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cs.RO机器人相关，共计14篇
【1】 Solving the Discrete Euler-Arnold Equations for the Generalized Rigid Body Motion 标题：求解广义刚体运动的离散Euler-Arnold方程 链接：https://arxiv.org/abs/2109.00505
作者：Joao R. Cardoso,Pedro Miraldo 机构：Institute for Systems and Robotics (LARSyS), Instituto Superior T´ecnico, University of Lisbon, Portugal. 备注：None 摘要：我们提出了求解Moser-Veselov方程的三种迭代方法，该方程产生于控制广义刚体运动的Euler-Arnold微分方程的离散化。首先，我们将问题描述为一个具有正交约束的优化问题，并证明目标函数是凸的。然后，利用黎曼流形上的优化技术，设计了三种可行算法。第一种方法使用Bregman方法分割正交约束，而另两种方法是最速下降法。第二种方法使用Cayley变换保留约束和Barzilai-Borwein步长，而第三种方法涉及测地线，步长由Armijo规则计算。最后，通过一组数值实验比较了所提算法的性能，表明第一种算法在精度和迭代次数方面具有最好的性能。这些迭代方法的一个基本优点是，即使在文献中可用的直接方法的适用条件不满足时，它们也能工作。 摘要：We propose three iterative methods for solving the Moser-Veselov equation, which arises in the discretization of the Euler-Arnold differential equations governing the motion of a generalized rigid body. We start by formulating the problem as an optimization problem with orthogonal constraints and proving that the objective function is convex. Then, using techniques from optimization on Riemannian manifolds, the three feasible algorithms are designed. The first one splits the orthogonal constraints using the Bregman method, whereas the other two methods are of the steepest-descent type. The second method uses the Cayley-transform to preserve the constraints and a Barzilai-Borwein step size, while the third one involves geodesics, with the step size computed by Armijo's rule. Finally, a set of numerical experiments are carried out to compare the performance of the proposed algorithms, suggesting that the first algorithm has the best performance in terms of accuracy and number of iterations. An essential advantage of these iterative methods is that they work even when the conditions for applicability of the direct methods available in the literature are not satisfied.
【2】 Autonomous Cooperative Multi-Vehicle System for Interception of Aerial and Stationary Targets in Unknown Environments 标题：未知环境下截获空中静止目标的自主协同多飞行器系统 链接：https://arxiv.org/abs/2109.00481
作者：Lima Agnel Tony,Shuvrangshu Jana,Varun V. P.,Aashay Anil Bhise,Aruul Mozhi Varman S.,Vidyadhara B. V.,Mohitvishnu S. Gadde,Raghu Krishnapuram,Debasish Ghose 机构：Doctoral Research Scholar, Post-Doctoral Fellow, Technical Associate, Project Associate, Project Assistant, Distinguished Member of Technical Staff, Professor 备注：Accepted for publication at Springer Field Robotics journal 摘要：本文介绍了IISc TCS团队为穆罕默德·本·扎耶德2020年国际机器人技术挑战赛挑战1设计、开发和测试的硬件软件系统。挑战1的目标是使用合适的操纵器抓取悬挂在移动和机动无人机上的球，并将气球固定在地面上。为应对这一挑战而开展的重要任务包括设计和开发具有高效抓取和弹出机制的硬件系统，考虑到体积和有效载荷的限制，设计使用适合室外环境的视觉信息的精确目标拦截算法，以及为执行复杂动态任务的动态多智能体空中系统开发软件体系结构。本文设计了一种带有末端执行器的单自由度机械手，用于抓取和弹出目标，并针对不确定环境下的目标拦截问题提出了鲁棒算法。基于追踪交战和人工势函数的概念，提出了基于视觉的制导与跟踪律。本工作中提出的软件体系结构提出了一种操作管理系统（OMS）体系结构，该体系结构在多个无人机之间协作分配静态和动态任务，以执行任何给定任务。这项工作的一个重要方面是，所有开发的系统都设计为在完全自主模式下运行。这项工作还包括对该体系结构的详细描述以及露台环境中完全挑战的模拟和现场实验结果。所提议的硬件-软件系统对于对抗无人机系统特别有用，也可以进行修改，以适应其他几种应用。 摘要：This paper presents the design, development, and testing of hardware-software systems by the IISc-TCS team for Challenge 1 of the Mohammed Bin Zayed International Robotics Challenge 2020. The goal of Challenge 1 was to grab a ball suspended from a moving and maneuvering UAV and pop balloons anchored to the ground, using suitable manipulators. The important tasks carried out to address this challenge include the design and development of a hardware system with efficient grabbing and popping mechanisms, considering the restrictions in volume and payload, design of accurate target interception algorithms using visual information suitable for outdoor environments, and development of a software architecture for dynamic multi-agent aerial systems performing complex dynamic missions. In this paper, a single degree of freedom manipulator attached with an end-effector is designed for grabbing and popping, and robust algorithms are developed for the interception of targets in an uncertain environment. Vision-based guidance and tracking laws are proposed based on the concept of pursuit engagement and artificial potential function. The software architecture presented in this work proposes an Operation Management System (OMS) architecture that allocates static and dynamic tasks collaboratively among multiple UAVs to perform any given mission. An important aspect of this work is that all the systems developed were designed to operate in completely autonomous mode. A detailed description of the architecture along with simulations of complete challenge in the Gazebo environment and field experiment results are also included in this work. The proposed hardware-software system is particularly useful for counter-UAV systems and can also be modified in order to cater to several other applications.
【3】 From Movement Kinematics to Object Properties: Online Recognition of Human Carefulness 标题：从运动运动学到物体属性：人类细心的在线识别 链接：https://arxiv.org/abs/2109.00460
作者：Linda Lastrico,Alessandro Carfì,Francesco Rea,Alessandra Sciutti,Fulvio Mastrogiovanni 机构：Robotics, Brain and Cognitive Science Department (RBCS), Italian Institute of Technology, Genoa, Italy, Cognitive Architecture for Collaborative Technologies Unit (CONTACT), Department of Informatics, Bioengineering, Robotics, and Systems Engineering 备注：Accepted for full paper publication in the Proceedings of the Thirteenth International Conference on Social Robotics (ICSR2021) 10 pages, 7 figures 摘要：当操纵物体时，人类会根据他们所处理的物体的特征来调整他们的运动。因此，细心的观察者可以预见被操纵对象的隐藏特性，例如其重量、温度，甚至操纵时是否需要特别小心。这项研究是赋予仿人机器人这最后一项能力的一步。具体来说，我们研究机器人如何仅从视觉在线推断人类伙伴在移动物体时是否小心。我们证明，即使使用低分辨率的摄像机，仿人机器人也能以高精度（高达81.3%）执行此推断。只有在没有障碍物的短动作中，谨慎性识别是不够的。通过观察同伴的动作，迅速识别出动作的谨慎性，这将允许机器人调整其在物体上的动作，以表现出与人类同伴相同的谨慎程度。 摘要：When manipulating objects, humans finely adapt their motions to the characteristics of what they are handling. Thus, an attentive observer can foresee hidden properties of the manipulated object, such as its weight, temperature, and even whether it requires special care in manipulation. This study is a step towards endowing a humanoid robot with this last capability. Specifically, we study how a robot can infer online, from vision alone, whether or not the human partner is careful when moving an object. We demonstrated that a humanoid robot could perform this inference with high accuracy (up to 81.3%) even with a low-resolution camera. Only for short movements without obstacles, carefulness recognition was insufficient. The prompt recognition of movement carefulness from observing the partner's action will allow robots to adapt their actions on the object to show the same degree of care as their human partners.
【4】 EVReflex: Dense Time-to-Impact Prediction for Event-based Obstacle Avoidance 标题：EVReflex：基于事件避障的密集撞击时间预测 链接：https://arxiv.org/abs/2109.00405
作者：Celyn Walters,Simon Hadfield 机构：©, IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including 备注：To be published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021 摘要：广泛的避障范围导致了多种基于计算机视觉的方法。尽管它很受欢迎，但它并不是一个已解决的问题。使用摄像机和深度传感器的传统计算机视觉技术通常关注静态场景，或者依赖于障碍物的先验信息。生物传感器的最新发展为动态场景提供了一个引人注目的选择。尽管与基于帧的传感器相比，这些传感器具有许多优势，例如高动态范围和时间分辨率，但基于事件的感知在很大程度上仍停留在二维上。这通常导致解决方案依赖于启发式和特定于特定任务。我们表明，事件和深度的融合克服了执行避障时每个单独模态的故障情况。我们提出的方法将事件摄影机和激光雷达流结合起来，在不事先了解场景几何体或障碍物的情况下估计碰撞时间。此外，我们还发布了一个广泛的基于事件的数据集，其中包含六个视觉流，跨越700多个扫描场景。 摘要：The broad scope of obstacle avoidance has led to many kinds of computer vision-based approaches. Despite its popularity, it is not a solved problem. Traditional computer vision techniques using cameras and depth sensors often focus on static scenes, or rely on priors about the obstacles. Recent developments in bio-inspired sensors present event cameras as a compelling choice for dynamic scenes. Although these sensors have many advantages over their frame-based counterparts, such as high dynamic range and temporal resolution, event-based perception has largely remained in 2D. This often leads to solutions reliant on heuristics and specific to a particular task. We show that the fusion of events and depth overcomes the failure cases of each individual modality when performing obstacle avoidance. Our proposed approach unifies event camera and lidar streams to estimate metric time-to-impact without prior knowledge of the scene geometry or obstacles. In addition, we release an extensive event-based dataset with six visual streams spanning over 700 scanned scenes.
【5】 Adaptive Controllers for Quadrotors Carrying Unknown Payloads 标题：承载未知有效载荷的四旋翼自适应控制器 链接：https://arxiv.org/abs/2109.00342
作者：Viswa Narayanan Sankaranarayanan 机构：INInternational Institute of Information TechnologyHyderabad - 500 0 3 2 备注：IROS 2020, OCAM 2020 摘要：随着智能交通的出现，在紧急疏散、建筑工程等过程中提升或放下有效载荷时，四旋翼正成为一种极具吸引力的解决方案。在此类操作过程中，有效载荷的动态变化（可能未知）会导致系统动态发生相当大的变化。然而，一个系统的控制解决方案，以解决这种变化的动力学行为仍然缺乏。在这项工作中，提出了两种控制解决方案，以解决有效载荷空中运输中的两个具体问题，如下所述。在第一项工作中，我们研究了六自由度四旋翼在不同未知载荷下的跟踪控制问题。由于动态变化引起的不确定性的状态依赖性，最先进的自适应控制解决方案对于这些完全未知且可能先验无界的不确定性是无效的。此外，在所有三个位置和姿态角中跟踪轨迹时的外部干扰，如风。因此，提出了一种四转子自适应控制方案，该方案不需要任何关于四转子动力学参数和外部干扰的先验知识。第二项工作的重点是在垂直运行期间，四转子在加载和卸载不同有效载荷时的互换动态行为。通过一个切换的动力学框架来描述维持期望高度的控制问题，以捕获垂直运行期间四旋翼的交换动力学，并提出了一种鲁棒自适应控制解决方案来处理未知的动力学问题。分析了闭环系统的稳定性，并通过仿真验证了所提方法的有效性。 摘要：With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly unknown) payload cause considerable changes in the system dynamics. However, a systematic control solution to tackle such varying dynamical behaviour is still missing. In this work, two control solutions are proposed to solve two specific problems in aerial transportation of payload, as mentioned below. In the first work, we explore the tracking control problem for a six degrees-of-freedom quadrotor carrying different unknown payloads. Due to the state-dependent nature of the uncertainties caused by variation in the dynamics, the state-of-the-art adaptive control solutions would be ineffective against these uncertainties that can be completely unknown and possibly unbounded a priori. In addition, external disturbances such as wind while following a trajectory in all three positions and attitude angles. Hence, an adaptive control solution for quadrotors is proposed, which does not require any a priori knowledge of the parameters of quadrotor dynamics and external disturbances. The second work is focused on the interchanging dynamic behaviour of a quadrotor while loading and unloading different payloads during vertical operations. The control problem to maintain the desired altitude is formulated via a switched dynamical framework to capture the interchanging dynamics of the quadrotor during such vertical operations, and a robust adaptive control solution is proposed to tackle such dynamics when it is unknown. The stability of the closed-loop system is studied analytically and the effectiveness of the proposed solution is verified via simulations.
【6】 Category-Level Metric Scale Object Shape and Pose Estimation 标题：类别级度量尺度对象形状和姿态估计 链接：https://arxiv.org/abs/2109.00326
作者：Taeyeop Lee,Byeong-Uk Lee,Myungchul Kim,In So Kweon 备注：IEEE Robotics and Automation Letters (RA-L). Preprint Version. Accepted August, 2021 摘要：随着深度学习识别技术的发展，2D图像能够实现精确的目标检测。然而，这些2D感知方法不足以获得完整的3D世界信息。同时，先进的三维形状估计方法专注于形状本身，而不考虑度量尺度。这些方法无法确定对象的准确位置和方向。为了解决这个问题，我们提出了一个框架，从单个RGB图像中联合估计度量尺度的形状和姿势。我们的框架有两个分支：度量尺度对象形状分支（MSOS）和规范化对象坐标空间分支（NOCS）。MSOS分支估计在摄影机坐标中观察到的公制比例形状。NOCS分支预测归一化对象坐标空间（NOCS）贴图，并从预测的公制比例网格对渲染深度贴图执行相似性变换，以获得6d姿势和大小。此外，我们还引入了归一化对象中心估计（NOCE）来估计从相机到对象中心的几何对齐距离。我们在合成和真实数据集上验证了我们的方法，以评估类别级别的对象姿势和形状。 摘要：Advances in deep learning recognition have led to accurate object detection with 2D images. However, these 2D perception methods are insufficient for complete 3D world information. Concurrently, advanced 3D shape estimation approaches focus on the shape itself, without considering metric scale. These methods cannot determine the accurate location and orientation of objects. To tackle this problem, we propose a framework that jointly estimates a metric scale shape and pose from a single RGB image. Our framework has two branches: the Metric Scale Object Shape branch (MSOS) and the Normalized Object Coordinate Space branch (NOCS). The MSOS branch estimates the metric scale shape observed in the camera coordinates. The NOCS branch predicts the normalized object coordinate space (NOCS) map and performs similarity transformation with the rendered depth map from a predicted metric scale mesh to obtain 6d pose and size. Additionally, we introduce the Normalized Object Center Estimation (NOCE) to estimate the geometrically aligned distance from the camera to the object center. We validated our method on both synthetic and real-world datasets to evaluate category-level object pose and shape.
【7】 EventPoint: Self-Supervised Local Descriptor Learning for Event Cameras 标题：EventPoint：事件摄像机的自监督局部描述符学习 链接：https://arxiv.org/abs/2109.00210
作者：Ze Huang,Songzhi Su,Henry Zhang,Kevin Sun 摘要：提出了一种基于帧的事件数据的自监督学习方法，即事件点提取方法。与事件数据的其他特征提取方法不同，我们在真实数据驱动的数据集——DSEC上用我们提出的自监督学习方法来训练我们的模型，训练过程充分考虑事件数据的特性，以验证我们的工作的有效性，我们进行了几个完整的评估：我们模拟了DART并在N-caltech101数据集上进行了特征匹配实验，结果表明EventPoint的效果优于DART；我们使用UZH提供的Vid2e工具将Oxford robotcar数据转换为基于事件的格式，并结合提供的INS信息进行SLAM中重要的全局姿态估计实验。据我们所知，这是第一次完成这项具有挑战性的任务。足够的实验数据表明，EventPoint可以在CPU上实现实时性的同时获得更好的结果。 摘要：We proposes a method of extracting intrest points and descriptors using self-supervised learning method on frame-based event data, which is called EventPoint. Different from other feature extraction methods on event data, we train our model on real event-form driving dataset--DSEC with the self-supervised learning method we proposed, the training progress fully consider the characteristics of event data.To verify the effectiveness of our work,we conducted several complete evaluations: we emulated DART and carried out feature matching experiments on N-caltech101 dataset, the results shows that the effect of EventPoint is better than DART; We use Vid2e tool provided by UZH to convert Oxford robotcar data into event-based format, and combined with INS information provided to carry out the global pose estimation experiment which is important in SLAM. As far as we know, this is the first work to carry out this challenging task.Sufficient experimental data show that EventPoint can get better results while achieve real time on CPU.
【8】 A real-time global re-localization framework for 3D LiDAR SLAM 标题：一种三维LiDAR SLAM实时全局重定位框架 链接：https://arxiv.org/abs/2109.00200
作者：Ziqi Chai,Xiaoyu Shi,Yan Zhou,Zhenhua Xiong 机构：S 备注：7 pages, 8 figures, 5 tables 摘要：同时定位与制图（SLAM）是近年来的一个研究热点。在更加经济实惠的3D激光雷达传感器的背景下，3D激光雷达SLAM的研究越来越受欢迎。此外，点云地图的重新定位问题是其他SLAM应用的基础。本文提出了一种模板匹配框架，用于在三维激光雷达地图中对机器人进行全局重新定位。这提出了两个主要挑战。首先，大多数点云全局描述符只能用于小局部区域下的位置检测。因此，为了在地图中全局重新定位，点云和描述符（模板）在离线阶段通过物理模拟引擎使用重建的网格模型密集收集，以扩展点云描述符的功能距离。其次，由于采集模板数量的增加，使得匹配阶段的速度过慢，无法满足实时性要求，为此提出了一种级联匹配方法，以提高匹配效率。在实验中，该框架使用纯python实现和100k模板，在大约10Hz的匹配速度下达到了0.2米的精度，这对于SLAM应用是有效的。 摘要：Simultaneous localization and mapping (SLAM) has been a hot research field in the past years. Against the backdrop of more affordable 3D LiDAR sensors, research on 3D LiDAR SLAM is becoming increasingly popular. Furthermore, the re-localization problem with a point cloud map is the foundation for other SLAM applications. In this paper, a template matching framework is proposed to re-localize a robot globally in a 3D LiDAR map. This presents two main challenges. First, most global descriptors for point cloud can only be used for place detection under a small local area. Therefore, in order to re-localize globally in the map, point clouds and descriptors(templates) are densely collected using a reconstructed mesh model at an offline stage by a physical simulation engine to expand the functional distance of point cloud descriptors. Second, the increased number of collected templates makes the matching stage too slow to meet the real-time requirement, for which a cascade matching method is presented for better efficiency. In the experiments, the proposed framework achieves 0.2-meter accuracy at about 10Hz matching speed using pure python implementation with 100k templates, which is effective and efficient for SLAM applications.
【9】 Modeling and Trajectory Optimization for Standing Long Jumping of a Quadruped with A Preloaded Elastic Prismatic Spine 标题：预加载弹性棱柱四足动物立定跳远建模与轨迹优化 链接：https://arxiv.org/abs/2109.00149
作者：Keran Ye,Konstantinos Karydis 机构：University of California 备注：7 pages, 5 figures 摘要：本文提出了一种新的方法来建模和优化具有脊柱柔顺性的四足机器人的轨迹，以改善与具有刚性脊柱的四足机器人相比的站立跳跃性能。我们为棱柱机器人脊柱引入了一个弹性模型，该模型在初始和最大长度处主动预加载并启用机械锁定，并开发了一种约束轨迹优化方法，以共同优化弹性参数和运动轨迹，从而提高跳跃距离。结果表明，刚度较低的弹簧可能有助于提高跳跃性能，而不是作为直接推进源，而是通过权衡整体能源效率释放更多发动机动力推进的一种手段。我们还从能量的角度可视化弹簧系数对整体优化程序的影响，以确定合适的参数区域。 摘要：This paper presents a novel methodology to model and optimize trajectories of a quadrupedal robot with spinal compliance to improve standing jump performance compared to quadrupeds with a rigid spine. We introduce an elastic model for a prismatic robotic spine that is actively preloaded and mechanically lock-enabled at initial and maximum length, and develop a constrained trajectory optimization method to co-optimize the elastic parameters and motion trajectories toward enhanced jumping distance. Results reveal that a less stiff spring is likely to facilitate jumping performance not as a direct propelling source but as a means to unleash more motor power for propelling by trading-off overall energy efficiency. We also visualize the impact of spring coefficients on the overall optimization routine from energetic perspectives to identify the suitable parameter region.
【10】 V2X Communication Between Connected and Automated Vehicles (CAVs) and Unmanned Aerial Vehicles (UAVs) 标题：互联自动飞行器(CAV)与无人机(UAV)之间的V2X通信 链接：https://arxiv.org/abs/2109.00145
作者：Ozgenur Kavas-Torris,Sukru Yaren Gelbal,Mustafa Ridvan Cantas,Bilin Aksun-Guvenc,Levent Guvenc 机构：Department of Mechanical and Aerospace Engineering, The Ohio State University, Automated Driving Lab (ADL), Columbus, OH , USA 备注：10 pages, 14 figures 摘要：可以利用和扩展地面车辆之间的连接，以包括协调任务的空中车辆。使用车辆对一切（V2X）通信技术，可以在连接的自动车辆（CAV）和无人机（UAV）之间建立通信链路。地面对空通信链路的硬件实现和测试对于实际应用至关重要。建立了两种不同的通信链路：专用短程通信（DSRC）和基于4G互联网的WebSocket通信。这两个链接分别进行了静态和动态测试。更进一步，这两个链接一起用于一个称为快速清晰演示的真实用例场景。目的是首先通过DSRC通信将地面车辆位置信息从CAV发送到UAV。在无人机方面，通过用户数据报协议（UDP）在DSRC调制解调器和Raspberry Pi同伴计算机之间建立连接，以将CAV位置信息发送给同伴计算机。Raspberry Pi处理2种不同的连接，它首先通过传输控制协议（TCP）连接到交通应急管理系统（CMP），向CMP发送CAV和UAV位置信息。其次，Raspberry Pi使用WebSocket通信连接到web服务器，以发送无人机上的车载摄像头拍摄的照片。进行了静态试验和动态飞行试验的快速清除演示。结果表明，该通信结构可用于实际场景。 摘要：Connectivity between ground vehicles can be utilized and expanded to include aerial vehicles for coordinated missions. Using Vehicle-to-Everything (V2X) communication technologies, a communication link can be established between Connected and Autonomous vehicles (CAVs) and Unmanned Aerial vehicles (UAVs). Hardware implementation and testing of a ground to air communication link is crucial for real-life applications. Two different communication links were established, Dedicated Short Range communication (DSRC) and 4G internet based WebSocket communication. Both links were tested separately both for stationary and dynamic test cases. One step further, both links were used together for a real-life use case scenario called Quick Clear demonstration. The aim was to first send ground vehicle location information from the CAV to the UAV through DSRC communication. On the UAV side, the connection between the DSRC modem and Raspberry Pi companion computer was established through User Datagram Protocol (UDP) to get the CAV location information to the companion computer. Raspberry Pi handles 2 different connection, it first connects to a traffic contingency management system (CMP) through Transmission Control Protocol (TCP) to send CAV and UAV location information to the CMP. Secondly, Raspberry Pi uses a WebSocket communication to connect to a web server to send photos taken by an on-board camera the UAV has. Quick Clear demo was conducted both for stationary test and dynamic flight tests. The results show that this communication structure can be utilized for real-life scenarios.
【11】 Implicit Behavioral Cloning 标题：隐式行为克隆 链接：https://arxiv.org/abs/2109.00137
作者：Pete Florence,Corey Lynch,Andy Zeng,Oscar Ramirez,Ayzaan Wahid,Laura Downs,Adrian Wong,Johnny Lee,Igor Mordatch,Jonathan Tompson 机构：Robotics at Google 摘要：我们发现，在广泛的机器人策略学习场景中，使用隐式模型处理有监督的策略学习通常比常用的显式模型表现得更好。我们对这一发现进行了广泛的实验，并提供了直观的见解和理论依据，将隐式模型的特性与显式模型的特性相比较，特别是在逼近复杂、潜在不连续和多值（集值）函数方面。在机器人策略学习任务中，我们发现基于能量模型（EBM）的隐式行为克隆策略通常优于常见的显式（均方误差或混合密度）行为克隆策略，包括在具有高维动作空间和视觉图像输入的任务中。我们发现这些策略在D4RL基准测试套件中具有挑战性的人工专家任务上提供了有竞争力的结果或优于最先进的离线强化学习方法，尽管没有使用奖励信息。在现实世界中，具有隐式策略的机器人可以从人类演示中学习接触丰富的任务的复杂和非常微妙的行为，包括具有高度组合复杂性的任务和需要1毫米精度的任务。 摘要：We find that across a wide range of robot policy learning scenarios, treating supervised policy learning with an implicit model generally performs better, on average, than commonly used explicit models. We present extensive experiments on this finding, and we provide both intuitive insight and theoretical arguments distinguishing the properties of implicit models compared to their explicit counterparts, particularly with respect to approximating complex, potentially discontinuous and multi-valued (set-valued) functions. On robotic policy learning tasks we show that implicit behavioral cloning policies with energy-based models (EBM) often outperform common explicit (Mean Square Error, or Mixture Density) behavioral cloning policies, including on tasks with high-dimensional action spaces and visual image inputs. We find these policies provide competitive results or outperform state-of-the-art offline reinforcement learning methods on the challenging human-expert tasks from the D4RL benchmark suite, despite using no reward information. In the real world, robots with implicit policies can learn complex and remarkably subtle behaviors on contact-rich tasks from human demonstrations, including tasks with high combinatorial complexity and tasks requiring 1mm precision.
【12】 AugLimb: Compact Robotic Limb for Human Augmentation 标题：AugLimb：用于人体增强的紧凑型机器人肢体 链接：https://arxiv.org/abs/2109.00133
作者：Zeyu Ding,Shogo Yoshida,Toby Chong,Tsukasa Fukusato,Takuma Torii,Haoran Xie 机构：Japan Advanced Institute of Science and Technology, The University of Tokyo 备注：2 pages, 3 figures 摘要：这项工作提出了一种紧凑的机器人肢体，AugLimb，它可以增强我们的身体功能并支持日常活动。Auglipm伸缩机构采用双层剪刀单元，可实现前臂长度的2.5倍。建议的装置可以安装在使用者的上臂上，并在不妨碍佩戴者的情况下转换为紧凑状态。建议的装置重量轻，对佩戴者施加的负担低。我们开发了Auglipm原型来演示所提出的机制。我们相信，该设计方法可以促进人类增强研究的实际应用。看见http://www.jaist.ac.jp/~xie/auglipm.html 摘要：This work proposes a compact robotic limb, AugLimb, that can augment our body functions and support the daily activities. AugLimb adopts the double-layer scissor unit for the extendable mechanism which can achieve 2.5 times longer than the forearm length. The proposed device can be mounted on the user's upper arm, and transform into compact state without obstruction to wearers. The proposed device is lightweight with low burden exerted on the wearer. We developed the prototype of AugLimb to demonstrate the proposed mechanisms. We believe that the design methodology of AugLimb can facilitate human augmentation research for practical use. see http://www.jaist.ac.jp/~xie/auglimb.html
【13】 Cognitive science as a source of forward and inverse models of human decisions for robotics and control 标题：认知科学是人类机器人和控制决策正反向模型的来源 链接：https://arxiv.org/abs/2109.00127
作者：Mark K. Ho,Thomas L. Griffiths 机构：Princeton University, Department of Computer Science, Princeton, NJ, USA, Princeton University, Department of Psychology, Princeton, NJ, USA 备注：Invited submission for Annual Review of Control, Robotics, and Autonomous Systems 摘要：那些设计与人类互动的自主系统的人将不可避免地面临人类如何思考和决策的问题。幸运的是，计算认知科学提供了对人类决策的洞察，使用的工具将是那些熟悉优化和控制背景的人所熟悉的（例如，概率论、统计机器学习和强化学习）。在这里，我们回顾了其中的一些工作，重点关注认知科学如何提供人类决策的正向模型和人类思考他人决策的反向模型。我们重点介绍了相关的最新发展，包括综合黑盒和理论驱动建模的方法、将启发式和偏见重新定义为有界最优性形式的说明，以及用决策理论术语描述人类思维和沟通理论的模型。通过这样做，我们的目的是让读者对认知科学和控制研究交叉点的一系列框架、方法和可操作的见解一瞥。 摘要：Those designing autonomous systems that interact with humans will invariably face questions about how humans think and make decisions. Fortunately, computational cognitive science offers insight into human decision-making using tools that will be familiar to those with backgrounds in optimization and control (e.g., probability theory, statistical machine learning, and reinforcement learning). Here, we review some of this work, focusing on how cognitive science can provide forward models of human decision-making and inverse models of how humans think about others' decision-making. We highlight relevant recent developments, including approaches that synthesize blackbox and theory-driven modeling, accounts that recast heuristics and biases as forms of bounded optimality, and models that characterize human theory of mind and communication in decision-theoretic terms. In doing so, we aim to provide readers with a glimpse of the range of frameworks, methodologies, and actionable insights that lie at the intersection of cognitive science and control research.
【14】 Bio-inspired robot perception coupled with robot-modeled human perception 标题：仿生机器人感知与机器人建模的人类感知耦合 链接：https://arxiv.org/abs/2109.00097
作者：Tobias Fischer 备注：Paper accepted to the "Robotics: Science and Systems Pioneers Workshop 2021" 摘要：我的首要研究目标是为机器人提供感知能力，使其能够以类似人类的方式与人类互动。为了发展这些感知能力，我相信研究人类视觉系统的原理是有用的。我使用这些原理来开发新的计算机视觉算法，并在智能机器人系统中验证它们的有效性。我对这种方法很感兴趣，因为它提供了双重好处：揭示人类视觉系统固有的原理，以及将这些原理应用于其人工对应物。图1描述了我的研究。 摘要：My overarching research goal is to provide robots with perceptional abilities that allow interactions with humans in a human-like manner. To develop these perceptional abilities, I believe that it is useful to study the principles of the human visual system. I use these principles to develop new computer vision algorithms and validate their effectiveness in intelligent robotic systems. I am enthusiastic about this approach as it offers the dual benefit of uncovering principles inherent in the human visual system, as well as applying these principles to its artificial counterpart. Fig. 1 contains a depiction of my research.
机器翻译，仅供参考
