Overview of Robot Perception - University of Texas at Austinyukez/cs391r_fall2020/...Embodied View of Perception • As the active cat (A) walks, the other cat (P) moves and perceives

CS391R: Robot Learning (Fall 2020)

Overview of Robot Perception

1

Prof. Yuke Zhu

Fall 2020

CS391R: Robot Learning (Fall 2020) 2

Logistics

Office Hours

Instructor: 4-5pm Wednesdays (Zoom) or by appointment

TA: 10:15-11:15am Mondays (Zoom) or by appointment

Presentation Sign-Up: Deadline Today (EOD)

First review due: Wednesday 9:59pm (one review: Mask-RCNN or YOLO)

Student Self-Introduction


Today’s Agenda

● What is Robot Perception?

● Robot Vision vs. Computer Vision

● Landscape of Robot Perception

○ neural network architectures

○ representation learning algorithms

○ state estimation tasks

○ embodiment and active perception

● Quick Review of Deep Learning (if time permits)


[Levine et al. JMLR 2016] [Bohg et al. ICRA 2018][Sa et al. IROS 2014]

Perceive

Act

Perceive

Act

Act

Perceive

A key challenge in Robot Learning is to close the perception-action loop.


What is Robot Perception?

Making sense of the unstructured real world…

• Incomplete knowledge of objects and scene

• Environment dynamics and other agents

• Imperfect actions may lead to failure


Robotic Sensors

Making contact of the physical world through multimodal senses


Robotic Sensors

Making contact of the physical world through multimodal senses

[Source: HKU Advanced Robotics Laboratory]


Robot Vision vs. Computer Vision

[Detectron - Facebook AI Research] [Zeng et al., IROS 2018]

Robot vision is embodied, active, and environmentally situated.


Robot Vision vs. Computer Vision

Robot vision is embodied, active, and environmentally situated.

● Embodied: Robots have physical bodies and experience the world directly. Their

actions are part of a dynamic with the world and have immediate feedback on their

own sensation.

● Active: Robots are active perceivers. It knows why it wishes to sense, and chooses

what to perceive, and determines how, when and where to achieve that perception.

● Situated: Robots are situated in the world. They do not deal with abstract

descriptions, but with the here and now of the world directly influencing the behavior

of the system.

[Brooks 1991; Bajcsy 2018]


Robot Perception: Landscape

What you will learn in the chapter of Robotics and Perception

1. Modalities: neural network architectures designed for different sensory modalities

2. Representations: representation learning algorithms without strong supervision

3. Tasks: state estimation tasks for robot navigation and manipulation

4. Embodiment: active perception for embodied visual intelligence


Robot Perception: Modalities

Pixels (from RGB cameras) Point cloud (from structure sensors)

(x1, y1, z1)(x2, y2, z2)

[Source: PointNet++; Qi et al. 2016]

Time series (from F/T sensors) Tactile data (from the GelSights sensors)

[Source: Calandra et al. 2018][Source: Lee*, Zhu*, et al. 2018]


Robot Perception: Modalities

Week 2: Object Detection (Pixels) Week 3: 3D Point Cloud

More sensory modalities

in later weeks…

How can we design the neural network architectures that can effectively process

raw sensory data in vastly different forms?


Robot Perception: Representations

A fundamental problem in robot perception is to learn the proper representations

of the unstructured world.

[Source: Stanford CS331b]



“Solving a problem simply means representing it so as to make

the solution transparent.”

Herbert A. Simon, Sciences of the Artificial

Our secret weapon? Learning


[6.S094, MIT]



How can we learn representations of the world with limited supervision?

Structural priors (inductive biases)

Interaction and movement (embodiment)

“Nature”

“Nurture”

+

Week 3 (Thu)

Week 4 (Tue)

babies learning by playing



How can we learn representations that fuse multiple sensory modalities together?

[The McGurk Effect, BBC]Is seeing believing?

https://www.youtube.com/watch?v=2k8fHR9jKVM

https://www.youtube.com/watch?v=2k8fHR9jKVM



How can we learn representations that fuse multiple sensory modalities together?

[Lee*, Zhu*, et al. 2018]

1 2 3 4 5 6

1 2

Reaching

3 4

Alignment

5 6

Insertion

combining vision and force for manipulation

Week 4 Thu: Multimodal Sensor Fusion


Robot Perception: Tasks

State Representation

Perception &

Computer Vision

Robot Control &

Decision Making

Noisy Sensory Data




Perception &

Computer Vision

Robot Control &

Decision Making

Noisy Sensory Data

Localization (Week 5 Tue)

Pose Estimation (Week 5 Thu)

Visual Tracking (Week 6 Tue)




Robot Control &

Decision Making

Noisy Sensory Data

Perception &

Computer Visionhttp://www.probabilistic-robotics.org/

http://www.probabilistic-robotics.org/



: state : observation : action

: transition model (motion model)

: measurement model (observation model)

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zt

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ut

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p(xt|ut, xt−1)

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p(zt|xt)

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bel(xt)

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: belief

State estimation methods: Bayes Filtering



State estimation methods: Bayes Filtering

: state : observation : action

: transition model (motion model)

: measurement model (observation model)

xt

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zt

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ut

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p(xt|ut, xt−1)

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p(zt|xt)

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What if models are hard to specify? Learning

bel(xt)

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: belief

Example: Particle Filter Localization


Robot Perception: Embodiment

Input-Output Picture (Susan Hurley, 1998)

Conventional View of Perception

[Action in Perception, Alva Noë 2004]

• Perception is the process of building an internal

representation of the environment

• Perception is input from world to mind, and action

is output from mind to world, thought is the

mediating process.



Kitten Carousel (Held and Hein, 1963)

Embodied View of Perception

• As the active cat (A) walks, the other cat (P) moves

and perceives the environment passively.

• Only the active cat develops normal perception

through self-actuated movement.

• The passive cat suffers from perception problems,

such as 1) not blinking when objects approach,

and 2) hitting the walls.



Pebbles (James J. Gibson 1966)

Embodied View of Perception

• Subjects asked to find a reference object among a

set of irregularly-shaped objects

• Three groups

a. Passive observers of one static image (49%)

b. Observers of moving shapes (72%)

c. Interactive observers (99%)

• The ability to condition input signals with actions is

crucial to perception.



Take-home messages

• Perceptual experiences do not present the sense in the way that a photograph does.

• Perception is developed by an embodied agent through actively exploring in the

physical world.

• “We see in order to move; we move in order to see.” – William Gibson



Week 6 (Thu) – Active Perception: How can embodied agents (robots) improve perception

based on visual experiences through active exploration?

View

Selection

Physical

Interaction

[Ramakrishnan et al. 2019][Pinto et al. 2016]


Research Frontier: Closing the Perception-Action Loop

Perception ActionRobots

How robots’ intelligent behaviors

are guided by their interactive

perception

How robots develop better perception

from embodied sensorimotor

experiences


Visual Processing Methods

Staged Visual Recognition Pipeline End-to-end Deep Learning

What is new since 1980s?


Quick Review of Deep Learning: Artificial Neurons

Biological Neuron

Computational building block for the brain

Artificial Neuron

Computational building block for the neural network

Note: Many differences exist – be careful with the brain analogies!

[Dendritic Computation, Michael London and Michael Hausser 2015]


Quick Review of Deep Learning: Convolutional Networks


Quick Review of Deep Learning: Fully-Connected Layers

[Source: Stanford CS231N]

What is the dimension of W ?


Quick Review of Deep Learning: Convolutional Layers





















Quick Review of Deep Learning: Pooling Operations


Quick Review of Deep Learning: Activation Functions


Quick Review of Deep Learning: CNN Architectures

AlexNetVGG-16

ResNetLeNet


Quick Review of Deep Learning: Optimization

Stochastic Gradient Descent (SGD)

θ = θ � ηrθJ(θ;x(i); y(i))

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input label

learning rate

weights

Backpropagation


Quick Review of Deep Learning: Features



Quick Review of Deep Learning: Implementation

Tutorial coming in late September / early October


Quick Review of Deep Learning: Resources

Online Courses

• CS231N: Convolutional Neural Networks for Visual Recognition

http://cs231n.stanford.edu/

• MIT 6.S191: Introduction to Deep Learning

http://introtodeeplearning.com/

Textbooks:

• Deep Learning. Ian Goodfellow, Yoshua Bengio, Aaron Courville

http://www.deeplearningbook.org/

http://cs231n.stanford.edu/

http://introtodeeplearning.com/

http://www.deeplearningbook.org/


Resources

Related courses at UTCS

• CS342: Neural Networks

• CS 376: Computer Vision

• CS 378 Autonomous Driving

• CS 393R: Autonomous Robots

• CS394R: Reinforcement Learning: Theory and Practice

Extended readings:

• Action-based Theories of Perception, Stanford Encyclopedia of Philosophy

• Action in Perception, Alva Noë

https://philkr.github.io/cs342

https://www.cs.utexas.edu/~huangqx/CS376_Computer_Vision.html

https://amrl.cs.utexas.edu/CS378-F1Tenth-Autonomous-Driving/

http://www.cs.utexas.edu/~pstone/Courses/393Rfall18/

http://www.cs.utexas.edu/~pstone/Courses/394Rfall19/

https://plato.stanford.edu/entries/action-perception/

https://mitpress.mit.edu/books/action-perception

Overview of Robot Perception - University of Texas at Austinyukez/cs391r_fall2020/...Embodied View of Perception • As the active cat (A) walks, the other cat (P) moves and perceives

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