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Juxi Leitner
http://Juxi.net @Juxi RESEARCHER ROBOTICS/AI
(FOR ROBOTIC VISION)
DEEP LEARNING
HANDS-ON TUTORIAL
h7p:/ /Juxi.net/workshop/SoAIR/
DEEP LEARNING (F OR R OBOTIC V ISION ) Juxi Leitner @Juxi - - PowerPoint PPT Presentation
DEEP LEARNING (F OR R OBOTIC V ISION ) Juxi Leitner @Juxi - - PowerPoint PPT Presentation
H ANDS - ON T UTORIAL DEEP LEARNING (F OR R OBOTIC V ISION ) Juxi Leitner @Juxi http://Juxi.net R ESEARCHER R OBOTICS /AI h7p:/ /Juxi.net/workshop/SoAIR/ roboticvision.org http://Juxi.net/aboutme create agents that see & interact with
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http://roboticvision.org/
Pixar (2008)
create agents that see & interact with the real-world
http://Juxi.net/aboutme
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deep learning for vision-based manipulation
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@Juxi
HANDS-ON TUTORIAL
create a neural network train a classifier first contact with pytorch $$$ introduction to deep learning
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@Juxi
what is deep learning
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@Juxi
frameworks for deep learning
Read more at Wikipedia or check this blog for an overview https://jameskle.com/writes/deep-learning-frameworks
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@Juxi
pytorch
- pen source library
FAIR
(2016)
tensor computation on GPU + autodif
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@Juxi
let’s play
https://realpython.com/jupyter-notebook-introduction/
> jupyter notebook
Install via conda conda create --name rvss2019 python=3 conda activate rvss2019 conda install jupyter conda install scipy numpy conda install pytorch=0.4.1 torchvision -c pytorch conda install opencv
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@Juxi
what is deep learning
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@Juxi
…
what is machine learning
supervised learning
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@Juxi
what is machine learning
unsupervised learning
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@Juxi
run hug ? agent
age
agent
see act reward
what is machine learning
reinforcement learning
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@Juxi
machine learning classification regression
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@Juxi
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@Juxi
http://www.asimovinstitute.org/neural-network-zoo/
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@Juxi
artificial neuron
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@Juxi
activation functions
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@Juxi
back propagation
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@Juxi
training step
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@Juxi
gradient descent
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@Juxi
train a simple neural network
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@Juxi
convolutional neural networks
Convolution of 5 x 5 pixel image with 3 x 3 pixel filter (stride = 1 x 1 pixel)
max_pooling
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@Juxi
convolutional neural networks
https://towardsdatascience.com/image-classification-in-10-minutes-with-mnist-dataset-54c35b77a38d
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@Juxi
train a convolutional neural network
Want to try more: https://pytorch.org/tutorials/beginner/blitz/cifar10_tutorial.html
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@Juxi
break a neural network
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@Juxi
debugging networks
http://cs231n.github.io/understanding-cnn/
use network architectures
https://modelzoo.co/framework/pytorch
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deep learning visual control
Perception Module Control Module Conv1 Conv2 Conv3 FC_c2 FC_c3 FC_c1
Q-values
7×7 conv + ReLU stride 2 4×4 conv + ReLU stride 2 3×3 conv + ReLU stride 1 64 lters 64 lters 64 lters fully conn. 300 units 9 units 84×84 400 units fully conn. fully conn. + ReLU fully conn. + ReLU I BN 5 units θ Bottleneck Or
[Zhang et al, arxiv]
Occlusion
A B C E D
Occlusion Occlusion Occlusion
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[Zhuang et al, RA:L 2018 (submitted)]
deep learning visual control
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generative grasp network
[Morrison et al, RSS 2018]
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Juxi Leitner
arc centre of excellence for robotic vision queensland university of technology j.leitner@qut.edu.au http://Juxi.net
Juxi