Kateryna Zorina presents Transporter Networks: Rearranging the Visual World for Robotic Manipulation

On 2021-03-02 11:00:00 at https://feectu.zoom.us/j/94902683033
Reading group on the work "Transporter Networks: Rearranging the Visual World
for Robotic Manipulation", Andy Zeng, Pete Florence, Jonathan Tompson, Stefan
Welker, Jonathan Chien, Maria Attarian, Travis Armstrong, Ivan Krasin, Dan
Duong, Vikas Sindhwani, Johnny Lee, CoRL 2020.

Paper abstract: Robotic manipulation can be formulated as inducing a sequence
of spatial displacements: where the space being moved can encompass an object,
part of an object, or end effector. In this work, we propose the Transporter
Network, a simple model architecture that rearranges deep features to infer
spatial displacements from visual input - which can parameterize robot
actions. It makes no assumptions of objectness (e.g. canonical poses, models,
or keypoints), it exploits spatial symmetries, and is orders of magnitude
more sample efficient than our benchmarked alternatives in learning
vision-based manipulation tasks: from stacking a pyramid of blocks, to
assembling kits with unseen objects; from manipulating deformable ropes,
to pushing piles of small objects with closed-loop feedback. Our method can
represent complex multi-modal policy distributions and generalizes to
multi-step sequential tasks, as well as 6DoF pick-and-place. Experiments on
10 simulated tasks show that it learns faster and generalizes better than a
variety of end-to-end baselines, including policies that use ground-truth
object poses. We validate our methods with hardware in the real world.
Experiment videos and code will be made available at

Paper URL: https://corlconf.github.io/paper_153/

Online meeting: https://feectu.zoom.us/j/94902683033

Instructions for participants: The reading group studies the literature in the
field of pattern recognition and computer vision. At each meeting one or more
papers are prepared for presentation by a single person, the presenter. The
meetings are open to anyone, disregarding their background. It is assumed that
everyone attending the reading group has, at least briefly, read the paper –
not necessarily understanding everything. Attendants should preferably send
questions about the unclear parts to the speaker at least one day in advance.
During the presentation we aim to have a fruitful discussion, a critical
analysis of the paper, as well as brainstorming for creative extensions.

See the page of reading groups
Za obsah zodpovídá: Petr Pošík