visual control
- 15. visual servoing w deep networks [Beauteux et al, ICRA 2018]
- 16. visual servoing w deep networks [Beauteux et al, ICRA 2018]
- 17. Generative Grasp Network [Morrison et al, RSS 2018 (sub)] … TEASER
- 18. Generative Grasp Network TEASER [Morrison et al, RSS 2018 (sub)]
- 20. ACRV + CITEC two na.onal centres of excellence joint PhD programme (QUT, UBielefeld) coopera.ve projects (DAAD/UnivAustralia) seman:cs in maps and reinforcement learning
- 21. No more pesky grasp success rates!
- 22. The ACRV Picking Benchmark j.leitner@qut.edu.au Jürgen ‘Juxi’ Leitner Juxi #ICRA2017 http://Juxi.net/acrv-picking-benchmark/ overcome limita.ons of current robo.c system comparison reproducible research on end-to-end TASKS
- 23. roboticvision.org http://roboticvision.org/ open baseline system picking benchmark http://Juxi.net/dataset/acrv-picking-benchmark/ https://arxiv.org/abs/1609.05258
- 24. The ACRV Picking Benchmark j.leitner@qut.edu.au Jürgen ‘Juxi’ Leitner Juxi #ICRA2017 http://Juxi.net/acrv-picking-benchmark/ overcome limita.ons of current robo.c system comparison reproducible research on end-to-end TASKS
- 25. http://roboticvision.org/ overcoming limita.ons when comparing full robo.c systems reproducible research on end-to-end TASKS http://Juxi.net/acrv-picking-benchmark/
- 26. http://roboticvision.org/ task evalua:on repeatable video + public ranking open source http://Juxi.net/acrv-picking-benchmark/ overcome limits —> reproducible research on TASKS PICKING BENCHMARK
- 27. Tidy Up My Room Challenge http://Juxi.net/challenge/tidy-up-my-room
- 28. Tidy Up My Room Challenge http://Juxi.net/challenge/tidy-up-my-room Three levels Ten team EoIs Two stages ICRA 2018
- 29. http://roboticvision.org/ ICRA 2018 Brisbane,Australia Juxi Leitner <j.leitner@qut.edu.au> http://Juxi.net Thanks!