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Bin-picking of novel objects through category-agnostic-segmentation: RGB matters
Dec 27, 2023
This paper addresses category-agnostic instance segmentation for robotic manipulation, focusing on segmenting objects independent of their class to enable versatile applications like bin-picking in dynamic environments. Existing methods often lack generalizability and object-specific information, leading to grasp failures. We present a novel approach leveraging object-centric instance segmentation and simulation-based training for effective transfer to real-world scenarios. Notably, our strategy overcomes challenges posed by noisy depth sensors, enhancing the reliability of learning. Our solution accommodates transparent and semi-transparent objects which are historically difficult for depth-based grasping methods. Contributions include domain randomization for successful transfer, our collected dataset for warehouse applications, and an integrated framework for efficient bin-picking. Our trained instance segmentation model achieves state-of-the-art performance over WISDOM public benchmark [1] and also over the custom-created dataset. In a real-world challenging bin-picking setup our bin-picking framework method achieves 98% accuracy for opaque objects and 97% accuracy for non-opaque objects, outperforming the state-of-the-art baselines with a greater margin.
Predicting the performance of hybrid ventilation in buildings using a multivariate attention-based biLSTM Encoder-Decoder neural network
Feb 08, 2023
Hybrid ventilation (coupling natural and mechanical ventilation) is an energy-efficient solution to provide fresh air for most climates, given that it has a reliable control system. To operate such systems optimally, a high-fidelity control-oriented model is required. It should enable near-real time forecast of the indoor air temperature and humidity based on operational conditions such as window opening and HVAC schedules. However, widely used physics-based simulation models (i.e., white-box models) are labour-intensive and computationally expensive. Alternatively, black-box models based on artificial neural networks can be trained to be good estimators for building dynamics. This paper investigates the capabilities of a multivariate multi-head attention-based long short-term memory (LSTM) encoder-decoder neural network to predict indoor air conditions of a building equipped with hybrid ventilation. The deep neural network used for this study aims to predict indoor air temperature dynamics when a window is opened and closed, respectively. Training and test data were generated from detailed multi-zone office building model (EnergyPlus). The deep neural network is able to accurately predict indoor air temperature of five zones whenever a window was opened and closed.
CWD: A Machine Learning based Approach to Detect Unknown Cloud Workloads
Nov 28, 2022
Workloads in modern cloud data centers are becoming increasingly complex. The number of workloads running in cloud data centers has been growing exponentially for the last few years, and cloud service providers (CSP) have been supporting on-demand services in real-time. Realizing the growing complexity of cloud environment and cloud workloads, hardware vendors such as Intel and AMD are increasingly introducing cloud-specific workload acceleration features in their CPU platforms. These features are typically targeted towards popular and commonly-used cloud workloads. Nonetheless, uncommon, customer-specific workloads (unknown workloads), if their characteristics are different from common workloads (known workloads), may not realize the potential of the underlying platform. To address this problem of realizing the full potential of the underlying platform, we develop a machine learning based technique to characterize, profile and predict workloads running in the cloud environment. Experimental evaluation of our technique demonstrates good prediction performance. We also develop techniques to analyze the performance of the model in a standalone manner.