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Thin-Shell Object Manipulations With Differentiable Physics Simulations
Mar 30, 2024
In this work, we aim to teach robots to manipulate various thin-shell materials. Prior works studying thin-shell object manipulation mostly rely on heuristic policies or learn policies from real-world video demonstrations, and only focus on limited material types and tasks (e.g., cloth unfolding). However, these approaches face significant challenges when extended to a wider variety of thin-shell materials and a diverse range of tasks. While virtual simulations are shown to be effective in diverse robot skill learning and evaluation, prior thin-shell simulation environments only support a subset of thin-shell materials, which also limits their supported range of tasks. We introduce ThinShellLab - a fully differentiable simulation platform tailored for robotic interactions with diverse thin-shell materials possessing varying material properties, enabling flexible thin-shell manipulation skill learning and evaluation. Our experiments suggest that manipulating thin-shell objects presents several unique challenges: 1) thin-shell manipulation relies heavily on frictional forces due to the objects' co-dimensional nature, 2) the materials being manipulated are highly sensitive to minimal variations in interaction actions, and 3) the constant and frequent alteration in contact pairs makes trajectory optimization methods susceptible to local optima, and neither standard reinforcement learning algorithms nor trajectory optimization methods (either gradient-based or gradient-free) are able to solve the tasks alone. To overcome these challenges, we present an optimization scheme that couples sampling-based trajectory optimization and gradient-based optimization, boosting both learning efficiency and converged performance across various proposed tasks. In addition, the differentiable nature of our platform facilitates a smooth sim-to-real transition.
Point Mamba: A Novel Point Cloud Backbone Based on State Space Model with Octree-Based Ordering Strategy
Mar 18, 2024
Recently, state space model (SSM) has gained great attention due to its promising performance, linear complexity, and long sequence modeling ability in both language and image domains. However, it is non-trivial to extend SSM to the point cloud field, because of the causality requirement of SSM and the disorder and irregularity nature of point clouds. In this paper, we propose a novel SSM-based point cloud processing backbone, named Point Mamba, with a causality-aware ordering mechanism. To construct the causal dependency relationship, we design an octree-based ordering strategy on raw irregular points, globally sorting points in a z-order sequence and also retaining their spatial proximity. Our method achieves state-of-the-art performance compared with transformer-based counterparts, with 93.4% accuracy and 75.7 mIOU respectively on the ModelNet40 classification dataset and ScanNet semantic segmentation dataset. Furthermore, our Point Mamba has linear complexity, which is more efficient than transformer-based methods. Our method demonstrates the great potential that SSM can serve as a generic backbone in point cloud understanding. Codes are released at https://github.com/IRMVLab/Point-Mamba.
Articulated Object Manipulation with Coarse-to-fine Affordance for Mitigating the Effect of Point Cloud Noise
Mar 07, 20243D articulated objects are inherently challenging for manipulation due to the varied geometries and intricate functionalities associated with articulated objects.Point-level affordance, which predicts the per-point actionable score and thus proposes the best point to interact with, has demonstrated excellent performance and generalization capabilities in articulated object manipulation. However, a significant challenge remains: while previous works use perfect point cloud generated in simulation, the models cannot directly apply to the noisy point cloud in the real-world. To tackle this challenge, we leverage the property of real-world scanned point cloud that, the point cloud becomes less noisy when the camera is closer to the object. Therefore, we propose a novel coarse-to-fine affordance learning pipeline to mitigate the effect of point cloud noise in two stages. In the first stage, we learn the affordance on the noisy far point cloud which includes the whole object to propose the approximated place to manipulate. Then, we move the camera in front of the approximated place, scan a less noisy point cloud containing precise local geometries for manipulation, and learn affordance on such point cloud to propose fine-grained final actions. The proposed method is thoroughly evaluated both using large-scale simulated noisy point clouds mimicking real-world scans, and in the real world scenarios, with superiority over existing methods, demonstrating the effectiveness in tackling the noisy real-world point cloud problem.
MultiPLY: A Multisensory Object-Centric Embodied Large Language Model in 3D World
Jan 16, 2024Human beings possess the capability to multiply a melange of multisensory cues while actively exploring and interacting with the 3D world. Current multi-modal large language models, however, passively absorb sensory data as inputs, lacking the capacity to actively interact with the objects in the 3D environment and dynamically collect their multisensory information. To usher in the study of this area, we propose MultiPLY, a multisensory embodied large language model that could incorporate multisensory interactive data, including visual, audio, tactile, and thermal information into large language models, thereby establishing the correlation among words, actions, and percepts. To this end, we first collect Multisensory Universe, a large-scale multisensory interaction dataset comprising 500k data by deploying an LLM-powered embodied agent to engage with the 3D environment. To perform instruction tuning with pre-trained LLM on such generated data, we first encode the 3D scene as abstracted object-centric representations and then introduce action tokens denoting that the embodied agent takes certain actions within the environment, as well as state tokens that represent the multisensory state observations of the agent at each time step. In the inference time, MultiPLY could generate action tokens, instructing the agent to take the action in the environment and obtain the next multisensory state observation. The observation is then appended back to the LLM via state tokens to generate subsequent text or action tokens. We demonstrate that MultiPLY outperforms baselines by a large margin through a diverse set of embodied tasks involving object retrieval, tool use, multisensory captioning, and task decomposition.
RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation
Nov 13, 2023We present RoboGen, a generative robotic agent that automatically learns diverse robotic skills at scale via generative simulation. RoboGen leverages the latest advancements in foundation and generative models. Instead of directly using or adapting these models to produce policies or low-level actions, we advocate for a generative scheme, which uses these models to automatically generate diversified tasks, scenes, and training supervisions, thereby scaling up robotic skill learning with minimal human supervision. Our approach equips a robotic agent with a self-guided propose-generate-learn cycle: the agent first proposes interesting tasks and skills to develop, and then generates corresponding simulation environments by populating pertinent objects and assets with proper spatial configurations. Afterwards, the agent decomposes the proposed high-level task into sub-tasks, selects the optimal learning approach (reinforcement learning, motion planning, or trajectory optimization), generates required training supervision, and then learns policies to acquire the proposed skill. Our work attempts to extract the extensive and versatile knowledge embedded in large-scale models and transfer them to the field of robotics. Our fully generative pipeline can be queried repeatedly, producing an endless stream of skill demonstrations associated with diverse tasks and environments.
Mixup-Augmented Meta-Learning for Sample-Efficient Fine-Tuning of Protein Simulators
Sep 07, 2023
Molecular dynamics simulations have emerged as a fundamental instrument for studying biomolecules. At the same time, it is desirable to perform simulations of a collection of particles under various conditions in which the molecules can fluctuate. In this paper, we explore and adapt the soft prompt-based learning method to molecular dynamics tasks. Our model can remarkably generalize to unseen and out-of-distribution scenarios with limited training data. While our work focuses on temperature as a test case, the versatility of our approach allows for efficient simulation through any continuous dynamic conditions, such as pressure and volumes. Our framework has two stages: 1) Pre-trains with data mixing technique, augments molecular structure data and temperature prompts, then applies a curriculum learning method by increasing the ratio of them smoothly. 2) Meta-learning-based fine-tuning framework improves sample-efficiency of fine-tuning process and gives the soft prompt-tuning better initialization points. Comprehensive experiments reveal that our framework excels in accuracy for in-domain data and demonstrates strong generalization capabilities for unseen and out-of-distribution samples.
Wasserstein Distributionally Robust Chance Constrained Trajectory Optimization for Mobile Robots within Uncertain Safe Corridor
Aug 31, 2023
Safe corridor-based Trajectory Optimization (TO) presents an appealing approach for collision-free path planning of autonomous robots, offering global optimality through its convex formulation. The safe corridor is constructed based on the perceived map, however, the non-ideal perception induces uncertainty, which is rarely considered in trajectory generation. In this paper, we propose Distributionally Robust Safe Corridor Constraints (DRSCCs) to consider the uncertainty of the safe corridor. Then, we integrate DRSCCs into the trajectory optimization framework using Bernstein basis polynomials. Theoretically, we rigorously prove that the trajectory optimization problem incorporating DRSCCs is equivalent to a computationally efficient, convex quadratic program. Compared to the nominal TO, our method enhances navigation safety by significantly reducing the infeasible motions in presence of uncertainty. Moreover, the proposed approach is validated through two robotic applications, a micro Unmanned Aerial Vehicle (UAV) and a quadruped robot Unitree A1.
AdaAfford: Learning to Adapt Manipulation Affordance for 3D Articulated Objects via Few-shot Interactions
Dec 01, 2021
Perceiving and interacting with 3D articulated objects, such as cabinets, doors, and faucets, pose particular challenges for future home-assistant robots performing daily tasks in human environments. Besides parsing the articulated parts and joint parameters, researchers recently advocate learning manipulation affordance over the input shape geometry which is more task-aware and geometrically fine-grained. However, taking only passive observations as inputs, these methods ignore many hidden but important kinematic constraints (e.g., joint location and limits) and dynamic factors (e.g., joint friction and restitution), therefore losing significant accuracy for test cases with such uncertainties. In this paper, we propose a novel framework, named AdaAfford, that learns to perform very few test-time interactions for quickly adapting the affordance priors to more accurate instance-specific posteriors. We conduct large-scale experiments using the PartNet-Mobility dataset and prove that our system performs better than baselines.
VAT-Mart: Learning Visual Action Trajectory Proposals for Manipulating 3D ARTiculated Objects
Jun 28, 2021
Perceiving and manipulating 3D articulated objects (e.g., cabinets, doors) in human environments is an important yet challenging task for future home-assistant robots. The space of 3D articulated objects is exceptionally rich in their myriad semantic categories, diverse shape geometry, and complicated part functionality. Previous works mostly abstract kinematic structure with estimated joint parameters and part poses as the visual representations for manipulating 3D articulated objects. In this paper, we propose object-centric actionable visual priors as a novel perception-interaction handshaking point that the perception system outputs more actionable guidance than kinematic structure estimation, by predicting dense geometry-aware, interaction-aware, and task-aware visual action affordance and trajectory proposals. We design an interaction-for-perception framework VAT-Mart to learn such actionable visual representations by simultaneously training a curiosity-driven reinforcement learning policy exploring diverse interaction trajectories and a perception module summarizing and generalizing the explored knowledge for pointwise predictions among diverse shapes. Experiments prove the effectiveness of the proposed approach using the large-scale PartNet-Mobility dataset in SAPIEN environment and show promising generalization capabilities to novel test shapes, unseen object categories, and real-world data. Project page: https://hyperplane-lab.github.io/vat-mart