arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2001.08477cs.LGcs.ROstat.ML
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矢量量化潜在空间中基于表示学习的半监督抓取检测

Semi-supervised Grasp Detection by Representation Learning in a Vector Quantized Latent Space

Indian Institute of Information Technology, Allahabad(阿拉哈巴德印度信息技术学院)

Mridul Mahajan, Tryambak Bhattacharjee, Arya Krishnan, Priya Shukla, G C Nandi

摘要:

机器人要完成复杂的操作任务,必须具有良好的抓取能力。然而,视觉为基础的机器人把握检测阻碍了足够的标记数据的不可用性。此外,半监督学习技术在抓取检测中的应用还有待进一步研究。本文提出了一种基于半监督学习的抓取检测方法,该方法采用矢量量化变分自编码器(VQ-VAE)对离散的潜在空间进行建模。据我们所知,这是第一次变分自编码器(VAE)已被应用于机器人抓取检测领域。VAE帮助模型在Cornell抓取数据集(CGD)之外进行推广,尽管通过利用未标记的数据,标记的数据量有限。这一声明已通过在图像上测试模型得到验证,而图像在CGD中不可用。与此同时,我们用VQ-VAE模型中使用的解码器结构增强了生成抓取卷积神经网络(GGCNN)架构,直觉上它应该有助于在矢量量化的潜在空间中回归。随后,该模型的性能显着优于现有的方法,不使用未标记的图像,以提高把握。

英文摘要:

For a robot to perform complex manipulation tasks, it is necessary for it to have a good grasping ability. However, vision based robotic grasp detection is hindered by the unavailability of sufficient labelled data. Furthermore, the application of semi-supervised learning techniques to grasp detection is under-explored. In this paper, a semi-supervised learning based grasp detection approach has been presented, which models a discrete latent space using a Vector Quantized Variational AutoEncoder (VQ-VAE). To the best of our knowledge, this is the first time a Variational AutoEncoder (VAE) has been applied in the domain of robotic grasp detection. The VAE helps the model in generalizing beyond the Cornell Grasping Dataset (CGD) despite having a limited amount of labelled data by also utilizing the unlabelled data. This claim has been validated by testing the model on images, which are not available in the CGD. Along with this, we augment the Generative Grasping Convolutional Neural Network (GGCNN) architecture with the decoder structure used in the VQ-VAE model with the intuition that it should help to regress in the vector-quantized latent space. Subsequently, the model performs significantly better than the existing approaches which do not make use of unlabelled images to improve the grasp.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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