Fast and Robust Bin-picking System for Densely Piled Industrial Objects

Objects grasping, also known as the bin-picking, is one of the most common tasks faced by industrial robots. While much work has been done in related topics, grasping randomly piled objects still remains a challenge because much of the existing work either lack robustness or costs too much resource. In this paper, we develop a fast and robust bin-picking system for grasping densely piled objects adaptively and safely. The proposed system starts with point cloud segmentation using improved density-based spatial clustering of application with noise (DBSCAN) algorithm, which is improved by combining the region growing algorithm and using Octree to speed up the calculation. The system then uses principle component analysis (PCA) for coarse registration and iterative closest point (ICP) for fine registration. We propose a grasp risk score (GRS) to evaluate each object by the collision probability, the stability of the object, and the whole pile's stability. Through real tests with the Anno robot, our method is verified to be advanced in speed and robustness.

Breiman's "Two Cultures" Revisited and Reconciled

In a landmark paper published in 2001, Leo Breiman described the tense standoff between two cultures of data modeling: parametric statistical and algorithmic machine learning. The cultural division between these two statistical learning frameworks has been growing at a steady pace in recent years. What is the way forward? It has become blatantly obvious that this widening gap between "the two cultures" cannot be averted unless we find a way to blend them into a coherent whole. This article presents a solution by establishing a link between the two cultures. Through examples, we describe the challenges and potential gains of this new integrated statistical thinking.

On The Problem of Relevance in Statistical Inference

How many statistical inference tools we have for inference from massive data? A huge number, but only when we are ready to assume the given database is homogenous, consisting of a large cohort of "similar" cases. Why we need the homogeneity assumption? To make `learning from the experience of others' or `borrowing strength' possible. But, what if, we are dealing with a massive database of heterogeneous cases (which is a norm in almost all modern data-science applications including neuroscience, genomics, healthcare, and astronomy)? How many methods we have in this situation? Not much, if not ZERO. Why? It's not obvious how to go about gathering strength when each piece of information is fuzzy. The danger is that, if we include irrelevant cases, borrowing information might heavily damage the quality of the inference! This raises some fundamental questions for big data inference: When (not) to borrow? Whom (not) to borrow? How (not) to borrow? These questions are at the heart of the "Problem of Relevance" in statistical inference -- a puzzle that has remained too little addressed since its inception nearly half a century ago. Here we offer the first practical theory of relevance with precisely describable statistical formulation and algorithm. Through examples, we demonstrate how our new statistical perspective answers previously unanswerable questions in a realistic and feasible way.

Nonparametric High-dimensional K-sample Comparison

High-dimensional k-sample comparison is a common applied problem. We construct a class of easy-to-implement nonparametric distribution-free tests based on new tools and unexplored connections with spectral graph theory. The test is shown to possess various desirable properties along with a characteristic exploratory flavor that has practical consequences. The numerical examples show that our method works surprisingly well under a broad range of realistic situations.

Adaptive Affinity Propagation Clustering

Affinity propagation clustering (AP) has two limitations: it is hard to know what value of parameter 'preference' can yield an optimal clustering solution, and oscillations cannot be eliminated automatically if occur. The adaptive AP method is proposed to overcome these limitations, including adaptive scanning of preferences to search space of the number of clusters for finding the optimal clustering solution, adaptive adjustment of damping factors to eliminate oscillations, and adaptive escaping from oscillations when the damping adjustment technique fails. Experimental results on simulated and real data sets show that the adaptive AP is effective and can outperform AP in quality of clustering results.