10,000 publications from this institution
Sequential pulling policies to flatten and smooth fabrics have applications from surgery to manufacturing to home tasks such as bed making and folding clothes. Due to the complexity of fabric states and dynamics, we apply deep imitation learning to learn policies that, given color (RGB), depth (D), or combined color-depth (RGBD) images of a rectangular fabric sample, estimate pick points and pull vectors to spread the fabric to maximize coverage. To generate data, we develop a fabric simulator and an algorithmic supervisor that has access to complete state information. We train policies in simulation using domain randomization and dataset aggregation (DAgger) on three tiers of difficulty in the initial randomized configuration. We present results comparing five baseline policies to learned policies and report systematic comparisons of RGB vs D vs RGBD images as inputs. In simulation, learned policies achieve comparable or superior performance to analytic baselines. In 180 physical experiments with the da Vinci Research Kit (dVRK) surgical robot, RGBD policies trained in simulation attain coverage of 83% to 95% depending on difficulty tier, suggesting that effective fabric smoothing policies can be learned from an algorithmic supervisor and that depth sensing is a valuable addition to color alone. Supplementary material is available at https://sites.google.com/view/fabric-smoothing.
The present study investigated the role of cognitive processes in the maintenance of clinically significant sleep disturbance across two cultures. A questionnaire was administered to 60 Japanese and 60 English university students to assess the presence of sleep disturbance, predominance of pre-sleep cognitive activity, use of thought management strategies to control pre-sleep cognitive activity, and the content of pre-sleep cognitive activity. The results indicated that across both cultures poor sleepers attributed their sleep disturbance to the presence of uncontrollable pre-sleep cognitive activity. Minor differences between the Japanese and English samples included the strategies employed to control pre-sleep cognitive activity. The English participants were more likely to engage in reappraisal whereas the Japanese sample were more likely to engage in punishment and worry. These results are suggestive of the cross-cultural applicability of cognitive models of insomnia.