Greetings from the IEEE Worldwide Convention on Robotics and Automation (ICRA) in Yokohama, Japan! We hope you’ve been having fun with our brief movies on TikTok, YouTube, and Instagram. They’re only a preview of our in-depth ICRA protection, and over the subsequent a number of weeks we’ll have a number of articles and movies for you. In right now’s version of Video Friday, we deliver you a dozen of essentially the most attention-grabbing tasks introduced on the convention.
Take pleasure in right now’s movies, and keep tuned for extra ICRA posts!
Upcoming robotics occasions for the subsequent few months:
RoboCup 2024: 17–22 July 2024, EINDHOVEN, NETHERLANDS
ICSR 2024: 23–26 October 2024, ODENSE, DENMARK
Cybathlon 2024: 25–27 October 2024, ZURICH, SWITZERLAND
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The next two movies are a part of the “Cooking Robotics: Notion and Movement Planning” workshop, which explored “the brand new frontiers of ‘robots in cooking,’ addressing varied scientific analysis questions, together with {hardware} issues, key challenges in multimodal notion, movement planning and management, experimental methodologies, and benchmarking approaches.” The workshop featured robots dealing with meals objects like cookies, burgers, and cereal, and the 2 robots seen within the movies under used knives to slice cucumbers and truffles. You possibly can watch all workshop movies right here.
“SliceIt!: Simulation-Primarily based Reinforcement Studying for Compliant Robotic Meals Slicing,” by Cristian C. Beltran-Hernandez, Nicolas Erbetti, and Masashi Hamaya from OMRON SINIC X Company, Tokyo, Japan.
Cooking robots can improve the house expertise by lowering the burden of day by day chores. Nevertheless, these robots should carry out their duties dexterously and safely in shared human environments, particularly when dealing with harmful instruments akin to kitchen knives. This examine focuses on enabling a robotic to autonomously and safely be taught food-cutting duties. Extra particularly, our aim is to allow a collaborative robotic or industrial robotic arm to carry out food-slicing duties by adapting to various materials properties utilizing compliance management. Our method includes utilizing Reinforcement Studying (RL) to coach a robotic to compliantly manipulate a knife, by lowering the contact forces exerted by the meals objects and by the reducing board. Nevertheless, coaching the robotic in the true world might be inefficient, and harmful, and lead to plenty of meals waste. Subsequently, we proposed SliceIt!, a framework for safely and effectively studying robotic food-slicing duties in simulation. Following a real2sim2real method, our framework consists of amassing a number of actual meals slicing information, calibrating our twin simulation setting (a high-fidelity reducing simulator and a robotic simulator), studying compliant management insurance policies on the calibrated simulation setting, and at last, deploying the insurance policies on the true robotic.
“Cafe Robotic: Built-in AI Skillset Primarily based on Giant Language Fashions,” by Jad Tarifi, Nima Asgharbeygi, Shuhei Takamatsu, and Masataka Goto from Integral AI in Tokyo, Japan, and Mountain View, Calif., USA.
The cafe robotic engages in pure language inter-action to obtain orders and subsequently prepares espresso and truffles. Every motion concerned in making this stuff is executed utilizing AI abilities developed by Integral, together with Integral Liquid Pouring, Integral Powder Scooping, and Integral Reducing. The dialogue for making espresso, in addition to the coordination of every motion based mostly on the dialogue, is facilitated by the Integral Job Planner.
“Autonomous Overhead Powerline Recharging for Uninterrupted Drone Operations,” by Viet Duong Hoang, Frederik Falk Nyboe, Nicolaj Haarhøj Malle, and Emad Ebeid from College of Southern Denmark, Odense, Denmark.
We current a totally autonomous self-recharging drone system able to long-duration sustained operations close to powerlines. The drone is supplied with a sturdy onboard notion and navigation system that permits it to find powerlines and method them for touchdown. A passively actuated gripping mechanism grasps the powerline cable throughout touchdown after which a management circuit regulates the magnetic subject inside a split-core present transformer to supply enough holding drive in addition to battery recharging. The system is evaluated in an energetic outside three-phase powerline setting. We show a number of contiguous hours of totally autonomous uninterrupted drone operations composed of a number of cycles of flying, touchdown, recharging, and takeoff, validating the potential of prolonged, basically limitless, operational endurance.
“Studying Quadrupedal Locomotion With Impaired Joints Utilizing Random Joint Masking,” by Mincheol Kim, Ukcheol Shin, and Jung-Yup Kim from Seoul Nationwide College of Science and Know-how, Seoul, South Korea, and Robotics Institute, Carnegie Mellon College, Pittsburgh, Pa., USA.
Quadrupedal robots have performed an important position in varied environments, from structured environments to complicated harsh terrains, due to their agile locomotion means. Nevertheless, these robots can simply lose their locomotion performance if broken by exterior accidents or inner malfunctions. On this paper, we suggest a novel deep reinforcement studying framework to allow a quadrupedal robotic to stroll with impaired joints. The proposed framework consists of three elements: 1) a random joint masking technique for simulating impaired joint eventualities, 2) a joint state estimator to foretell an implicit standing of present joint situation based mostly on previous statement historical past, and three) progressive curriculum studying to permit a single community to conduct each regular gait and varied joint-impaired gaits. We confirm that our framework allows the Unitree’s Go1 robotic to stroll beneath varied impaired joint circumstances in actual world indoor and outside environments.
“Synthesizing Sturdy Strolling Gaits by way of Discrete-Time Barrier Features With Software to Multi-Contact Exoskeleton Locomotion,” by Maegan Tucker, Kejun Li, and Aaron D. Ames from Georgia Institute of Know-how, Atlanta, Ga., and California Institute of Know-how, Pasadena, Calif., USA.
Efficiently reaching bipedal locomotion stays difficult on account of real-world components akin to mannequin uncertainty, random disturbances, and imperfect state estimation. On this work, we suggest a novel metric for locomotive robustness – the estimated dimension of the hybrid ahead invariant set related to the step-to-step dynamics. Right here, the ahead invariant set might be loosely interpreted because the area of attraction for the discrete-time dynamics. We illustrate the usage of this metric in the direction of synthesizing nominal strolling gaits utilizing a simulation in-the-loop studying method. Additional, we leverage discrete time barrier capabilities and a sampling-based method to approximate units which are maximally ahead invariant. Lastly, we experimentally show that this method leads to profitable locomotion for each flat-foot strolling and multicontact strolling on the Atalante lower-body exoskeleton.
“Supernumerary Robotic Limbs to Help Submit-Fall Recoveries for Astronauts,” by Erik Ballesteros, Sang-Yoep Lee, Kalind C. Carpenter, and H. Harry Asada from MIT, Cambridge, Mass., USA, and Jet Propulsion Laboratory, California Institute of Know-how, Pasadena, Calif., USA.
This paper proposes the utilization of Supernumerary Robotic Limbs (SuperLimbs) for augmenting astronauts throughout an Further-Vehicular Exercise (EVA) in a partial-gravity setting. We examine the effectiveness of SuperLimbs in helping astronauts to their ft following a fall. Primarily based on preliminary observations from a pilot human examine, we categorized post-fall recoveries right into a sequence of statically steady poses referred to as “waypoints”. The paths between the waypoints might be modeled with a simplified kinetic movement utilized a few particular level on the physique. Following the characterization of post-fall recoveries, we designed a task-space impedance management with excessive damping and low stiffness, the place the SuperLimbs present an astronaut with help in post-fall restoration whereas protecting the human in-the-loop scheme. With a purpose to validate this management scheme, a full-scale wearable analog area go well with was constructed and examined with a SuperLimbs prototype. Outcomes from the experimentation discovered that with out help, astronauts would impulsively exert themselves to carry out a post-fall restoration, which resulted in excessive vitality consumption and instabilities sustaining an upright posture, concurring with prior NASA research. When the SuperLimbs supplied help, the astronaut’s vitality consumption and deviation of their monitoring as they carried out a post-fall restoration was diminished significantly.
“ArrayBot: Reinforcement Studying for Generalizable Distributed Manipulation by way of Contact,” by Zhengrong Xue, Han Zhang, Jingwen Cheng, Zhengmao He, Yuanchen Ju, Changyi Lin, Gu Zhang, and Huazhe Xu from Tsinghua Embodied AI Lab, IIIS, Tsinghua College; Shanghai Qi Zhi Institute; Shanghai AI Lab; and Shanghai Jiao Tong College, Shanghai, China.
We current ArrayBot, a distributed manipulation system consisting of a 16 × 16 array of vertically sliding pillars built-in with tactile sensors. Functionally, ArrayBot is designed to concurrently help, understand, and manipulate the tabletop objects. In direction of generalizable distributed manipulation, we leverage reinforcement studying (RL) algorithms for the automated discovery of management insurance policies. Within the face of the massively redundant actions, we suggest to reshape the motion area by contemplating the spatially native motion patch and the low-frequency actions within the frequency area. With this reshaped motion area, we prepare RL brokers that may relocate various objects by way of tactile observations solely. Intriguingly, we discover that the found coverage can’t solely generalize to unseen object shapes within the simulator but additionally have the power to switch to the bodily robotic with none sim-to-real high-quality tuning. Leveraging the deployed coverage, we derive extra actual world manipulation abilities on ArrayBot to additional illustrate the distinctive deserves of our proposed system.
“SKT-Grasp: Hanging On a regular basis Objects by way of Object-Agnostic Semantic Keypoint Trajectory Era,” by Chia-Liang Kuo, Yu-Wei Chao, and Yi-Ting Chen from Nationwide Yang Ming Chiao Tung College, in Taipei and Hsinchu, Taiwan, and NVIDIA.
We examine the issue of hanging a variety of grasped objects on various supporting objects. Hanging objects is a ubiquitous process that’s encountered in quite a few elements of our on a regular basis lives. Nevertheless, each the objects and supporting objects can exhibit substantial variations of their shapes and constructions, bringing two difficult points: (1) figuring out the task-relevant geometric constructions throughout totally different objects and supporting objects, and (2) figuring out a sturdy motion sequence to accommodate the form variations of supporting objects. To this finish, we suggest Semantic Keypoint Trajectory (SKT), an object agnostic illustration that’s extremely versatile and relevant to varied on a regular basis objects. We additionally suggest Form-conditioned Trajectory Deformation Community (SCTDN), a mannequin that learns to generate SKT by deforming a template trajectory based mostly on the task-relevant geometric construction options of the supporting objects. We conduct in depth experiments and show substantial enhancements in our framework over current robotic hanging strategies within the success fee and inference time. Lastly, our simulation-trained framework exhibits promising hanging leads to the true world.
“TEXterity: Tactile Extrinsic deXterity,” by Antonia Bronars, Sangwoon Kim, Parag Patre, and Alberto Rodriguez from MIT and Magna Worldwide Inc.
We introduce a novel method that mixes tactile estimation and management for in-hand object manipulation. By integrating measurements from robotic kinematics and a picture based mostly tactile sensor, our framework estimates and tracks object pose whereas concurrently producing movement plans in a receding horizon vogue to regulate the pose of a grasped object. This method consists of a discrete pose estimator that tracks the probably sequence of object poses in a coarsely discretized grid, and a steady pose estimator-controller to refine the pose estimate and precisely manipulate the pose of the grasped object. Our technique is examined on various objects and configurations, reaching desired manipulation goals and outperforming single-shot strategies in estimation accuracy. The proposed method holds potential for duties requiring exact manipulation and restricted intrinsic in-hand dexterity beneath visible occlusion, laying the inspiration for closed loop conduct in purposes akin to regrasping, insertion, and power use.
“Out of Sight, Nonetheless in Thoughts: Reasoning and Planning about Unobserved Objects With Video Monitoring Enabled Reminiscence Fashions,” by Yixuan Huang, Jialin Yuan, Chanho Kim, Pupul Pradhan, Bryan Chen, Li Fuxin, and Tucker Hermans from College of Utah, Salt Lake Metropolis, Utah, Oregon State College, Corvallis, Ore., and NVIDIA, Seattle, Wash., USA.
Robots have to have a reminiscence of beforehand noticed, however at the moment occluded objects to work reliably in lifelike environments. We examine the issue of encoding object-oriented reminiscence right into a multi-object manipulation reasoning and planning framework. We suggest DOOM and LOOM, which leverage transformer relational dynamics to encode the historical past of trajectories given partial-view level clouds and an object discovery and monitoring engine. Our approaches can carry out a number of difficult duties together with reasoning with occluded objects, novel objects look, and object reappearance. All through our in depth simulation and actual world experiments, we discover that our approaches carry out nicely when it comes to totally different numbers of objects and totally different numbers
“Open Sourse Underwater Robotic: Easys,” by Michikuni Eguchi, Koki Kato, Tatsuya Oshima, and Shunya Hara from College of Tsukuba and Osaka College, Japan.
“Sensorized Tender Pores and skin for Dexterous Robotic Fingers,” by Jana Egli, Benedek Forrai, Thomas Buchner, Jiangtao Su, Xiaodong Chen, and Robert Ok. Katzschmann from ETH Zurich, Switzerland, and Nanyang Technological College, Singapore.
Standard industrial robots usually use two fingered grippers or suction cups to control objects or work together with the world. Due to their simplified design, they’re unable to breed the dexterity of human arms when manipulating a variety of objects. Whereas the management of humanoid arms advanced drastically, {hardware} platforms nonetheless lack capabilities, significantly in tactile sensing and offering smooth contact surfaces. On this work, we current a way that equips the skeleton of a tendon-driven humanoid hand with a smooth and sensorized tactile pores and skin. Multi-material 3D printing permits us to iteratively method a forged pores and skin design which preserves the robotic’s dexterity when it comes to vary of movement and pace. We show {that a} smooth pores and skin allows frmer grasps and piezoresistive sensor integration enhances the hand’s tactile sensing capabilities.
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