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Course Outline

Introduction to Robotic Manipulation and Deep Learning

  • Overview of manipulation tasks and system components relevant for government applications
  • Traditional vs. learning-based approaches
  • Deep learning in perception, planning, and control

Perception for Manipulation

  • Visual sensing and object detection for grasping
  • 3D vision, depth sensing, and point cloud processing
  • Training CNNs for object localization and segmentation

Grasp Planning and Detection

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

Control and Motion Planning

  • Inverse kinematics and trajectory generation
  • Learning-based motion planning and imitation learning
  • Reinforcement learning for manipulation control policies

Integration with ROS 2 and Simulation Environments

  • Setting up ROS 2 nodes for perception and control
  • Simulating robotic manipulators in Gazebo and Isaac Sim
  • Integrating neural models for real-time control systems for government operations

End-to-End Learning for Manipulation

  • Combining perception, policy, and control in unified networks
  • Using demonstration data for supervised policy learning
  • Domain adaptation between simulation and real hardware

Evaluation and Optimization

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

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

  • Comprehensive knowledge of robotic kinematic and dynamic principles
  • Proficiency in Python programming and deep learning frameworks
  • Working experience with ROS or comparable robotic middleware platforms

Target Audience

  • Robotics engineers responsible for the development of intelligent manipulation systems
  • Perception and control specialists engaged in grasping application development
  • Researchers and advanced practitioners specializing in robot learning and AI-driven control for government applications
 28 Hours

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