Dream to Manipulate: Compositional World Models Empowering Robot Imitation Learning with Imagination

A world model provides an agent with a representation of its environment, enabling it to predict the causal consequences of its actions. Current world models typically cannot directly and explicitly imitate the actual environment in front of a robot, often resulting in unrealistic behaviors and hallucinations that make them unsuitable for real-world applications. In this paper, we introduce a new paradigm for constructing world models that are explicit representations of the real world and its dynamics. By integrating cutting-edge advances in real-time photorealism with Gaussian Splatting and physics simulators, we propose the first compositional manipulation world model, which we call DreMa. DreMa replicates the observed world and its dynamics, allowing it to imagine novel configurations of objects and predict the future consequences of robot actions. We leverage this capability to generate new data for imitation learning by applying equivariant transformations to a small set of demonstrations. Our evaluations across various settings demonstrate significant improvements in both accuracy and robustness by incrementing actions and object distributions, reducing the data needed to learn a policy and improving the generalization of the agents. As a highlight, we show that a real Franka Emika Panda robot, powered by DreMa's imagination, can successfully learn novel physical tasks from just a single example per task variation (one-shot policy learning). Our project page and source code can be found in https://leobarcellona.github.io/DreamToManipulate/

MEMROC: Multi-Eye to Mobile RObot Calibration

This paper presents MEMROC (Multi-Eye to Mobile RObot Calibration), a novel motion-based calibration method that simplifies the process of accurately calibrating multiple cameras relative to a mobile robot's reference frame. MEMROC utilizes a known calibration pattern to facilitate accurate calibration with a lower number of images during the optimization process. Additionally, it leverages robust ground plane detection for comprehensive 6-DoF extrinsic calibration, overcoming a critical limitation of many existing methods that struggle to estimate the complete camera pose. The proposed method addresses the need for frequent recalibration in dynamic environments, where cameras may shift slightly or alter their positions due to daily usage, operational adjustments, or vibrations from mobile robot movements. MEMROC exhibits remarkable robustness to noisy odometry data, requiring minimal calibration input data. This combination makes it highly suitable for daily operations involving mobile robots. A comprehensive set of experiments on both synthetic and real data proves MEMROC's efficiency, surpassing existing state-of-the-art methods in terms of accuracy, robustness, and ease of use. To facilitate further research, we have made our code publicly available at https://github.com/davidea97/MEMROC.git.

WasteGAN: Data Augmentation for Robotic Waste Sorting through Generative Adversarial Networks

Robotic waste sorting poses significant challenges in both perception and manipulation, given the extreme variability of objects that should be recognized on a cluttered conveyor belt. While deep learning has proven effective in solving complex tasks, the necessity for extensive data collection and labeling limits its applicability in real-world scenarios like waste sorting. To tackle this issue, we introduce a data augmentation method based on a novel GAN architecture called wasteGAN. The proposed method allows to increase the performance of semantic segmentation models, starting from a very limited bunch of labeled examples, such as few as 100. The key innovations of wasteGAN include a novel loss function, a novel activation function, and a larger generator block. Overall, such innovations helps the network to learn from limited number of examples and synthesize data that better mirrors real-world distributions. We then leverage the higher-quality segmentation masks predicted from models trained on the wasteGAN synthetic data to compute semantic-aware grasp poses, enabling a robotic arm to effectively recognizing contaminants and separating waste in a real-world scenario. Through comprehensive evaluation encompassing dataset-based assessments and real-world experiments, our methodology demonstrated promising potential for robotic waste sorting, yielding performance gains of up to 5.8\% in picking contaminants. The project page is available at https://github.com/bach05/wasteGAN.git

SOOD-ImageNet: a Large-Scale Dataset for Semantic Out-Of-Distribution Image Classification and Semantic Segmentation

Out-of-Distribution (OOD) detection in computer vision is a crucial research area, with related benchmarks playing a vital role in assessing the generalizability of models and their applicability in real-world scenarios. However, existing OOD benchmarks in the literature suffer from two main limitations: (1) they often overlook semantic shift as a potential challenge, and (2) their scale is limited compared to the large datasets used to train modern models. To address these gaps, we introduce SOOD-ImageNet, a novel dataset comprising around 1.6M images across 56 classes, designed for common computer vision tasks such as image classification and semantic segmentation under OOD conditions, with a particular focus on the issue of semantic shift. We ensured the necessary scalability and quality by developing an innovative data engine that leverages the capabilities of modern vision-language models, complemented by accurate human checks. Through extensive training and evaluation of various models on SOOD-ImageNet, we showcase its potential to significantly advance OOD research in computer vision. The project page is available at https://github.com/bach05/SOODImageNet.git.

Multi-view Pose Fusion for Occlusion-Aware 3D Human Pose Estimation

Robust 3D human pose estimation is crucial to ensure safe and effective human-robot collaboration. Accurate human perception,however, is particularly challenging in these scenarios due to strong occlusions and limited camera viewpoints. Current 3D human pose estimation approaches are rather vulnerable in such conditions. In this work we present a novel approach for robust 3D human pose estimation in the context of human-robot collaboration. Instead of relying on noisy 2D features triangulation, we perform multi-view fusion on 3D skeletons provided by absolute monocular methods. Accurate 3D pose estimation is then obtained via reprojection error optimization, introducing limbs length symmetry constraints. We evaluate our approach on the public dataset Human3.6M and on a novel version Human3.6M-Occluded, derived adding synthetic occlusions on the camera views with the purpose of testing pose estimation algorithms under severe occlusions. We further validate our method on real human-robot collaboration workcells, in which we strongly surpass current 3D human pose estimation methods. Our approach outperforms state-of-the-art multi-view human pose estimation techniques and demonstrates superior capabilities in handling challenging scenarios with strong occlusions, representing a reliable and effective solution for real human-robot collaboration setups.

Multi-Camera Hand-Eye Calibration for Human-Robot Collaboration in Industrial Robotic Workcells

In industrial scenarios, effective human-robot collaboration relies on multi-camera systems to robustly monitor human operators despite the occlusions that typically show up in a robotic workcell. In this scenario, precise localization of the person in the robot coordinate system is essential, making the hand-eye calibration of the camera network critical. This process presents significant challenges when high calibration accuracy should be achieved in short time to minimize production downtime, and when dealing with extensive camera networks used for monitoring wide areas, such as industrial robotic workcells. Our paper introduces an innovative and robust multi-camera hand-eye calibration method, designed to optimize each camera's pose relative to both the robot's base and to each other camera. This optimization integrates two types of key constraints: i) a single board-to-end-effector transformation, and ii) the relative camera-to-camera transformations. We demonstrate the superior performance of our method through comprehensive experiments employing the METRIC dataset and real-world data collected on industrial scenarios, showing notable advancements over state-of-the-art techniques even using less than 10 images. Additionally, we release an open-source version of our multi-camera hand-eye calibration algorithm at https://github.com/davidea97/Multi-Camera-Hand-Eye-Calibration.git.

Show and Grasp: Few-shot Semantic Segmentation for Robot Grasping through Zero-shot Foundation Models

The ability of a robot to pick an object, known as robot grasping, is crucial for several applications, such as assembly or sorting. In such tasks, selecting the right target to pick is as essential as inferring a correct configuration of the gripper. A common solution to this problem relies on semantic segmentation models, which often show poor generalization to unseen objects and require considerable time and massive data to be trained. To reduce the need for large datasets, some grasping pipelines exploit few-shot semantic segmentation models, which are capable of recognizing new classes given a few examples. However, this often comes at the cost of limited performance and fine-tuning is required to be effective in robot grasping scenarios. In this work, we propose to overcome all these limitations by combining the impressive generalization capability reached by foundation models with a high-performing few-shot classifier, working as a score function to select the segmentation that is closer to the support set. The proposed model is designed to be embedded in a grasp synthesis pipeline. The extensive experiments using one or five examples show that our novel approach overcomes existing performance limitations, improving the state of the art both in few-shot semantic segmentation on the Graspnet-1B (+10.5% mIoU) and Ocid-grasp (+1.6% AP) datasets, and real-world few-shot grasp synthesis (+21.7% grasp accuracy). The project page is available at: https://leobarcellona.github.io/showandgrasp.github.io/

Deep Features for training Support Vector Machine

Features play a crucial role in computer vision. Initially designed to detect salient elements by means of handcrafted algorithms, features are now often learned by different layers in Convolutional Neural Networks (CNNs). This paper develops a generic computer vision system based on features extracted from trained CNNs. Multiple learned features are combined into a single structure to work on different image classification tasks. The proposed system was experimentally derived by testing several approaches for extracting features from the inner layers of CNNs and using them as inputs to SVMs that are then combined by sum rule. Dimensionality reduction techniques are used to reduce the high dimensionality of inner layers. The resulting vision system is shown to significantly boost the performance of standard CNNs across a large and diverse collection of image data sets. An ensemble of different topologies using the same approach obtains state-of-the-art results on a virus data set.

Comparisons among different stochastic selection of activation layers for convolutional neural networks for healthcare

Classification of biological images is an important task with crucial application in many fields, such as cell phenotypes recognition, detection of cell organelles and histopathological classification, and it might help in early medical diagnosis, allowing automatic disease classification without the need of a human expert. In this paper we classify biomedical images using ensembles of neural networks. We create this ensemble using a ResNet50 architecture and modifying its activation layers by substituting ReLUs with other functions. We select our activations among the following ones: ReLU, leaky ReLU, Parametric ReLU, ELU, Adaptive Piecewice Linear Unit, S-Shaped ReLU, Swish , Mish, Mexican Linear Unit, Gaussian Linear Unit, Parametric Deformable Linear Unit, Soft Root Sign (SRS) and others. As a baseline, we used an ensemble of neural networks that only use ReLU activations. We tested our networks on several small and medium sized biomedical image datasets. Our results prove that our best ensemble obtains a better performance than the ones of the naive approaches. In order to encourage the reproducibility of this work, the MATLAB code of all the experiments will be shared at https://github.com/LorisNanni.

Robotic Arm Control and Task Training through Deep Reinforcement Learning

This paper proposes a detailed and extensive comparison of the Trust Region Policy Optimization and DeepQ-Network with Normalized Advantage Functions with respect to other state of the art algorithms, namely Deep Deterministic Policy Gradient and Vanilla Policy Gradient. Comparisons demonstrate that the former have better performances then the latter when asking robotic arms to accomplish manipulation tasks such as reaching a random target pose and pick &placing an object. Both simulated and real-world experiments are provided. Simulation lets us show the procedures that we adopted to precisely estimate the algorithms hyper-parameters and to correctly design good policies. Real-world experiments let show that our polices, if correctly trained on simulation, can be transferred and executed in a real environment with almost no changes.