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Course Outline

Introduction to Robotic Manipulation and Deep Learning

  • Overview of manipulation tasks and system components.
  • Traditional approaches compared to learning-based methods.
  • The role of deep learning in perception, planning, and control.

Perception for Manipulation

  • Visual sensing and object detection for grasping purposes.
  • 3D vision, depth sensing, and point cloud processing.
  • Training Convolutional Neural Networks (CNNs) for object localization and segmentation.

Grasp Planning and Detection

  • Classical algorithms for grasp planning.
  • Acquiring grasp poses from data and simulation.
  • Implementing grasp detection networks (e.g., GGCNN, Dex-Net).

Control and Motion Planning

  • Inverse kinematics and trajectory generation.
  • Learning-based motion planning and imitation learning techniques.
  • Utilizing reinforcement learning for manipulation control policies.

Integration with ROS 2 and Simulation Environments

  • Configuring ROS 2 nodes for perception and control.
  • Simulating robotic manipulators in Gazebo and Isaac Sim.
  • Integrating neural models for real-time control.

End-to-End Learning for Manipulation

  • Combining perception, policy, and control within unified networks.
  • Leveraging demonstration data for supervised policy learning.
  • Domain adaptation between simulation environments and real hardware.

Evaluation and Optimization

  • Metrics for assessing grasp success, stability, and precision.
  • Testing under varying conditions and disturbances.
  • Model compression and deployment on edge devices.

Hands-on Project: Deep Learning-Based Robotic Grasping

  • Designing a perception-to-action pipeline.
  • Training and testing a grasp detection model.
  • Integrating the model into a simulated robotic arm.

Summary and Next Steps

Requirements

  • Solid grasp of robotics kinematics and dynamics.
  • Experience with Python and deep learning frameworks.
  • Familiarity with ROS or comparable robotic middleware.

Audience

  • Robotics engineers focused on developing intelligent manipulation systems.
  • Perception and control specialists working on grasping applications.
  • Researchers and advanced practitioners in robot learning and AI-driven control.
 28 Hours

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