arXiv subjects

Bin Fang

Publications and source records attributed to Bin Fang.

At least 55 records · Page 3Linked to original sources

arXiv2023

Hybrid Robotic Grasping with a Soft Multimodal Gripper and a Deep Multistage Learning Scheme

Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc. Recent learning-based approaches have shown excellent performance in grasping a variety of novel objects. However, these methods either are typically limited to one single grasping mode, or else more end effectors are needed to grasp various objects. In addition, gripper design and learning methods are commonly developed separately, which may not adequately explore the ability of a multimodal gripper. In this paper, we present a deep reinforcement learning (DRL) framework to achieve multistage hybrid robotic grasping with a new soft multimodal gripper. A soft gripper with three grasping modes (i.e., enveloping, sucking, and enveloping_then_sucking) can both deal with objects of different shapes and grasp more than one object simultaneously. We propose a novel hybrid grasping method integrated with the multimodal gripper to optimize the number of grasping actions. We evaluate the DRL framework under different scenarios (i.e., with different ratios of objects of two grasp types). The proposed algorithm is shown to reduce the number of grasping actions (i.e., enlarge the grasping efficiency, with maximum values of 161% in simulations and 154% in real-world experiments) compared to single grasping modes.

cs.RO↗

arXiv2023

Deep Reinforcement Learning for Robotic Pushing and Picking in Cluttered Environment

In this paper, a novel robotic grasping system is established to automatically pick up objects in cluttered scenes. A composite robotic hand composed of a suction cup and a gripper is designed for grasping the object stably. The suction cup is used for lifting the object from the clutter first and the gripper for grasping the object accordingly. We utilize the affordance map to provide pixel-wise lifting point candidates for the suction cup. To obtain a good affordance map, the active exploration mechanism is introduced to the system. An effective metric is designed to calculate the reward for the current affordance map, and a deep Q-Network (DQN) is employed to guide the robotic hand to actively explore the environment until the generated affordance map is suitable for grasping. Experimental results have demonstrated that the proposed robotic grasping system is able to greatly increase the success rate of the robotic grasping in cluttered scenes.

cs.RO↗

arXiv2023

Broadband Quantum Memory in Atomic Ensembles

Broadband quantum memory is critical to enabling the operation of emerging photonic quantum technology at high speeds. Here we review a central challenge to achieving broadband quantum memory in atomic ensembles -- what we call the 'linewidth-bandwidth mismatch' problem -- and the relative merits of various memory protocols and hardware used for accomplishing this task. We also review the theory underlying atomic ensemble quantum memory and its extensions to optimizing memory efficiency and characterizing memory sensitivity. Finally, we examine the state-of-the-art performance of broadband atomic ensemble quantum memories with respect to three key metrics: efficiency, memory lifetime, and noise.

quant-ph↗

arXiv2023

Tacchi: A Pluggable and Low Computational Cost Elastomer Deformation Simulator for Optical Tactile Sensors

Simulation is widely applied in robotics research to save time and resources. There have been several works to simulate optical tactile sensors that leverage either a smoothing method or Finite Element Method (FEM). However, elastomer deformation physics is not considered in the former method, whereas the latter requires a massive amount of computational resources like a computer cluster. In this work, we propose a pluggable and low computational cost simulator using the Taichi programming language for simulating optical tactile sensors, named as Tacchi . It reconstructs elastomer deformation using particles, which allows deformed elastomer surfaces to be rendered into tactile images and reveals contact information without suffering from high computational costs. Tacchi facilitates creating realistic tactile images in simulation, e.g., ones that capture wear-and-tear defects on object surfaces. In addition, the proposed Tacchi can be integrated with robotics simulators for a robot system simulation. Experiment results showed that Tacchi can produce images with better similarity to real images and achieved higher Sim2Real accuracy compared to the existing methods. Moreover, it can be connected with MuJoCo and Gazebo with only the requirement of 1G memory space in GPU compared to a computer cluster applied for FEM. With Tacchi, physical robot simulation with optical tactile sensors becomes possible. All the materials in this paper are available at https://github.com/zixichen007115/Tacchi .

cs.RO↗

arXiv2023

Fabric Defect Detection Using Vision-Based Tactile Sensor

This paper introduces a new type of system for fabric defect detection with the tactile inspection system. Different from existed visual inspection systems, the proposed system implements a vision-based tactile sensor. The tactile sensor, which mainly consists of a camera, four LEDs, and an elastic sensing layer, captures detailed information about fabric surface structure and ignores the color and pattern. Thus, the ambiguity between a defect and image background related to fabric color and pattern is avoided. To utilize the tactile sensor for fabric inspection, we employ intensity adjustment for image preprocessing, Residual Network with ensemble learning for detecting defects, and uniformity measurement for selecting ideal dataset for model training. An experiment is conducted to verify the performance of the proposed tactile system. The experimental results have demonstrated the feasibility of the proposed system, which performs well in detecting structural defects for various types of fabrics. In addition, the system does not require external light sources, which skips the process of setting up and tuning a lighting environment.

cs.RO↗

arXiv2022

Transformer-based dimensionality reduction

Recently, Transformer is much popular and plays an important role in the fields of Machine Learning (ML), Natural Language Processing (NLP), and Computer Vision (CV), etc. In this paper, based on the Vision Transformer (ViT) model, a new dimensionality reduction (DR) model is proposed, named Transformer-DR. From data visualization, image reconstruction and face recognition, the representation ability of Transformer-DR after dimensionality reduction is studied, and it is compared with some representative DR methods to understand the difference between Transformer-DR and existing DR methods. The experimental results show that Transformer-DR is an effective dimensionality reduction method.

cs.CV↗

arXiv2022

Confined monolayer Ag as a large gap 2D semiconductor and its momentum resolved excited states

2D materials have intriguing quantum phenomena that are distinctively different from their bulk counterparts. Recently, epitaxially synthesized wafer-scale 2D metals, composed of elemental atoms, are attracting attention not only for their potential applications but also for exotic quantum effects such as superconductivity. By mapping momentum-resolved electronic states using time-resolved and angle-resolved photoemission spectroscopy (ARPES), we reveal that monolayer Ag confined between bilayer graphene and SiC is a large gap (> 1 eV) 2D semiconductor, consistent with GW-corrected density functional theory. The measured valence band dispersion matches the DFT-GW quasiparticle band. However, the conduction band dispersion shows an anomalously large effective mass of 2.4 m0. Possible mechanisms for this large enhancement in the apparent mass are discussed.

cond-mat.mtrl-sci↗

arXiv2021

Elastic Tactile Simulation Towards Tactile-Visual Perception

Tactile sensing plays an important role in robotic perception and manipulation tasks. To overcome the real-world limitations of data collection, simulating tactile response in a virtual environment comes as a desirable direction of robotic research. In this paper, we propose Elastic Interaction of Particles (EIP) for tactile simulation. Most existing works model the tactile sensor as a rigid multi-body, which is incapable of reflecting the elastic property of the tactile sensor as well as characterizing the fine-grained physical interaction between the two objects. By contrast, EIP models the tactile sensor as a group of coordinated particles, and the elastic property is applied to regulate the deformation of particles during contact. With the tactile simulation by EIP, we further propose a tactile-visual perception network that enables information fusion between tactile data and visual images. The perception network is based on a global-to-local fusion mechanism where multi-scale tactile features are aggregated to the corresponding local region of the visual modality with the guidance of tactile positions and directions. The fusion method exhibits superiority regarding the 3D geometric reconstruction task.

cs.RO↗

arXiv2021

Perspectives on spintronic diodes

Spintronic diodes are emerging as disruptive candidates for impacting several technological applications ranging from the Internet of Things to Artificial Intelligence. In this letter, an overview of the recent achievements on spintronic diodes is briefly presented, underling the major breakthroughs that have led these devices to have the largest sensitivity measured up to date for a diode. For each class of spintronic diodes (passive, active, resonant, non-resonant), we indicate the remaining developments to improve the performances as well as the future directions. We also dedicate the last part of this perspective to new ideas for developing spintronic diodes in multiphysics systems by combining 2-dimensional materials and antiferromagnets.

cond-mat.mes-hall↗

arXiv2021

Spin-Phonon Interaction in Yttrium Iron Garnet

Spin-phonon interaction is an important channel for spin and energy relaxation in magnetic insulators. Understanding this interaction is critical for developing magnetic insulator-based spintronic devices. Quantifying this interaction in yttrium iron garnet (YIG), one of the most extensively investigated magnetic insulators, remains challenging because of the large number of atoms in a unit cell. Here, we report temperature-dependent and polarization-resolved Raman measurements in a YIG bulk crystal. We first classify the phonon modes based on their symmetry. We then develop a modified mean-field theory and define a symmetry-adapted parameter to quantify spin-phonon interaction in a phonon-mode specific way for the first time in YIG. Based on this improved mean-field theory, we discover a positive correlation between the spin-phonon interaction strength and the phonon frequency.

cond-mat.mes-hall↗

arXiv2020

Elastic Interaction of Particles for Robotic Tactile Simulation

Tactile sensing plays an important role in robotic perception and manipulation. To overcome the real-world limitations of data collection, simulating tactile response in virtual environment comes as a desire direction of robotic research. Most existing works model the tactile sensor as a rigid multi-body, which is incapable of reflecting the elastic property of the tactile sensor as well as characterizing the fine-grained physical interaction between two objects. In this paper, we propose Elastic Interaction of Particles (EIP), a novel framework for tactile emulation. At its core, EIP models the tactile sensor as a group of coordinated particles, and the elastic theory is applied to regulate the deformation of particles during the contact process. The implementation of EIP is conducted from scratch, without resorting to any existing physics engine. Experiments to verify the effectiveness of our method have been carried out on two applications: robotic perception with tactile data and 3D geometric reconstruction by tactile-visual fusion. It is possible to open up a new vein for robotic tactile simulation, and contribute to various downstream robotic tasks.

cs.RO↗

arXiv2020

Reusing Discriminators for Encoding: Towards Unsupervised Image-to-Image Translation

Unsupervised image-to-image translation is a central task in computer vision. Current translation frameworks will abandon the discriminator once the training process is completed. This paper contends a novel role of the discriminator by reusing it for encoding the images of the target domain. The proposed architecture, termed as NICE-GAN, exhibits two advantageous patterns over previous approaches: First, it is more compact since no independent encoding component is required; Second, this plug-in encoder is directly trained by the adversary loss, making it more informative and trained more effectively if a multi-scale discriminator is applied. The main issue in NICE-GAN is the coupling of translation with discrimination along the encoder, which could incur training inconsistency when we play the min-max game via GAN. To tackle this issue, we develop a decoupled training strategy by which the encoder is only trained when maximizing the adversary loss while keeping frozen otherwise. Extensive experiments on four popular benchmarks demonstrate the superior performance of NICE-GAN over state-of-the-art methods in terms of FID, KID, and also human preference. Comprehensive ablation studies are also carried out to isolate the validity of each proposed component. Our codes are available at https://github.com/alpc91/NICE-GAN-pytorch.

cs.CV↗

arXiv2019

Reinforcement Learning from Imperfect Demonstrations under Soft Expert Guidance

In this paper, we study Reinforcement Learning from Demonstrations (RLfD) that improves the exploration efficiency of Reinforcement Learning (RL) by providing expert demonstrations. Most of existing RLfD methods require demonstrations to be perfect and sufficient, which yet is unrealistic to meet in practice. To work on imperfect demonstrations, we first define an imperfect expert setting for RLfD in a formal way, and then point out that previous methods suffer from two issues in terms of optimality and convergence, respectively. Upon the theoretical findings we have derived, we tackle these two issues by regarding the expert guidance as a soft constraint on regulating the policy exploration of the agent, which eventually leads to a constrained optimization problem. We further demonstrate that such problem is able to be addressed efficiently by performing a local linear search on its dual form. Considerable empirical evaluations on a comprehensive collection of benchmarks indicate our method attains consistent improvement over other RLfD counterparts.

cs.LG↗

arXiv2019

Photon--Matter Quantum Correlations in Spontaneous Raman Scattering

We develop a Hamiltonian formalism to study energy and position/momentum correlations between a single Stokes photon and a single material excitation that are created as a pair in the spontaneous Raman scattering process. Our approach allows for intuitive separation of the effects of spectral linewidth, chromatic dispersion, and collection angle on these correlations, and we compare the predictions of the model to experiment. These results have important implications for the use of Raman scattering in quantum protocols that rely on spectrally unentangled photons and collective excitations.

quant-ph↗

arXiv2019

Dual-Pump Approach to Photon-Pair Generation: Demonstration of Enhanced Characterization and Engineering Capabilities

We experimentally study the generation of photon pairs via spontaneous four-wave mixing with two distinct laser pulses. We find that the dual-pump technique enables new capabilities: 1) a new characterization methodology to measure noise contributions, source brightness and photon collection efficiencies directly from raw photon-count measurements; 2) an enhanced ability to generate heralded single photons in a pure quantum state; and 3) the ability to derive upper and lower bounds on heralded-photon quantum state purity from measurements of photon-number statistics even in the presence of noise. Such features are highly valuable in photon-pair sources for quantum applications.

quant-ph↗

arXiv2019

Attention-based Transfer Learning for Brain-computer Interface

Different functional areas of the human brain play different roles in brain activity, which has not been paid sufficient research attention in the brain-computer interface (BCI) field. This paper presents a new approach for electroencephalography (EEG) classification that applies attention-based transfer learning. Our approach considers the importance of different brain functional areas to improve the accuracy of EEG classification, and provides an additional way to automatically identify brain functional areas associated with new activities without the involvement of a medical professional. We demonstrate empirically that our approach out-performs state-of-the-art approaches in the task of EEG classification, and the results of visualization indicate that our approach can detect brain functional areas related to a certain task.

eess.SP↗

arXiv2019

PointNetGPD: Detecting Grasp Configurations from Point Sets

In this paper, we propose an end-to-end grasp evaluation model to address the challenging problem of localizing robot grasp configurations directly from the point cloud. Compared to recent grasp evaluation metrics that are based on handcrafted depth features and a convolutional neural network (CNN), our proposed PointNetGPD is lightweight and can directly process the 3D point cloud that locates within the gripper for grasp evaluation. Taking the raw point cloud as input, our proposed grasp evaluation network can capture the complex geometric structure of the contact area between the gripper and the object even if the point cloud is very sparse. To further improve our proposed model, we generate a larger-scale grasp dataset with 350k real point cloud and grasps with the YCB object set for training. The performance of the proposed model is quantitatively measured both in simulation and on robotic hardware. Experiments on object grasping and clutter removal show that our proposed model generalizes well to novel objects and outperforms state-of-the-art methods. Code and video are available at \href{https://lianghongzhuo.github.io/PointNetGPD}{https://lianghongzhuo.github.io/PointNetGPD}

cs.RO↗

arXiv2018

Spintronic nano-scale harvester of broadband microwave energy

The harvesting of ambient radio-frequency (RF) energy is an attractive and clean way to realize the idea of self-powered electronics. Here we present a design for a microwave energy harvester based on a nanoscale spintronic diode (NSD). This diode contains a magnetic tunnel junction with a canted magnetization of the free layer, and can convert RF energy over the frequency range from 100 MHz to 1.2 GHz into DC electric voltage. An attractive property of the developed NSD is the generation of an almost constant DC voltage in a wide range of frequencies of the external RF signals. We further show that the developed NSD provides sufficient DC voltage to power a low-power nanodevice - a black phosphorus photo-sensor. Our results demonstrate that the developed NSD could pave the way for using spintronic detectors as building blocks for self-powered nano-systems, such as implantable biomedical devices, wireless sensors, and portable electronics.

physics.app-ph↗