Discretizing SO(2)-Equivariant Features for Robotic Kitting

Robotic kitting has attracted considerable attention in logistics and industrial settings. However, existing kitting methods encounter challenges such as low precision and poor efficiency, limiting their widespread applications. To address these issues, we present a novel kitting framework that improves both the precision and computational efficiency of complex kitting tasks. Firstly, our approach introduces a fine-grained orientation estimation technique in the picking module, significantly enhancing orientation precision while effectively decoupling computational load from orientation granularity. This approach combines an SO(2)-equivariant network with a group discretization operation to preciously predict discrete orientation distributions. Secondly, we develop the Hand-tool Kitting Dataset (HKD) to evaluate the performance of different solutions in handling orientation-sensitive kitting tasks. This dataset comprises a diverse collection of hand tools and synthetically created kits, which reflects the complexities encountered in real-world kitting scenarios. Finally, a series of experiments are conducted to evaluate the performance of the proposed method. The results demonstrate that our approach offers remarkable precision and enhanced computational efficiency in robotic kitting tasks.

Real-time Human-Robot Collaborative Manipulations of Cylindrical and Cubic Objects via Geometric Primitives and Depth Information

Many objects commonly found in household and industrial environments are represented by cylindrical and cubic shapes. Thus, it is available for robots to manipulate them through the real-time detection of elliptic and rectangle shape primitives formed by the circular and rectangle tops of these objects. We devise a robust grasping system that enables a robot to manipulate cylindrical and cubic objects in collaboration scenarios by the proposed perception strategy including the detection of elliptic and rectangle shape primitives and depth information. The proposed method of detecting ellipses and rectangles incorporates a one-stage detection backbone and then, accommodates the proposed adaptive multi-branch multi-scale net with a designed iterative feature pyramid network, local inception net, and multi-receptive-filed feature fusion net to generate object detection recommendations. In terms of manipulating objects with different shapes, we propose the grasp synthetic to align the grasp pose of the gripper with an object's pose based on the proposed detector and registered depth information. The proposed robotic perception algorithm has been integrated on a robot to demonstrate the ability to carry out human-robot collaborative manipulations of cylindrical and cubic objects in real-time. We show that the robotic manipulator, empowered by the proposed detector, performs well in practical manipulation scenarios.(An experiment video is available in YouTube, https://www.youtube.com/watch?v=Amcs8lwvNK8.)

Machine learning-guided synthesis of advanced inorganic materials

Synthesis of advanced inorganic materials with minimum number of trials is of paramount importance towards the acceleration of inorganic materials development. The enormous complexity involved in existing multi-variable synthesis methods leads to high uncertainty, numerous trials and exorbitant cost. Recently, machine learning (ML) has demonstrated tremendous potential for material research. Here, we report the application of ML to optimize and accelerate material synthesis process in two representative multi-variable systems. A classification ML model on chemical vapor deposition-grown MoS2 is established, capable of optimizing the synthesis conditions to achieve higher success rate. While a regression model is constructed on the hydrothermal-synthesized carbon quantum dots, to enhance the process-related properties such as the photoluminescence quantum yield. Progressive adaptive model is further developed, aiming to involve ML at the beginning stage of new material synthesis. Optimization of the experimental outcome with minimized number of trials can be achieved with the effective feedback loops. This work serves as proof of concept revealing the feasibility and remarkable capability of ML to facilitate the synthesis of inorganic materials, and opens up a new window for accelerating material development.