Constrained Behavior Cloning for Robotic Learning

Behavior cloning (BC) is a popular supervised imitation learning method in the societies of robotics, autonomous driving, etc., wherein complex skills can be learned by direct imitation from expert demonstrations. Despite its rapid development, it is still affected by limited field of view where accumulation of sensors and joint noise bring compounding errors. In this paper, we introduced geometrically and historically constrained behavior cloning (GHCBC) to dominantly consider high-level state information inspired by neuroscientists, wherein the geometrically constrained behavior cloning were used to geometrically constrain predicting poses, and the historically constrained behavior cloning were utilized to temporally constrain action sequences. The synergy between these two types of constrains enhanced the BC performance in terms of robustness and stability. Comprehensive experimental results showed that success rates were improved by 29.73% in simulation and 39.4% in real robot experiments in average, respectively, compared to state-of-the-art BC method, especially in long-term operational scenes, indicating great potential of using the GHCBC for robotic learning.

Low-Cost and Real-Time Industrial Human Action Recognitions Based on Large-Scale Foundation Models

Industrial managements, including quality control, cost and safety optimization, etc., heavily rely on high quality industrial human action recognitions (IHARs) which were hard to be implemented in large-scale industrial scenes due to their high costs and poor real-time performance. In this paper, we proposed a large-scale foundation model(LSFM)-based IHAR method, wherein various LSFMs and lightweight methods were jointly used, for the first time, to fulfill low-cost dataset establishment and real-time IHARs. Comprehensive tests on in-situ large-scale industrial manufacturing lines elucidated that the proposed method realized great reduction on employment costs, superior real-time performance, and satisfactory accuracy and generalization capabilities, indicating its great potential as a backbone IHAR method, especially for large-scale industrial applications.

Large Scale Foundation Models for Intelligent Manufacturing Applications: A Survey

Although the applications of artificial intelligence especially deep learning had greatly improved various aspects of intelligent manufacturing, they still face challenges for wide employment due to the poor generalization ability, difficulties to establish high-quality training datasets, and unsatisfactory performance of deep learning methods. The emergence of large scale foundational models(LSFMs) had triggered a wave in the field of artificial intelligence, shifting deep learning models from single-task, single-modal, limited data patterns to a paradigm encompassing diverse tasks, multimodal, and pre-training on massive datasets. Although LSFMs had demonstrated powerful generalization capabilities, automatic high-quality training dataset generation and superior performance across various domains, applications of LSFMs on intelligent manufacturing were still in their nascent stage. A systematic overview of this topic was lacking, especially regarding which challenges of deep learning can be addressed by LSFMs and how these challenges can be systematically tackled. To fill this gap, this paper systematically expounded current statue of LSFMs and their advantages in the context of intelligent manufacturing. and compared comprehensively with the challenges faced by current deep learning models in various intelligent manufacturing applications. We also outlined the roadmaps for utilizing LSFMs to address these challenges. Finally, case studies of applications of LSFMs in real-world intelligent manufacturing scenarios were presented to illustrate how LSFMs could help industries, improve their efficiency.