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Manipulating objects without grasping them enables more complex tasks, known as non-prehensile manipulation. Most previous methods only learn one manipulation skill, such as reach or push, and cannot achieve flexible object manipulation.In this work, we introduce MRLM, a Multi-stage Reinforcement Learning approach for non-prehensile Manipulation of objects.MRLM divides the task into multiple stages according to the switching of object poses and contact points.At each stage, the policy takes the point cloud-based state-goal fusion representation as input, and proposes a spatially-continuous action that including the motion of the parallel gripper pose and opening width.To fully unlock the potential of MRLM, we propose a set of technical contributions including the state-goal fusion representation, spatially-reachable distance metric, and automatic buffer compaction.We evaluate MRLM on an Occluded Grasping task which aims to grasp the object in configurations that are initially occluded.Compared with the baselines, the proposed technical contributions improve the success rate by at least 40\% and maximum 100\%, and avoids falling into local optimum.Our method demonstrates strong generalization to unseen object with shapes outside the training distribution.Moreover, MRLM can be transferred to real world with zero-shot transfer, achieving a 95\% success rate.Code and videos can be found at https://sites.google.com/view/mrlm.

Grasp detection in cluttered scenes is a very challenging task for robots. Generating synthetic grasping data is a popular way to train and test grasp methods, as is Dex-net and GraspNet; yet, these methods generate training grasps on 3D synthetic object models, but evaluate at images or point clouds with different distributions, which reduces performance on real scenes due to sparse grasp labels and covariate shift. To solve existing problems, we propose a novel on-policy grasp detection method, which can train and test on the same distribution with dense pixel-level grasp labels generated on RGB-D images. A Parallel-Depth Grasp Generation (PDG-Generation) method is proposed to generate a parallel depth image through a new imaging model of projecting points in parallel; then this method generates multiple candidate grasps for each pixel and obtains robust grasps through flatness detection, force-closure metric and collision detection. Then, a large comprehensive Pixel-Level Grasp Pose Dataset (PLGP-Dataset) is constructed and released; distinguished with previous datasets with off-policy data and sparse grasp samples, this dataset is the first pixel-level grasp dataset, with the on-policy distribution where grasps are generated based on depth images. Lastly, we build and test a series of pixel-level grasp detection networks with a data augmentation process for imbalance training, which learn grasp poses in a decoupled manner on the input RGB-D images. Extensive experiments show that our on-policy grasp method can largely overcome the gap between simulation and reality, and achieves the state-of-the-art performance. Code and data are provided at https://github.com/liuchunsense/PLGP-Dataset., Comment: The experiment had design flaws

Video captioning has been a challenging and significant task that describes the content of a video clip in a single sentence. The model of video captioning is usually an encoder-decoder. We find that the normalization of extracted video features can improve the final performance of video captioning. Encoder-decoder model is usually trained using teacher-enforced strategies to make the prediction probability of each word close to a 0-1 distribution and ignore other words. In this paper, we present a novel architecture which introduces a guidance module to encourage the encoder-decoder model to generate words related to the past and future words in a caption. Based on the normalization and guidance module, guidance module net (GMNet) is built. Experimental results on commonly used dataset MSVD show that proposed GMNet can improve the performance of the encoder-decoder model on video captioning tasks.

Occlusions, complex backgrounds, scale variations and non-uniform distributions present great challenges for crowd counting in practical applications. In this paper, we propose a novel method using an attention model to exploit head locations which are the most important cue for crowd counting. The attention model estimates a probability map in which high probabilities indicate locations where heads are likely to be present. The estimated probability map is used to suppress non-head regions in feature maps from several multi-scale feature extraction branches of a convolution neural network for crowd density estimation, which makes our method robust to complex backgrounds, scale variations and non-uniform distributions. In addition, we introduce a relative deviation loss to compensate a commonly used training loss, Euclidean distance, to improve the accuracy of sparse crowd density estimation. Experiments on Shanghai-Tech, UCF_CC_50 and World-Expo'10 data sets demonstrate the effectiveness of our method.