TieBot: Learning to Knot a Tie from Visual Demonstration through a Real-to-Sim-to-Real Approach

The tie-knotting task is highly challenging due to the tie's high deformation and long-horizon manipulation actions. This work presents TieBot, a Real-to-Sim-to-Real learning from visual demonstration system for the robots to learn to knot a tie. We introduce the Hierarchical Feature Matching approach to estimate a sequence of tie's meshes from the demonstration video. With these estimated meshes used as subgoals, we first learn a teacher policy using privileged information. Then, we learn a student policy with point cloud observation by imitating teacher policy. Lastly, our pipeline learns a residual policy when the learned policy is applied to real-world execution, mitigating the Sim2Real gap. We demonstrate the effectiveness of TieBot in simulation and the real world. In the real-world experiment, a dual-arm robot successfully knots a tie, achieving 50% success rate among 10 trials. Videos can be found on our $\href{https://tiebots.github.io/}{\text{website}}$.

Human-Agent Joint Learning for Efficient Robot Manipulation Skill Acquisition

Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system poses significant challenges due to its high dimensionality, complex motions, and differences in physiological structure. In this study, we introduce a novel system for joint learning between human operators and robots, that enables human operators to share control of a robot end-effector with a learned assistive agent, facilitating simultaneous human demonstration collection and robot manipulation teaching. In this setup, as data accumulates, the assistive agent gradually learns. Consequently, less human effort and attention are required, enhancing the efficiency of the data collection process. It also allows the human operator to adjust the control ratio to achieve a trade-off between manual and automated control. We conducted experiments in both simulated environments and physical real-world settings. Through user studies and quantitative evaluations, it is evident that the proposed system could enhance data collection efficiency and reduce the need for human adaptation while ensuring the collected data is of sufficient quality for downstream tasks. Videos are available at https://norweig1an.github.io/human-agent-joint-learning.github.io/.

DiffGen: Robot Demonstration Generation via Differentiable Physics Simulation, Differentiable Rendering, and Vision-Language Model

Generating robot demonstrations through simulation is widely recognized as an effective way to scale up robot data. Previous work often trained reinforcement learning agents to generate expert policies, but this approach lacks sample efficiency. Recently, a line of work has attempted to generate robot demonstrations via differentiable simulation, which is promising but heavily relies on reward design, a labor-intensive process. In this paper, we propose DiffGen, a novel framework that integrates differentiable physics simulation, differentiable rendering, and a vision-language model to enable automatic and efficient generation of robot demonstrations. Given a simulated robot manipulation scenario and a natural language instruction, DiffGen can generate realistic robot demonstrations by minimizing the distance between the embedding of the language instruction and the embedding of the simulated observation after manipulation. The embeddings are obtained from the vision-language model, and the optimization is achieved by calculating and descending gradients through the differentiable simulation, differentiable rendering, and vision-language model components, thereby accomplishing the specified task. Experiments demonstrate that with DiffGen, we could efficiently and effectively generate robot data with minimal human effort or training time.

ClothesNet: An Information-Rich 3D Garment Model Repository with Simulated Clothes Environment

We present ClothesNet: a large-scale dataset of 3D clothes objects with information-rich annotations. Our dataset consists of around 4400 models covering 11 categories annotated with clothes features, boundary lines, and keypoints. ClothesNet can be used to facilitate a variety of computer vision and robot interaction tasks. Using our dataset, we establish benchmark tasks for clothes perception, including classification, boundary line segmentation, and keypoint detection, and develop simulated clothes environments for robotic interaction tasks, including rearranging, folding, hanging, and dressing. We also demonstrate the efficacy of our ClothesNet in real-world experiments. Supplemental materials and dataset are available on our project webpage.

SAM-RL: Sensing-Aware Model-Based Reinforcement Learning via Differentiable Physics-Based Simulation and Rendering

Model-based reinforcement learning (MBRL) is recognized with the potential to be significantly more sample efficient than model-free RL. How an accurate model can be developed automatically and efficiently from raw sensory inputs (such as images), especially for complex environments and tasks, is a challenging problem that hinders the broad application of MBRL in the real world. In this work, we propose a sensing-aware model-based reinforcement learning system called SAM-RL. Leveraging the differentiable physics-based simulation and rendering, SAM-RL automatically updates the model by comparing rendered images with real raw images and produces the policy efficiently. With the sensing-aware learning pipeline, SAM-RL allows a robot to select an informative viewpoint to monitor the task process. We apply our framework to real-world experiments for accomplishing three manipulation tasks: robotic assembly, tool manipulation, and deformable object manipulation. We demonstrate the effectiveness of SAM-RL via extensive experiments. Supplemental materials and videos are available on our project webpage at https://sites.google.com/view/sam-rl.

Transformer-empowered Multi-scale Contextual Matching and Aggregation for Multi-contrast MRI Super-resolution

Magnetic resonance imaging (MRI) can present multi-contrast images of the same anatomical structures, enabling multi-contrast super-resolution (SR) techniques. Compared with SR reconstruction using a single-contrast, multi-contrast SR reconstruction is promising to yield SR images with higher quality by leveraging diverse yet complementary information embedded in different imaging modalities. However, existing methods still have two shortcomings: (1) they neglect that the multi-contrast features at different scales contain different anatomical details and hence lack effective mechanisms to match and fuse these features for better reconstruction; and (2) they are still deficient in capturing long-range dependencies, which are essential for the regions with complicated anatomical structures. We propose a novel network to comprehensively address these problems by developing a set of innovative Transformer-empowered multi-scale contextual matching and aggregation techniques; we call it McMRSR. Firstly, we tame transformers to model long-range dependencies in both reference and target images. Then, a new multi-scale contextual matching method is proposed to capture corresponding contexts from reference features at different scales. Furthermore, we introduce a multi-scale aggregation mechanism to gradually and interactively aggregate multi-scale matched features for reconstructing the target SR MR image. Extensive experiments demonstrate that our network outperforms state-of-the-art approaches and has great potential to be applied in clinical practice. Codes are available at https://github.com/XAIMI-Lab/McMRSR.

HIPA: Hierarchical Patch Transformer for Single Image Super Resolution

Transformer-based architectures start to emerge in single image super resolution (SISR) and have achieved promising performance. Most existing Vision Transformers divide images into the same number of patches with a fixed size, which may not be optimal for restoring patches with different levels of texture richness. This paper presents HIPA, a novel Transformer architecture that progressively recovers the high resolution image using a hierarchical patch partition. Specifically, we build a cascaded model that processes an input image in multiple stages, where we start with tokens with small patch sizes and gradually merge to the full resolution. Such a hierarchical patch mechanism not only explicitly enables feature aggregation at multiple resolutions but also adaptively learns patch-aware features for different image regions, e.g., using a smaller patch for areas with fine details and a larger patch for textureless regions. Meanwhile, a new attention-based position encoding scheme for Transformer is proposed to let the network focus on which tokens should be paid more attention by assigning different weights to different tokens, which is the first time to our best knowledge. Furthermore, we also propose a new multi-reception field attention module to enlarge the convolution reception field from different branches. The experimental results on several public datasets demonstrate the superior performance of the proposed HIPA over previous methods quantitatively and qualitatively.

Edge-Enhanced Dual Discriminator Generative Adversarial Network for Fast MRI with Parallel Imaging Using Multi-view Information

In clinical medicine, magnetic resonance imaging (MRI) is one of the most important tools for diagnosis, triage, prognosis, and treatment planning. However, MRI suffers from an inherent slow data acquisition process because data is collected sequentially in k-space. In recent years, most MRI reconstruction methods proposed in the literature focus on holistic image reconstruction rather than enhancing the edge information. This work steps aside this general trend by elaborating on the enhancement of edge information. Specifically, we introduce a novel parallel imaging coupled dual discriminator generative adversarial network (PIDD-GAN) for fast multi-channel MRI reconstruction by incorporating multi-view information. The dual discriminator design aims to improve the edge information in MRI reconstruction. One discriminator is used for holistic image reconstruction, whereas the other one is responsible for enhancing edge information. An improved U-Net with local and global residual learning is proposed for the generator. Frequency channel attention blocks (FCA Blocks) are embedded in the generator for incorporating attention mechanisms. Content loss is introduced to train the generator for better reconstruction quality. We performed comprehensive experiments on Calgary-Campinas public brain MR dataset and compared our method with state-of-the-art MRI reconstruction methods. Ablation studies of residual learning were conducted on the MICCAI13 dataset to validate the proposed modules. Results show that our PIDD-GAN provides high-quality reconstructed MR images, with well-preserved edge information. The time of single-image reconstruction is below 5ms, which meets the demand of faster processing.

SAGCI-System: Towards Sample-Efficient, Generalizable, Compositional, and Incremental Robot Learning

Building general-purpose robots to perform an enormous amount of tasks in a large variety of environments at the human level is notoriously complicated. It requires the robot learning to be sample-efficient, generalizable, compositional, and incremental. In this work, we introduce a systematic learning framework called SAGCI-system towards achieving these above four requirements. Our system first takes the raw point clouds gathered by the camera mounted on the robot's wrist as the inputs and produces initial modeling of the surrounding environment represented as a URDF. Our system adopts a learning-augmented differentiable simulation that loads the URDF. The robot then utilizes the interactive perception to interact with the environments to online verify and modify the URDF. Leveraging the simulation, we propose a new model-based RL algorithm combining object-centric and robot-centric approaches to efficiently produce policies to accomplish manipulation tasks. We apply our system to perform articulated object manipulation, both in the simulation and the real world. Extensive experiments demonstrate the effectiveness of our proposed learning framework. Supplemental materials and videos are available on https://sites.google.com/view/egci.

ArtiBoost: Boosting Articulated 3D Hand-Object Pose Estimation via Online Exploration and Synthesis

Estimating the articulated 3D hand-object pose from a single RGB image is a highly ambiguous and challenging problem requiring large-scale datasets that contain diverse hand poses, object poses, and camera viewpoints. Most real-world datasets lack this diversity. In contrast, synthetic datasets can easily ensure vast diversity, but learning from them is inefficient and suffers from heavy training consumption. To address the above issues, we propose ArtiBoost, a lightweight online data enrichment method that boosts articulated hand-object pose estimation from the data perspective. ArtiBoost is employed along with a real-world source dataset. During training, ArtiBoost alternatively performs data exploration and synthesis. ArtiBoost can cover various hand-object poses and camera viewpoints based on a Compositional hand-object Configuration and Viewpoint space (CCV-space) and can adaptively enrich the current hard-discernable samples by a mining strategy. We apply ArtiBoost on a simple learning baseline network and demonstrate the performance boost on several hand-object benchmarks. As an illustrative example, with ArtiBoost, even a simple baseline network can outperform the previous start-of-the-art based on Transformer on the HO3D dataset. Our code is available at https://github.com/MVIG-SJTU/ArtiBoost.