Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Fog Robotics Approach to Deep Robot Learning: Application to Object
  Recognition and Grasp Planning in Surface Decluttering   The growing demand of industrial, automotive and service robots presents a
challenge to the centralized Cloud Robotics model in terms of privacy,
security, latency, bandwidth, and reliability. In this paper, we present a `Fog
Robotics' approach to deep robot learning that distributes compute, storage and
networking resources between the Cloud and the Edge in a federated manner. Deep
models are trained on non-private (public) synthetic images in the Cloud; the
models are adapted to the private real images of the environment at the Edge
within a trusted network and subsequently, deployed as a service for
low-latency and secure inference/prediction for other robots in the network. We
apply this approach to surface decluttering, where a mobile robot picks and
sorts objects from a cluttered floor by learning a deep object recognition and
a grasp planning model. Experiments suggest that Fog Robotics can improve
performance by sim-to-real domain adaptation in comparison to exclusively using
Cloud or Edge resources, while reducing the inference cycle time by 4\times to
successfully declutter 86% of objects over 213 attempts.

16
The categories of this paper are: stat
28
The categories of this paper are: alg-geom
25
The categories of this paper are: patt-sol
23
The categories of this paper are: solv-int
14
The categories of this paper are: math-ph
36
The categories of this paper are: cmp-lg
2
The categories of this paper are: math
4
The categories of this paper are: cond-mat
21
The categories of this paper are: adap-org
11
The categories of this paper are: hep-lat
19
The categories of this paper are: eess
15
The categories of this paper are: nucl-ex
37
The categories of this paper are: supr-con
7
The categories of this paper are: hep-th
20
The categories of this paper are: acc-phys
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The categories of this paper are: atom-ph