A Benchmarking Study of Vision-based Robotic Grasping Algorithms

We present a benchmarking study of vision-based robotic grasping algorithms with distinct approaches, and provide a comparative analysis. In particular, we compare two machine-learning-based and two analytical algorithms using an existing benchmarking protocol from the literature and determine the algorithm's strengths and weaknesses under different experimental conditions. These conditions include variations in lighting, background textures, cameras with different noise levels, and grippers. We also run analogous experiments in simulations and with real robots and present the discrepancies. Some experiments are also run in two different laboratories using same protocols to further analyze the repeatability of our results. We believe that this study, comprising 5040 experiments, provides important insights into the role and challenges of systematic experimentation in robotic manipulation, and guides the development of new algorithms by considering the factors that could impact the performance. The experiment recordings and our benchmarking software are publicly available.

Towards Using Multiple Iterated, Reproduced, and Replicated Experiments with Robots (MIRRER) for Evaluation and Benchmarking

The robotics research field lacks formalized definitions and frameworks for evaluating advanced capabilities including generalizability (the ability for robots to perform tasks under varied contexts) and reproducibility (the performance of a reproduced robot capability in different labs under the same experimental conditions). This paper presents an initial conceptual framework, MIRRER, that unites the concepts of performance evaluation, benchmarking, and reproduced/replicated experimentation in order to facilitate comparable robotics research. Several open issues with the application of the framework are also presented.

Quantum Model Learning Agent: characterisation of quantum systems through machine learning

Accurate models of real quantum systems are important for investigating their behaviour, yet are difficult to distill empirically. Here, we report an algorithm -- the Quantum Model Learning Agent (QMLA) -- to reverse engineer Hamiltonian descriptions of a target system. We test the performance of QMLA on a number of simulated experiments, demonstrating several mechanisms for the design of candidate Hamiltonian models and simultaneously entertaining numerous hypotheses about the nature of the physical interactions governing the system under study. QMLA is shown to identify the true model in the majority of instances, when provided with limited a priori information, and control of the experimental setup. Our protocol can explore Ising, Heisenberg and Hubbard families of models in parallel, reliably identifying the family which best describes the system dynamics. We demonstrate QMLA operating on large model spaces by incorporating a genetic algorithm to formulate new hypothetical models. The selection of models whose features propagate to the next generation is based upon an objective function inspired by the Elo rating scheme, typically used to rate competitors in games such as chess and football. In all instances, our protocol finds models that exhibit $F_1$-score $\geq 0.88$ when compared with the true model, and it precisely identifies the true model in 72% of cases, whilst exploring a space of over $250,000$ potential models. By testing which interactions actually occur in the target system, QMLA is a viable tool for both the exploration of fundamental physics and the characterisation and calibration of quantum devices.

Learning models of quantum systems from experiments

An isolated system of interacting quantum particles is described by a Hamiltonian operator. Hamiltonian models underpin the study and analysis of physical and chemical processes throughout science and industry, so it is crucial they are faithful to the system they represent. However, formulating and testing Hamiltonian models of quantum systems from experimental data is difficult because it is impossible to directly observe which interactions the quantum system is subject to. Here, we propose and demonstrate an approach to retrieving a Hamiltonian model from experiments, using unsupervised machine learning. We test our methods experimentally on an electron spin in a nitrogen-vacancy interacting with its spin bath environment, and numerically, finding success rates up to 86%. By building agents capable of learning science, which recover meaningful representations, we can gain further insight on the physics of quantum systems.