Presentacion Robotica

Robotics Today
Pablo Zegers
pzegers@miuandes.cl
Autonomous Machines Center
Facultad de Ingeniera y Ciencias Aplicadas
Universidad de los Andes
Chile
2013
Zegers Robotics Today
Robotics
Search for an Autonomous Machine
Duck of Vaucanson (1739).
What Is Driving Robotics Today?
A Roadmap for U.S. Robotics: From Internet to Robotics, March 20, 2013
Three factors drive the adoption of robots:
1. improved productivity in the increasingly competitive
international environment;
2. improved quality of life in the presence of a signicantly
aging society; and
3. removing rst responders and soldiers from the immediate
danger/action.
Economic growth, quality of life, and safety of our rst responders
continue to be key drivers for the adoption of robots.
Important Advances in Mobile Robotics
Similar Eciency to that of Animals
1 kW at 22km/h.
Three phase permanent

magnet synchronous
motor that produces
twice the torque.
MIT Cheetah Robot.
New Products
Low Cost Manipulation
Dexterous.
No programming.
Ready to operate.
No cage.
Check www.universal-robots.com
too!
Baxter, Rethink Robotics.
Hybrid Approaches
Leveraging the Best of Everybody!
Robots and People Can Work Faster Together, David Bourne, Director Rapid Manufacturing Lab, Robotics
Institute, Carnegie Mellon University, July 25, 2013.
Unstructured Object Manipulation
A Robotic Frontier
Unseen objects.
Changing geometries.
Dicult to dene formally.

www.seriouseats.com (June 16, 2011).
Folding Towels (Maitin-Shepard et al, 2010)
Pick the Towel Up
Maitin-Shepard et al, 2010
Towel is randomly placed.
Pick it and rotate looking for corners.

Folding Towels (Maitin-Shepard et al, 2010) (cont.)
Find Grasp Points
Look for depth discontinuities consistency through time with

the help of a dense sub-pixel optical ow.
Use RANSAC to t corners to border points and nd

candidates.
Stereo correspondence for 3D localization.

Check and Measure
Pull taut and twist to check grasping.
Fit a rectangle to measure the 3D size.
Start the more structured section of the task: folding.

Fold
NVIDIA GTX 295 GPU optimized for dense optical ow.
Intel Core 2 quad core 2.5 GHz CPU.
Average of 1478 seconds per towel, most spent on grasp point

detection.
Finish!
100% success rate on 50 previously unseen towels.

Pipeline
Lessons
Sensing and grasping is a single problem.
3D vision is a cornerstone.
Grasping is a whole universe.
Need of a dierent hardware.
Unstructured task is composed of structured subproblems.
Autonomous operation but far from autonomous learning.

Grasping Things
Typical Task
Saxena et al, 2010
Dierent objects, densities, materials, surfaces, etc.
Is it delicate or dangerous?
Where should a robot grasp an object?

Grasping Things
Grasping Point Detection
Saxena et al, 2010
Many objects are designed to be grasped.
Use synthetic data to train detector.
Use probabilistic model and maximize likelihood in order to

infer grasping point position.
Grasping Things
Examples
Saxena et al, 2010
Grasping Things
Results
Saxena et al, 2010
Grasping Things
Lessons
3D vision and 3D models of reality.
Gripper design.
Lack of real training data because it is a time-consuming task.
Synthetic training.
Some objects require complex sequences in order to be

grasped (i.e. book).
Cortando Pan
Se Usa Un Instrumento
Matas Torrealba y Pablo Zegers, Centro de Maquinas Autonomas, Facultad de Ingeniera y Ciencias Aplicadas,
Universidad de los Andes, Septiembre, 2013
Cortando Pan
El Experimento
Cortando Pan
Capturando La Esencia
Cortando Pan
Lecciones
Las trayectorias encierran toda la informacion de la

retroalimentacion y el control.
Hay caractersticas propias del movimiento humano que no

tienen porque imitar un robot.
Hay espacio para hacer las cosas de otra manera.

Conclusion
Future Steps
Model non-linear and non-rigid systems.
Integrate sensing and grasping:
3D vision.
Grasping technology.
Better hardware.
Motion primitives:
Human dynamics oers a good starting point.
Determine building blocks.
Learn to combine them.
Transition from fully human to totally autonomous:
It will take time.
Integrate simulators.
Annotation tool to generate massive training data from real

data.
Need an interface to transfer knowledge.

Keywords
Tools for Searching
Apprenticeship learning.
Demonstration learning.
Dynamical primitives.
Falling strategies for robots.
Grasping.
Household tasks.
Imitation learning.
Learning from others.
Movement mapping.
Motion primitives.
Motor skill learning.
Robot learning.
Transfer learning.
Who Should Be Watched
Not Many!
Pieter Abbeel
Sylvain Calinon
Auke Ijspeert
Jun Morimoto
Andrew Ng
Jan Peters
Torsten Reil
Stefan Schaal
Peter Stone
Russ Tedrake
Bibliography
Starting Point!
Abbeel, P., Coates, A., and Ng, A., Autonomous Helicopter Aerobatics through Apprenticeship Learning,
The International Journal of Robotics Research, 2010.
Calinon, S., DHalluin, F., Sauser, E. L., Caldwell, D. G., and Billard, A. G., Learning and Reproduction of
Gestures by Imitation: An Approach Based on Hidden Markov Model and Gaussian Mixture Regression,
IEEE Robotics & Automation Magazine, June, 2010.
Kober, J., and Peters, J., Imitation and Reinforcement Learning: Practical Algorithms for Motor
Primitives in Robotics, IEEE Robotics & Automation Magazine, June, 2010.
Kruger, V., Herzog, D. L., Baby, S., Ude, A., and Kragic, D., Learning Actions from Observations:
Primitive-Based Modeling and Grammar, IEEE Robotics & Automation Magazine, June, 2010.
Maitin-Shepard, J., Cusumano-Towner, M., Lei, J., and Abbeel, P., Cloth Grasp Point Detection based on
Multiple-View Geometric Cues with Application to Robotic Towel Folding, Proceedings of the
International Conference on Robotics and Automation, 2010.
Morimoto, J., Jenkins, O. C., and Toussaint, M., Robot Learning in Practice, IEEE Robotics &
Automation Magazine, June, 2010.
Saxena, A., Diemeyer, J., Kearns, J, and Ng, A., Robotic Grasping of Novel Objects, Advances in Neural
Information Processing Systems, 2006.
Schaal, S., and Atkeson, C., Learning Control in Robotics: Trajectory-Based Optimal Control
Techniques, IEEE Robotics & Automation Magazine, June, 2010.

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Robotics Today

Three phase permanent

Dicult to dene formally.

Towel is randomly placed.

Pick it and rotate looking for corners.

Look for depth discontinuities consistency through time with

Use RANSAC to t corners to border points and nd

Stereo correspondence for 3D localization.

Pull taut and twist to check grasping.

Fit a rectangle to measure the 3D size.

Start the more structured section of the task: folding.

NVIDIA GTX 295 GPU optimized for dense optical ow.

Intel Core 2 quad core 2.5 GHz CPU.

Average of 1478 seconds per towel, most spent on grasp point

100% success rate on 50 previously unseen towels.

Sensing and grasping is a single problem.

Grasping is a whole universe.

Need of a dierent hardware.

Unstructured task is composed of structured subproblems.

Autonomous operation but far from autonomous learning.

Dierent objects, densities, materials, surfaces, etc.

Where should a robot grasp an object?

Many objects are designed to be grasped.

Use synthetic data to train detector.

Use probabilistic model and maximize likelihood in order to

3D vision and 3D models of reality.

Lack of real training data because it is a time-consuming task.

Some objects require complex sequences in order to be

Las trayectorias encierran toda la informacion de la

Hay caractersticas propias del movimiento humano que no

Hay espacio para hacer las cosas de otra manera.

Model non-linear and non-rigid systems.

Integrate sensing and grasping:

Human dynamics oers a good starting point.

Determine building blocks.

Learn to combine them.

Transition from fully human to totally autonomous:

It will take time.

Annotation tool to generate massive training data from real

Need an interface to transfer knowledge.

Falling strategies for robots.

Learning from others.

Motor skill learning.

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