arXiv subjects

Haoran Geng

Publications and source records attributed to Haoran Geng.

45 records · Page 3Linked to original sources

arXiv2023

ARNOLD: A Benchmark for Language-Grounded Task Learning With Continuous States in Realistic 3D Scenes

Understanding the continuous states of objects is essential for task learning and planning in the real world. However, most existing task learning benchmarks assume discrete (e.g., binary) object goal states, which poses challenges for the learning of complex tasks and transferring learned policy from simulated environments to the real world. Furthermore, state discretization limits a robot's ability to follow human instructions based on the grounding of actions and states. To tackle these challenges, we present ARNOLD, a benchmark that evaluates language-grounded task learning with continuous states in realistic 3D scenes. ARNOLD is comprised of 8 language-conditioned tasks that involve understanding object states and learning policies for continuous goals. To promote language-instructed learning, we provide expert demonstrations with template-generated language descriptions. We assess task performance by utilizing the latest language-conditioned policy learning models. Our results indicate that current models for language-conditioned manipulations continue to experience significant challenges in novel goal-state generalizations, scene generalizations, and object generalizations. These findings highlight the need to develop new algorithms that address this gap and underscore the potential for further research in this area. Project website: https://arnold-benchmark.github.io.

cs.AI↗

arXiv2023

Privacy Preserving In-memory Computing Engine

Privacy has rapidly become a major concern/design consideration. Homomorphic Encryption (HE) and Garbled Circuits (GC) are privacy-preserving techniques that support computations on encrypted data. HE and GC can complement each other, as HE is more efficient for linear operations, while GC is more effective for non-linear operations. Together, they enable complex computing tasks, such as machine learning, to be performed exactly on ciphertexts. However, HE and GC introduce two major bottlenecks: an elevated computational overhead and high data transfer costs. This paper presents PPIMCE, an in-memory computing (IMC) fabric designed to mitigate both computational overhead and data transfer issues. Through the use of multiple IMC cores for high parallelism, and by leveraging in-SRAM IMC for data management, PPIMCE offers a compact, energy-efficient solution for accelerating HE and GC. PPIMCE achieves a 107X speedup against a CPU implementation of GC. Additionally, PPIMCE achieves a 1,500X and 800X speedup compared to CPU and GPU implementations of CKKS-based HE multiplications. For privacy-preserving machine learning inference, PPIMCE attains a 1,000X speedup compared to CPU and a 12X speedup against CraterLake, the state-of-art privacy preserving computation accelerator.

cs.CR↗

arXiv2023

Accelerating Polynomial Modular Multiplication with Crossbar-Based Compute-in-Memory

Lattice-based cryptographic algorithms built on ring learning with error theory are gaining importance due to their potential for providing post-quantum security. However, these algorithms involve complex polynomial operations, such as polynomial modular multiplication (PMM), which is the most time-consuming part of these algorithms. Accelerating PMM is crucial to make lattice-based cryptographic algorithms widely adopted by more applications. This work introduces a novel high-throughput and compact PMM accelerator, X-Poly, based on the crossbar (XB)-type compute-in-memory (CIM). We identify the most appropriate PMM algorithm for XB-CIM. We then propose a novel bit-mapping technique to reduce the area and energy of the XB-CIM fabric, and conduct processing engine (PE)-level optimization to increase memory utilization and support different problem sizes with a fixed number of XB arrays. X-Poly design achieves 3.1X10^6 PMM operations/s throughput and offers 200X latency improvement compared to the CPU-based implementation. It also achieves 3.9X throughput per area improvement compared with the state-of-the-art CIM accelerators.

cs.CR↗

arXiv2023

UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning

We propose a novel, object-agnostic method for learning a universal policy for dexterous object grasping from realistic point cloud observations and proprioceptive information under a table-top setting, namely UniDexGrasp++. To address the challenge of learning the vision-based policy across thousands of object instances, we propose Geometry-aware Curriculum Learning (GeoCurriculum) and Geometry-aware iterative Generalist-Specialist Learning (GiGSL) which leverage the geometry feature of the task and significantly improve the generalizability. With our proposed techniques, our final policy shows universal dexterous grasping on thousands of object instances with 85.4% and 78.2% success rate on the train set and test set which outperforms the state-of-the-art baseline UniDexGrasp by 11.7% and 11.3%, respectively.

cs.RO↗

arXiv2023

PartManip: Learning Cross-Category Generalizable Part Manipulation Policy from Point Cloud Observations

Learning a generalizable object manipulation policy is vital for an embodied agent to work in complex real-world scenes. Parts, as the shared components in different object categories, have the potential to increase the generalization ability of the manipulation policy and achieve cross-category object manipulation. In this work, we build the first large-scale, part-based cross-category object manipulation benchmark, PartManip, which is composed of 11 object categories, 494 objects, and 1432 tasks in 6 task classes. Compared to previous work, our benchmark is also more diverse and realistic, i.e., having more objects and using sparse-view point cloud as input without oracle information like part segmentation. To tackle the difficulties of vision-based policy learning, we first train a state-based expert with our proposed part-based canonicalization and part-aware rewards, and then distill the knowledge to a vision-based student. We also find an expressive backbone is essential to overcome the large diversity of different objects. For cross-category generalization, we introduce domain adversarial learning for domain-invariant feature extraction. Extensive experiments in simulation show that our learned policy can outperform other methods by a large margin, especially on unseen object categories. We also demonstrate our method can successfully manipulate novel objects in the real world.

cs.CV↗

arXiv2023

GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Parts

For years, researchers have been devoted to generalizable object perception and manipulation, where cross-category generalizability is highly desired yet underexplored. In this work, we propose to learn such cross-category skills via Generalizable and Actionable Parts (GAParts). By identifying and defining 9 GAPart classes (lids, handles, etc.) in 27 object categories, we construct a large-scale part-centric interactive dataset, GAPartNet, where we provide rich, part-level annotations (semantics, poses) for 8,489 part instances on 1,166 objects. Based on GAPartNet, we investigate three cross-category tasks: part segmentation, part pose estimation, and part-based object manipulation. Given the significant domain gaps between seen and unseen object categories, we propose a robust 3D segmentation method from the perspective of domain generalization by integrating adversarial learning techniques. Our method outperforms all existing methods by a large margin, no matter on seen or unseen categories. Furthermore, with part segmentation and pose estimation results, we leverage the GAPart pose definition to design part-based manipulation heuristics that can generalize well to unseen object categories in both the simulator and the real world. Our dataset, code, and demos are available on our project page.

cs.CV↗

arXiv2023

UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy

In this work, we tackle the problem of learning universal robotic dexterous grasping from a point cloud observation under a table-top setting. The goal is to grasp and lift up objects in high-quality and diverse ways and generalize across hundreds of categories and even the unseen. Inspired by successful pipelines used in parallel gripper grasping, we split the task into two stages: 1) grasp proposal (pose) generation and 2) goal-conditioned grasp execution. For the first stage, we propose a novel probabilistic model of grasp pose conditioned on the point cloud observation that factorizes rotation from translation and articulation. Trained on our synthesized large-scale dexterous grasp dataset, this model enables us to sample diverse and high-quality dexterous grasp poses for the object point cloud.For the second stage, we propose to replace the motion planning used in parallel gripper grasping with a goal-conditioned grasp policy, due to the complexity involved in dexterous grasping execution. Note that it is very challenging to learn this highly generalizable grasp policy that only takes realistic inputs without oracle states. We thus propose several important innovations, including state canonicalization, object curriculum, and teacher-student distillation. Integrating the two stages, our final pipeline becomes the first to achieve universal generalization for dexterous grasping, demonstrating an average success rate of more than 60\% on thousands of object instances, which significantly outperforms all baselines, meanwhile showing only a minimal generalization gap.

cs.RO↗

arXiv2022

End-to-End Affordance Learning for Robotic Manipulation

Learning to manipulate 3D objects in an interactive environment has been a challenging problem in Reinforcement Learning (RL). In particular, it is hard to train a policy that can generalize over objects with different semantic categories, diverse shape geometry and versatile functionality. Recently, the technique of visual affordance has shown great prospects in providing object-centric information priors with effective actionable semantics. As such, an effective policy can be trained to open a door by knowing how to exert force on the handle. However, to learn the affordance, it often requires human-defined action primitives, which limits the range of applicable tasks. In this study, we take advantage of visual affordance by using the contact information generated during the RL training process to predict contact maps of interest. Such contact prediction process then leads to an end-to-end affordance learning framework that can generalize over different types of manipulation tasks. Surprisingly, the effectiveness of such framework holds even under the multi-stage and the multi-agent scenarios. We tested our method on eight types of manipulation tasks. Results showed that our methods outperform baseline algorithms, including visual-based affordance methods and RL methods, by a large margin on the success rate. The demonstration can be found at https://sites.google.com/view/rlafford/.

cs.RO↗

arXiv2021

IMCRYPTO: An In-Memory Computing Fabric for AES Encryption and Decryption

This paper proposes IMCRYPTO, an in-memory computing (IMC) fabric for accelerating AES encryption and decryption. IMCRYPTO employs a unified structure to implement encryption and decryption in a single hardware architecture, with combined (Inv)SubBytes and (Inv)MixColumns steps. Because of this step-combination, as well as the high parallelism achieved by multiple units of random-access memory (RAM) and random-access/content-addressable memory (RA/CAM) arrays, IMCRYPTO achieves high throughput encryption and decryption without sacrificing area and power consumption. Additionally, due to the integration of a RISC-V core, IMCRYPTO offers programmability and flexibility. IMCRYPTO improves the throughput per area by a minimum (maximum) of 3.3x (223.1x) when compared to previous ASICs/IMC architectures for AES-128 encryption. Projections show added benefit from emerging technologies of up to 5.3x to the area-delay-power product of IMCRYPTO.

cs.CR↗