Programming robots to perform complex tasks is a very expensive job. Traditional path planning and control are able to generate point to point collision free trajectories, but when the tasks to be performed are complex, traditional planning and control become complex tasks. This study focused on robotic operations in logistics, specifically, on picking objects in unstructured areas using a mobile manipulator configuration. The mobile manipulator has to be able to place its base in a correct place so the arm is able to plan a trajectory up to an object in a table. A deep reinforcement learning (DRL) approach was selected to solve this type of complex control tasks. Using the arm planner’s feedback, a controller for the robot base is learned, which guides the platform to such a place where the arm is able to plan a trajectory up to the object. In addition the performance of two DRL algorithms ((Deep Deterministic Policy Gradient (DDPG)) and (Proximal Policy Optimisation (PPO)) is compared within the context of a concrete robotic task.

Grasping point detection has traditionally been a core robotic and computer vision problem. In recent years, deep learning based methods have been widely used to predict grasping points, and have shown strong generalization capabilities under uncertainty. Particularly, approaches that aim at predicting object affordances without relying on the object identity, have obtained promising results in random bin-picking applications. However, most of them rely on RGB/RGB-D images, and it is not clear up to what extent 3D spatial information is used. Graph Convolutional Networks (GCNs) have been successfully used for object classification and scene segmentation in point clouds, and also to predict grasping points in simple laboratory experimentation. In the present proposal, we adapted the Deep Graph Convolutional Network model with the intuition that learning from n-dimensional point clouds would lead to a performance boost to predict object affordances. To the best of our knowledge, this is the first time that GCNs are applied to predict affordances for suction and gripper end effectors in an industrial bin-picking environment. Additionally, we designed a bin-picking oriented data preprocessing pipeline which contributes to ease the learning process and to create a flexible solution for any bin-picking application. To train our models, we created a highly accurate RGB-D/3D dataset which is openly available on demand. Finally, we benchmarked our method against a 2D Fully Convolutional Network based method, improving the top-1 precision score by 1.8% and 1.7% for suction and gripper respectively.

Surface defect identification based on computer vision algorithms often leads to inadequate generalization ability due to large intraclass variation. Diversity in lighting conditions, noise components, defect size, shape, and position make the problem challenging. To solve the problem, this paper develops a pixel-level image augmentation method that is based on image-to-image translation with generative adversarial neural networks (GANs) conditioned on fine-grained labels. The GAN model proposed in this work, referred to as Magna-Defect-GAN, is capable of taking control of the image generation process and producing image samples that are highly realistic in terms of variations. Firstly, the surface defect dataset based on the magnetic particle inspection (MPI) method is acquired in a controlled environment. Then, the Magna-Defect-GAN model is trained, and new synthetic image samples with large intraclass variations are generated. These synthetic image samples artificially inflate the training dataset size in terms of intraclass diversity. Finally, the enlarged dataset is used to train a defect identification model. Experimental results demonstrate that the Magna-Defect-GAN model can generate realistic and high-resolution surface defect images up to the resolution of 512 × 512 in a controlled manner. We also show that this augmentation method can boost accuracy and be easily adapted to any other surface defect identification models.