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In video streaming over HTTP, the bitrate adaptation selects the quality of video chunks depending on the current network condition. Some previous works have applied deep reinforcement learning (DRL) algorithms to determine the chunk's bitrate from the observed states to maximize the quality-of-experience (QoE). However, to build an intelligent model that can predict in various environments, such as 3G, 4G, Wifi, \textit{etc.}, the states observed from these environments must be sent to a server for training centrally. In this work, we integrate federated learning (FL) to DRL-based rate adaptation to train a model appropriate for different environments. The clients in the proposed framework train their model locally and only update the weights to the server. The simulations show that our federated DRL-based rate adaptations, called FDRLABR with different DRL algorithms, such as deep Q-learning, advantage actor-critic, and proximal policy optimization, yield better performance than the traditional bitrate adaptation methods in various environments.

We present Adaptive Skill Coordination (ASC) -- an approach for accomplishing long-horizon tasks like mobile pick-and-place (i.e., navigating to an object, picking it, navigating to another location, and placing it). ASC consists of three components -- (1) a library of basic visuomotor skills (navigation, pick, place), (2) a skill coordination policy that chooses which skill to use when, and (3) a corrective policy that adapts pre-trained skills in out-of-distribution states. All components of ASC rely only on onboard visual and proprioceptive sensing, without requiring information like detailed maps with obstacle layouts or precise object locations, easing real-world deployment. We train ASC in simulated indoor environments, and deploy it zero-shot (without any real-world experience or fine-tuning) on the Boston Dynamics Spot robot in 8 novel real-world environments (1 apartment, 1 lab, 2 microkitchens, 2 lounges, 1 office space, 1 outdoor courtyard). In rigorous quantitative comparisons in 2 environments, ASC achieves near-perfect performance (59/60 episodes, or 98%), while sequentially executing skills succeeds in only 44/60 (73%) episodes. Extensive perturbation experiments show that ASC is robust to hand-off errors, changes in the environment layout, dynamic obstacles (e.g., people), and unexpected disturbances. Supplementary videos at adaptiveskillcoordination.github.io.

Performing agile navigation with four-legged robots is a challenging task due to the highly dynamic motions, contacts with various parts of the robot, and the limited field of view of the perception sensors. In this paper, we propose a fully-learned approach to train such robots and conquer scenarios that are reminiscent of parkour challenges. The method involves training advanced locomotion skills for several types of obstacles, such as walking, jumping, climbing, and crouching, and then using a high-level policy to select and control those skills across the terrain. Thanks to our hierarchical formulation, the navigation policy is aware of the capabilities of each skill, and it will adapt its behavior depending on the scenario at hand. Additionally, a perception module is trained to reconstruct obstacles from highly occluded and noisy sensory data and endows the pipeline with scene understanding. Compared to previous attempts, our method can plan a path for challenging scenarios without expert demonstration, offline computation, a priori knowledge of the environment, or taking contacts explicitly into account. While these modules are trained from simulated data only, our real-world experiments demonstrate successful transfer on hardware, where the robot navigates and crosses consecutive challenging obstacles with speeds of up to two meters per second. The supplementary video can be found on the project website: //sites.google.com/leggedrobotics.com/agile-navigation

In the field of Geriatronics, enabling effective and transparent communication between humans and robots is crucial for enhancing the acceptance and performance of assistive robots. Our early-stage research project investigates the potential of language-based modulation as a means to improve human-robot interaction. We propose to explore real-time modulation during task execution, leveraging language cues, visual references, and multimodal inputs. By developing transparent and interpretable methods, we aim to enable robots to adapt and respond to language commands, enhancing their usability and flexibility. Through the exchange of insights and knowledge at the workshop, we seek to gather valuable feedback to advance our research and contribute to the development of interactive robotic systems for Geriatronics and beyond.

This paper addresses the challenge of industrial bin picking using entangled wire harnesses. Wire harnesses are essential in manufacturing but poses challenges in automation due to their complex geometries and propensity for entanglement. Our previous work tackled this issue by proposing a quasi-static pulling motion to separate the entangled wire harnesses. However, it still lacks sufficiency and generalization to various shapes and structures. In this paper, we deploy a dual-arm robot that can grasp, extract and disentangle wire harnesses from dense clutter using dynamic manipulation. The robot can swing to dynamically discard the entangled objects and regrasp to adjust the undesirable grasp pose. To improve the robustness and accuracy of the system, we leverage a closed-loop framework that uses haptic feedback to detect entanglement in real-time and flexibly adjust system parameters. Our bin picking system achieves an overall success rate of 91.2% in the real-world experiments using two different types of long wire harnesses. It demonstrates the effectiveness of our system in handling various wire harnesses for industrial bin picking.

The large-scale vision-language models (e.g., CLIP) are leveraged by different methods to detect unseen objects. However, most of these works require additional captions or images for training, which is not feasible in the context of zero-shot detection. In contrast, the distillation-based method is an extra-data-free method, but it has its limitations. Specifically, existing work creates distillation regions that are biased to the base categories, which limits the distillation of novel category information and harms the distillation efficiency. Furthermore, directly using the raw feature from CLIP for distillation neglects the domain gap between the training data of CLIP and the detection datasets, which makes it difficult to learn the mapping from the image region to the vision-language feature space - an essential component for detecting unseen objects. As a result, existing distillation-based methods require an excessively long training schedule. To solve these problems, we propose Efficient feature distillation for Zero-Shot Detection (EZSD). Firstly, EZSD adapts the CLIP's feature space to the target detection domain by re-normalizing CLIP to bridge the domain gap; Secondly, EZSD uses CLIP to generate distillation proposals with potential novel instances, to avoid the distillation being overly biased to the base categories. Finally, EZSD takes advantage of semantic meaning for regression to further improve the model performance. As a result, EZSD achieves state-of-the-art performance in the COCO zero-shot benchmark with a much shorter training schedule and outperforms previous work by 4% in LVIS overall setting with 1/10 training time.

Indirect simultaneous positioning (ISP), where internal tissue points are placed at desired locations indirectly through the manipulation of boundary points, is a type of subtask frequently performed in robotic surgeries. Although challenging due to complex tissue dynamics, automating the task can potentially reduce the workload of surgeons. This paper presents a sim-to-real framework for learning to automate the task without interacting with a real environment, and for planning preoperatively to find the grasping points that minimize local tissue deformation. A control policy is learned using deep reinforcement learning (DRL) in the FEM-based simulation environment and transferred to real-world situation. Grasping points are planned in the simulator by utilizing the trained policy using Bayesian optimization (BO). Inconsistent simulation performance is overcome by formulating the problem as a state augmented Markov decision process (MDP). Experimental results show that the learned policy places the internal tissue points accurately, and that the planned grasping points yield small tissue deformation among the trials. The proposed learning and planning scheme is able to automate internal tissue point manipulation in surgeries and has the potential to be generalized to complex surgical scenarios.

In many practical applications of differential privacy, practitioners seek to provide the best privacy guarantees subject to a target level of accuracy. A recent line of work by \cite{LigettNeRoWaWu17, WhitehouseWuRaRo22} has developed such accuracy-first mechanisms by leveraging the idea of \emph{noise reduction} that adds correlated noise to the sufficient statistic in a private computation and produces a sequence of increasingly accurate answers. A major advantage of noise reduction mechanisms is that the analysts only pay the privacy cost of the least noisy or most accurate answer released. Despite this appealing property in isolation, there has not been a systematic study on how to use them in conjunction with other differentially private mechanisms. A fundamental challenge is that the privacy guarantee for noise reduction mechanisms is (necessarily) formulated as \emph{ex-post privacy} that bounds the privacy loss as a function of the released outcome. Furthermore, there has yet to be any study on how ex-post private mechanisms compose, which allows us to track the accumulated privacy over several mechanisms. We develop privacy filters \citep{RogersRoUlVa16, FeldmanZr21, WhitehouseRaRoWu22} that allow an analyst to adaptively switch between differentially private and ex-post private mechanisms subject to an overall privacy guarantee.

Reinforcement Learning has received wide interest due to its success in competitive games. Yet, its adoption in everyday applications is limited (e.g. industrial, home, healthcare, etc.). In this paper, we address this limitation by presenting a framework for planning over offline skills and solving complex tasks in real-world environments. Our framework is comprised of three modules that together enable the agent to learn from previously collected data and generalize over it to solve long-horizon tasks. We demonstrate our approach by testing it on a robotic arm that is required to solve complex tasks.

Video captioning is the task of automatically generating a textual description of the actions in a video. Although previous work (e.g. sequence-to-sequence model) has shown promising results in abstracting a coarse description of a short video, it is still very challenging to caption a video containing multiple fine-grained actions with a detailed description. This paper aims to address the challenge by proposing a novel hierarchical reinforcement learning framework for video captioning, where a high-level Manager module learns to design sub-goals and a low-level Worker module recognizes the primitive actions to fulfill the sub-goal. With this compositional framework to reinforce video captioning at different levels, our approach significantly outperforms all the baseline methods on a newly introduced large-scale dataset for fine-grained video captioning. Furthermore, our non-ensemble model has already achieved the state-of-the-art results on the widely-used MSR-VTT dataset.