Zhaolei Wang

Haotian Xu, Shengjie Wang, Zhaolei Wang et al.

Reinforcement learning (RL) has achieved promising results on most robotic control tasks. Safety of learning-based controllers is an essential notion of ensuring the effectiveness of the controllers. Current methods adopt whole consistency constraints during the training, thus resulting in inefficient exploration in the early stage. In this paper, we propose an algorithm named Constrained Policy Optimization with Extra Safety Budget (ESB-CPO) to strike a balance between the exploration efficiency and the constraints satisfaction. In the early stage, our method loosens the practical constraints of unsafe transitions (adding extra safety budget) with the aid of a new metric we propose. With the training process, the constraints in our optimization problem become tighter. Meanwhile, theoretical analysis and practical experiments demonstrate that our method gradually meets the cost limit's demand in the final training stage. When evaluated on Safety-Gym and Bullet-Safety-Gym benchmarks, our method has shown its advantages over baseline algorithms in terms of safety and optimality. Remarkably, our method gains remarkable performance improvement under the same cost limit compared with baselines.

Yuxue Cao, Wenbo Zhao, Shengjie Wang et al.

Symmetric bi-manual manipulation is an essential skill in on-orbit operations due to its potent load capacity. Previous works have applied compliant control to maintain the stability of manipulations. However, traditional methods have viewed motion planning and compliant control as two separate modules, which can lead to conflicts with the simultaneous change of the desired trajectory and impedance parameters in the presence of external forces and disturbances. Additionally, the joint usage of these two modules requires experts to manually adjust parameters. To achieve high efficiency while enhancing adaptability, we propose a novel Learning-based Adaptive Compliance algorithm (LAC) that improves the efficiency and robustness of symmetric bi-manual manipulation. Specifically, the algorithm framework integrates desired trajectory generation and impedance-parameter adjustment under a unified framework to mitigate contradictions and improve efficiency. Second, we introduce a centralized Actor-Critic framework with LSTM networks preprocessing the force states, enhancing the synchronization of bi-manual manipulation. When evaluated in dual-arm peg-in-hole assembly experiments, our method outperforms baseline algorithms in terms of optimality and robustness.

Hongwei Li, Gongfa Jiang, Jianguo Zhang et al.

White matter hyperintensities (WMH) are commonly found in the brains of healthy elderly individuals and have been associated with various neurological and geriatric disorders. In this paper, we present a study using deep fully convolutional network and ensemble models to automatically detect such WMH using fluid attenuation inversion recovery (FLAIR) and T1 magnetic resonance (MR) scans. The algorithm was evaluated and ranked 1 st in the WMH Segmentation Challenge at MICCAI 2017. In the evaluation stage, the implementation of the algorithm was submitted to the challenge organizers, who then independently tested it on a hidden set of 110 cases from 5 scanners. Averaged dice score, precision and robust Hausdorff distance obtained on held-out test datasets were 80%, 84% and 6.30mm respectively. These were the highest achieved in the challenge, suggesting the proposed method is the state-of-the-art. In this paper, we provide detailed descriptions and quantitative analysis on key components of the system. Furthermore, a study of cross-scanner evaluation is presented to discuss how the combination of modalities and data augmentation affect the generalization capability of the system. The adaptability of the system to different scanners and protocols is also investigated. A quantitative study is further presented to test the effect of ensemble size. Additionally, software and models of our method are made publicly available. The effectiveness and generalization capability of the proposed system show its potential for real-world clinical practice.