Imperial College London
Alternate

ProfessorAndrewDavison

Faculty of Engineering, Department of Computing

Professor of Robot Vision
 
 
 
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Contact

 

+44 (0)20 7594 8316a.davison Website

 
 
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Assistant

 

Ms Lucy Atthis +44 (0)20 7594 8259

 
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Location

 

303William Penney LaboratorySouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{James:2017,
author = {James, S and Davison, A and Johns, E},
pages = {334--343},
publisher = {PMLR},
title = {Transferring end-to-end visuomotor control from simulation to real world for a multi-stage task},
url = {http://hdl.handle.net/10044/1/64944},
year = {2017}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - End-to-end control for robot manipulation and grasping is emergingas an attractive alternative to traditional pipelined approaches.  However, end-to-end methods tend to either be slow to train, exhibit little or no generalisability,or lack the ability to accomplish long-horizon or multi-stage tasks.  In this paper,we show how two simple techniques can lead to end-to-end (image to velocity)execution of a multi-stage task, which is analogous to a simple tidying routine,without having seen a single real image. This involves locating, reaching for, andgrasping a cube, then locating a basket and dropping the cube inside.  To achievethis, robot trajectories are computed in a simulator, to collect a series of controlvelocities which accomplish the task.  Then, a CNN is trained to map observedimages to velocities, using domain randomisation to enable generalisation to realworld images.  Results show that we are able to successfully accomplish the taskin the real world with the ability to generalise to novel environments, includingthose with dynamic lighting conditions,  distractor objects,  and moving objects,including the basket itself. We believe our approach to be simple, highly scalable,and capable of learning long-horizon tasks that have until now not been shownwith the state-of-the-art in end-to-end robot control.
AU  - James,S
AU  - Davison,A
AU  - Johns,E
EP  - 343
PB  - PMLR
PY  - 2017///
SP  - 334
TI  - Transferring end-to-end visuomotor control from simulation to real world for a multi-stage task
UR  - http://hdl.handle.net/10044/1/64944
ER  -
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