Spherical robot

Examples of 3D point clouds synthesized by the progressive conditional generative sầu adversarial network (PCGAN) for an assortment of object classes. PCGAN generates both geometry & color for point clouds, without supervision, through a coarse lớn fine training process.

Before he joined the University of Texas at Arlington as an Assistant Professor in the Department of Computer Science & Engineering và founded the Robotic Vision Laboratory there, William Beksay mê interned at iRobot, the world"s largest producer of consumer robots (mainly through its Roomcha robotic vacuum).

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To navigate built environments, robots must be able to sense và make decisions about how to lớn interact with their locale. Researchers at the company were interested in using machine & deep learning to lớn train their robots lớn learn about objects, but doing so requires a large dataphối of images. While there are millions of photos and videos of rooms, none were shot from the vantage point of a robotic vacuum. Efforts khổng lồ train using images with human-centric perspectives failed.

Beksi"s retìm kiếm focuses on robotics, computer vision, and cyber-physical systems. "In particular, I"m interested in developing algorithms that enable machines lớn learn from their interactions with the physical world and autonomously acquire skills necessary to exedễ thương high-cấp độ tasks," he said.


Examples of 3 chiều point clouds synthesized by PCGAN.

Years later, now with a research group including six PhD computer science students, Beksay mê recalled the Roombố training problem và begin exploring solutions. A manual approach, used by some, involves using an expensive sầu 360 degree camera to lớn capture environments (including rented Airbnb houses) & custom software lớn stitch the images baông chồng inkhổng lồ a whole. But Bekđắm say believed the manual capture method would be too slow lớn succeed.

Instead, he looked to a khung of deep learning known as generative adversarial networks, or GANs, where two neural networks conkiểm tra with each other in a game until the ‘generator" of new data can fool a ‘discriminator." Once trained, such a network would enable the creation of an infinite number of possible rooms or outdoor environments, with different kinds of chairs or tables or vehicles with slightly different forms, but still — lớn a person and a robot — identifiable objects with recognizable dimensions & characteristics.

"You can perturb these objects, move sầu them inlớn new positions, use different lights, color & texture, and then render them inlớn a training image that could be used in dataphối," he explained. "This approach would potentially provide limitless data lớn train a robot on."

"Manually designing these objects would take a huge amount of resources và hours of human labor while, if trained properly, the generative networks can make them in seconds," said Mohammad Samiul Arshad, a graduate student in Beksi"s group involved in the research.

Generating Objects for Synthetic Scenes

After some initial attempts, Bekmê mẩn realized his dream of creating photorealistic full scenes was presently out of reach. "We took a step back & looked at current retìm kiếm lớn determine how to start at a smaller scale – generating simple objects in environments."

Beksi mê and Arshad presented PCGAN, the first conditional generative adversarial network to lớn generate dense colored point clouds in an unsupervised mode, at the International Conference on 3D Vision (3DV) in Nov. 20trăng tròn. Their paper, "A Progressive Conditional Generative Adversarial Network for Generating Dense và Colored 3D Point Clouds," shows their network is capable of learning from a training phối (derived from ShapeNetChip Core, a CAD mã sản phẩm database) & mimicking a 3 chiều data distribution lớn produce colored point clouds with fine details at multiple resolutions.

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"There was some work that could generate synthetic objects from these CAD Model datasets," he said. "But no one could yet handle color."

In order to thử nghiệm their method on a diversity of shapes, Beksi"s team chose chairs, tables, sofas, airplanes, & motorcycles for their experiment. The tool allows the researchers to lớn access the near-infinite number of possible versions of the set of objects the deep learning system generates.

"Our Mã Sản Phẩm first learns the basic structure of an object at low resolutions & gradually builds up towards high-level details," he explained. "The relationship between the object parts and their colors — for examples, the legs of the chair/table are the same color while seat/top are contrasting — is also learned by the network. We"re starting small, working with objects, & building to lớn a hierarchy to bởi vì full synthetic scene generation that would be extremely useful for robotics."

They generated 5,000 random samples for each class and performed an evaluation using a number of different methods. They evaluated both point cloud geometry & color using a variety of comtháng metrics in the field. Their results showed that PCGAN is capable of synthesizing high-unique point clouds for a disparate array of object classes.


Another issue that Bekmê mệt is working on is known colloquially as ‘sim2real." "You have real training data, & synthetic training data, and there can be subtle differences in how an AI system or robot learns from them," he said. "‘Sim2real" looks at how lớn quantify those differences and make simulations more realistic by capturing the physics of that scene – friction, collisions, gravity — và by using ray or photon tracing."

The next step for Beksi"s team is to lớn deploy the software on a robot, và see how it works in relationship to lớn the sim-to-real domain gap.

The training of the PCGAN model was made possible by longmon.vn"s Maverichồng 2 deep learning resource, which Bektê mê & his students were able to access through the University of Texas Cyberinfrastructure Retìm kiếm (UTRC) program, which provides computing resources to lớn researchers at any of the UT System"s 14 institutions.

"If you want to lớn increase resolution to lớn include more points & more detail, that increase comes with an increase in computational cost," he noted. "We don"t have sầu those hardware resources in my lab, so it was essential to lớn make use of longmon.vn to lớn vì chưng that."

In addition lớn computation needs, Bektê mê required extensive storage for the retìm kiếm. "These datasets are huge, especially the 3D point clouds," he said. "We generate hundreds of megabytes of data per second; each point cloud is around 1 million points. You need an enormous amount of storage for that."

While Beksi mê says the field is still a long way from having really good robust robots that can be autonomous for long periods of time, doing so would benefit multiple domains, including health care, manufacturing, and agriculture.

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"The publication is just one small step toward the ultimate goal of generating synthetic scenes of indoor environments for advancing robotic perception capabilities," he said.

Chuyên mục: BLog