arXiv subjects

Antoine Richard

Publications and source records attributed to Antoine Richard.

25 records · Page 2Linked to original sources

arXiv2023

RANS: Highly-Parallelised Simulator for Reinforcement Learning based Autonomous Navigating Spacecrafts

Nowadays, realistic simulation environments are essential to validate and build reliable robotic solutions. This is particularly true when using Reinforcement Learning (RL) based control policies. To this end, both robotics and RL developers need tools and workflows to create physically accurate simulations and synthetic datasets. Gazebo, MuJoCo, Webots, Pybullets or Isaac Sym are some of the many tools available to simulate robotic systems. Developing learning-based methods for space navigation is, due to the highly complex nature of the problem, an intensive data-driven process that requires highly parallelized simulations. When it comes to the control of spacecrafts, there is no easy to use simulation library designed for RL. We address this gap by harnessing the capabilities of NVIDIA Isaac Gym, where both physics simulation and the policy training reside on GPU. Building on this tool, we provide an open-source library enabling users to simulate thousands of parallel spacecrafts, that learn a set of maneuvering tasks, such as position, attitude, and velocity control. These tasks enable to validate complex space scenarios, such as trajectory optimization for landing, docking, rendezvous and more.

cs.RO↗

arXiv2023

OmniLRS: A Photorealistic Simulator for Lunar Robotics

Developing algorithms for extra-terrestrial robotic exploration has always been challenging. Along with the complexity associated with these environments, one of the main issues remains the evaluation of said algorithms. With the regained interest in lunar exploration, there is also a demand for quality simulators that will enable the development of lunar robots. % In this paper, we explain how we built a Lunar simulator based on Isaac Sim, Nvidia's robotic simulator. In this paper, we propose Omniverse Lunar Robotic-Sim (OmniLRS) that is a photorealistic Lunar simulator based on Nvidia's robotic simulator. This simulation provides fast procedural environment generation, multi-robot capabilities, along with synthetic data pipeline for machine-learning applications. It comes with ROS1 and ROS2 bindings to control not only the robots, but also the environments. This work also performs sim-to-real rock instance segmentation to show the effectiveness of our simulator for image-based perception. Trained on our synthetic data, a yolov8 model achieves performance close to a model trained on real-world data, with 5% performance gap. When finetuned with real data, the model achieves 14% higher average precision than the model trained on real-world data, demonstrating our simulator's photorealism.% to realize sim-to-real. The code is fully open-source, accessible here: https://github.com/AntoineRichard/LunarSim, and comes with demonstrations.

cs.RO↗

arXiv2023

GPS-aided Visual Wheel Odometry

This paper introduces a novel GPS-aided visual-wheel odometry (GPS-VWO) for ground robots. The state estimation algorithm tightly fuses visual, wheeled encoder and GPS measurements in the way of Multi-State Constraint Kalman Filter (MSCKF). To avoid accumulating calibration errors over time, the proposed algorithm calculates the extrinsic rotation parameter between the GPS global coordinate frame and the VWO reference frame online as part of the estimation process. The convergence of this extrinsic parameter is guaranteed by the observability analysis and verified by using real-world visual and wheel encoder measurements as well as simulated GPS measurements. Moreover, a novel theoretical finding is presented that the variance of unobservable state could converge to zero for specific Kalman filter system. We evaluate the proposed system extensively in large-scale urban driving scenarios. The results demonstrate that better accuracy than GPS is achieved through the fusion of GPS and VWO. The comparison between extrinsic parameter calibration and non-calibration shows significant improvement in localization accuracy thanks to the online calibration.

cs.RO↗

arXiv2021

How To Train Your HERON

In this paper we apply Deep Reinforcement Learning (Deep RL) and Domain Randomization to solve a navigation task in a natural environment relying solely on a 2D laser scanner. We train a model-based RL agent in simulation to follow lake and river shores and apply it on a real Unmanned Surface Vehicle in a zero-shot setup. We demonstrate that even though the agent has not been trained in the real world, it can fulfill its task successfully and adapt to changes in the robot's environment and dynamics. Finally, we show that the RL agent is more robust, faster, and more accurate than a state-aware Model-Predictive-Controller.

cs.RO↗

arXiv2020

A Study on Trees's Knots Prediction from their Bark Outer-Shape

In the industry, the value of wood-logs strongly depends on their internal structure and more specifically on the knots' distribution inside the trees. As of today, CT-scanners are the prevalent tool to acquire accurate images of the trees internal structure. However, CT-scanners are expensive, and slow, making their use impractical for most industrial applications. Knowing where the knots are within a tree could improve the efficiency of the overall tree industry by reducing waste and improving the quality of wood-logs by-products. In this paper we evaluate different deep-learning based architectures to predict the internal knots distribution of a tree from its outer-shape, something that has never been done before. Three types of techniques based on Convolutional Neural Networks (CNN) will be studied. The architectures are tested on both real and synthetic CT-scanned trees. With these experiments, we demonstrate that CNNs can be used to predict internal knots distribution based on the external surface of the trees. The goal being to show that these inexpensive and fast methods could be used to replace the CT-scanners. Additionally, we look into the performance of several off-the-shelf object-detectors to detect knots inside CT-scanned images. This method is used to autonomously label part of our real CT-scanned trees alleviating the need to manually segment the whole of the images.

cs.CV↗

arXiv2020

A Survey On 3D Inner Structure Prediction from its Outer Shape

The analysis of the internal structure of trees is highly important for both forest experts, biological scientists, and the wood industry. Traditionally, CT-scanners are considered as the most efficient way to get an accurate inner representation of the tree. However, this method requires an important investment and reduces the cost-effectiveness of this operation. Our goal is to design neural-network-based methods to predict the internal density of the tree from its external bark shape. This paper compares different image-to-image(2D), volume-to-volume(3D) and Convolutional Long Short Term Memory based neural network architectures in the context of the prediction of the defect distribution inside trees from their external bark shape. Those models are trained on a synthetic dataset of 1800 CT-scanned look-like volumetric structures of the internal density of the trees and their corresponding external surface.

cs.CV↗

arXiv2019

Semantic Nearest Neighbor Fields Monocular Edge Visual-Odometry

Recent advances in deep learning for edge detection and segmentation opens up a new path for semantic-edge-based ego-motion estimation. In this work, we propose a robust monocular visual odometry (VO) framework using category-aware semantic edges. It can reconstruct large-scale semantic maps in challenging outdoor environments. The core of our approach is a semantic nearest neighbor field that facilitates a robust data association of edges across frames using semantics. This significantly enlarges the convergence radius during tracking phases. The proposed edge registration method can be easily integrated into direct VO frameworks to estimate photometrically, geometrically, and semantically consistent camera motions. Different types of edges are evaluated and extensive experiments demonstrate that our proposed system outperforms state-of-art indirect, direct, and semantic monocular VO systems.

cs.CV↗