Personal use of this material is permitted. Abstract -- Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are interested in scenarios where the objects are in confined spaces and hence particularly difficult to reach. Planning how the robot approaches the object becomes a major part of the challenge, giving rise to methods for joint grasp and motion planning. The framework proposed in this paper provides 20 benchmark scenarios with systematically increasing difficulty, realistic objects with precomputed grasp annotations, and tools to create and share more scenarios. We further provide two baseline planners and evaluate them on the scenarios, demonstrating that the proposed difficulty levels indeed offer a meaningful progression. We invite the research community to build upon this framework by making all components publicly available as open source. Especially during the last decade, research has pushed the boundaries on robot capabilities to grasp objects.

While witnessing the exceptional success of machine learning (ML) technologies in many applications, users are starting to notice a critical shortcoming of ML: correlation is a poor substitute for causation. The conventional way to discover causal relationships is to use randomized controlled experiments (RCT); in many situations, however, these are impractical or sometimes unethical. Causal learning from observational data offers a promising alternative. While being relatively recent, causal learning aims to go far beyond conventional machine learning, yet several major challenges remain. Unfortunately, advances are hampered due to the lack of unified benchmark datasets, algorithms, metrics, and evaluation service interfaces for causal learning. In this paper, we introduce {\em CausalBench}, a transparent, fair, and easy-to-use evaluation platform, aiming to (a) enable the advancement of research in causal learning by facilitating scientific collaboration in novel algorithms, datasets, and metrics and (b) promote scientific objectivity, reproducibility, fairness, and awareness of bias in causal learning research. CausalBench provides services for benchmarking data, algorithms, models, and metrics, impacting the needs of a broad of scientific and engineering disciplines.

Traffic congestion in dense urban centers presents an economical and environmental burden. In recent years, the availability of vehicle-to-anything communication allows for the transmission of detailed vehicle states to the infrastructure that can be used for intelligent traffic light control. The other way around, the infrastructure can provide vehicles with advice on driving behavior, such as appropriate velocities, which can improve the efficacy of the traffic system. Several research works applied deep reinforcement learning to either traffic light control or vehicle speed advice. In this work, we propose a first attempt to jointly learn the control of both. We show this to improve the efficacy of traffic systems. In our experiments, the joint control approach reduces average vehicle trip delays, w.r.t. controlling only traffic lights, in eight out of eleven benchmark scenarios. Analyzing the qualitative behavior of the vehicle speed advice policy, we observe that this is achieved by smoothing out the velocity profile of vehicles nearby a traffic light. Learning joint control of traffic signaling and speed advice in the real world could help to reduce congestion and mitigate the economical and environmental repercussions of today's traffic systems.

Continual Learning (CL) is the process of learning ceaselessly a sequence of tasks. Most existing CL methods deal with independent data (e.g., images and text) for which many benchmark frameworks and results under standard experimental settings are available. However, CL methods for graph data (graph CL) are surprisingly underexplored because of (a) the lack of standard experimental settings, especially regarding how to deal with the dependency between instances, (b) the lack of benchmark datasets and scenarios, and (c) high complexity in implementation and evaluation due to the dependency. In this paper, regarding (a), we define four standard incremental settings (task-, class-, domain-, and time-incremental) for graph data, which are naturally applied to many node-, link-, and graph-level problems. Regarding (b), we provide 25 benchmark scenarios based on 15 real-world graphs. Regarding (c), we develop BeGin, an easy and fool-proof framework for graph CL. BeGin is easily extended since it is modularized with reusable modules for data processing, algorithm design, and evaluation. Especially, the evaluation module is completely separated from user code to eliminate potential mistakes. Using all the above, we report extensive benchmark results of 10 graph CL methods. Compared to the latest benchmark for graph CL, using BeGin, we cover 3x more combinations of incremental settings and levels of problems. All assets for the benchmark framework are available at https://github.com/ShinhwanKang/BeGin.

There is a growing need for anomaly detection methods that can broaden the search for new particles in a model-agnostic manner. Most proposals for new methods focus exclusively on signal sensitivity. However, it is not enough to select anomalous events - there must also be a strategy to provide context to the selected events. We propose the first complete strategy for unsupervised detection of non-resonant anomalies that includes both signal sensitivity and a data-driven method for background estimation. Our technique is built out of two simultaneously-trained autoencoders that are forced to be decorrelated from each other. This method can be deployed offline for non-resonant anomaly detection and is also the first complete online-compatible anomaly detection strategy. We show that our method achieves excellent performance on a variety of signals prepared for the ADC2021 data challenge.

The capability of reinforcement learning (RL) agent directly depends on the diversity of learning scenarios the environment generates and how closely it captures real-world situations. However, existing environments/simulators lack the support to systematically model distributions over initial states and transition dynamics. Furthermore, in complex domains such as soccer, the space of possible scenarios is infinite, which makes it impossible for one research group to provide a comprehensive set of scenarios to train, test, and benchmark RL algorithms. To address this issue, for the first time, we adopt an existing formal scenario specification language, SCENIC, to intuitively model and generate interactive scenarios. We interfaced SCENIC to Google Research Soccer environment to create a platform called SCENIC4RL. Using this platform, we provide a dataset consisting of 36 scenario programs encoded in SCENIC and demonstration data generated from a subset of them. We share our experimental results to show the effectiveness of our dataset and the platform to train, test, and benchmark RL algorithms. More importantly, we open-source our platform to enable RL community to collectively contribute to constructing a comprehensive set of scenarios.

Traditional planning and control methods could fail to find a feasible trajectory for an autonomous vehicle to execute amongst dense traffic on roads. This is because the obstacle-free volume in spacetime is very small in these scenarios for the vehicle to drive through. However, that does not mean the task is infeasible since human drivers are known to be able to drive amongst dense traffic by leveraging the cooperativeness of other drivers to open a gap. The traditional methods fail to take into account the fact that the actions taken by an agent affect the behaviour of other vehicles on the road. In this work, we rely on the ability of deep reinforcement learning to implicitly model such interactions and learn a continuous control policy over the action space of an autonomous vehicle. The application we consider requires our agent to negotiate and open a gap in the road in order to successfully merge or change lanes. Our policy learns to repeatedly probe into the target road lane while trying to find a safe spot to move in to. We compare against two model-predictive control-based algorithms and show that our policy outperforms them in simulation.