A technological revolution is occurring in the field of robotics with the data-driven deep learning technology. However, building datasets for each local robot is laborious. Meanwhile, data islands between local robots make data unable to be utilized collaboratively. To address this issue, the work presents Peer-Assisted Robotic Learning (PARL) in robotics, which is inspired by the peer-assisted learning in cognitive psychology and pedagogy. PARL implements data collaboration with the framework of cloud robotic systems. Both data and models are shared by robots to the cloud after semantic computing and training locally. The cloud converges the data and performs augmentation, integration, and transferring. Finally, fine tune this larger shared dataset in the cloud to local robots. Furthermore, we propose the DAT Network (Data Augmentation and Transferring Network) to implement the data processing in PARL. DAT Network can realize the augmentation of data from multi-local robots. We conduct experiments on a simplified self-driving task for robots (cars). DAT Network has a significant improvement in the augmentation in self-driving scenarios. Along with this, the self-driving experimental results also demonstrate that PARL is capable of improving learning effects with data collaboration of local robots.

Federated Imitation Learning: A Privacy Considered Imitation Learning Framework for Cloud Robotic Systems with Heterogeneous Sensor Data Boyi Liu 1,4, Lujia Wang 1, Ming Liu 2 and Cheng-Zhong Xu 3 Abstract -- Humans are capable of learning a new behavior by observing others perform the skill. Similarly, robots can also implement this by imitation learning. Furthermore, if with external guidance, humans can master the new behavior more efficiently. So how can robots achieve this? T o address the issue, we present Federated Imitation Learning (FIL) in the paper . Firstly, a knowledge fusion algorithm is proposed for the cloud fusing knowledge from local robots. Then, a knowledge transfer scheme is presented to facilitate local robots acquiring knowledge from the cloud. With FIL, a robot is capable of utilizing knowledge from other robots to increase its imitation learning in accuracy and training efficiency. FIL considers information privacy and data heterogeneity when robots share knowledge. It is suitable to be deployed in cloud robotic systems. Finally, we conduct experiments of a simplified self-driving task for robots (cars). The experimental results demonstrate that FIL increases imitation learning efficiency and accuracy of local robots in cloud robotic systems. I. INTRODUCTION In tradition imitation learning scenarios, demonstrations provide a descriptive medium for specifying robotic tasks. Prior work has shown that robots can acquire a range of complex skills through demonstration, such as table tennis [1], drawer opening [2], and multistage manipulation tasks [3]. Nevertheless, there exists a number of problems in the application of imitation learning.

Deep convolutional neural networks (CNNs) are powerful tools for a wide range of vision tasks, but the enormous amount of memory and compute resources required by CNNs poses a challenge in deploying them on constrained devices. Existing compression techniques show promising performance in reducing the size and computation complexity of CNNs for efficient inference, but there lacks a method to integrate them effectively. In this paper, we attend to the statistical properties of sparse CNNs and present focused quantization, a novel quantization strategy based on powers-of-two values, which exploits the weight distributions after fine-grained pruning. The proposed method dynamically discovers the most effective numerical representation for weights in layers with varying sparsities, to minimize the impact of quantization on the task accuracy. Multiplications in quantized CNNs can be replaced with much cheaper bit-shift operations for efficient inference. Coupled with lossless encoding, we build a compression pipeline that provides CNNs high compression ratios (CR) and minimal loss in accuracies. In ResNet-50, we achieve a $ 18.08 \times $ CR with only $ 0.24\% $ loss in top-5 accuracy, outperforming existing compression pipelines.

Convolutional Neural Networks (CNNs) are widely used to solve classification tasks in computer vision. However, they can be tricked into misclassifying specially crafted `adversarial' samples -- and samples built to trick one model often work alarmingly well against other models trained on the same task. In this paper we introduce Sitatapatra, a system designed to block the transfer of adversarial samples. It diversifies neural networks using a key, as in cryptography, and provides a mechanism for detecting attacks. What's more, when adversarial samples are detected they can typically be traced back to the individual device that was used to develop them. The run-time overheads are minimal permitting the use of Sitatapatra on constrained systems.