RI Seminar
Assistant Professor
Robotics Institute,
Carnegie Mellon University

Learning for Dynamic Robot Manipulation of Deformable and Transparent Objects

1403 Tepper School Building

Abstract: Dynamics, softness, deformability, and difficult-to-detect objects will be critical for new domains in robotic manipulation. But there are complications--including unmodelled dynamic effects, infinite-dimensional state spaces of deformable objects, and missing features from perception. This talk explores learning methods based on multi-view sensing, acoustics, physics-based regularizations, and Koopman operators and proposes a novel multi-finger soft [...]

VASC Seminar
Dr. Yin Yang
Associate Professor
Kahlert School of Computing, University of Utah

High-resolution cloth simulation in milliseconds: Efficient GPU Cloth Simulation with Non-distance Barriers and Subspace Reuse Interactions

3305 Newell-Simon Hall

Abstract: We show how to push the performance of high-resolution cloth simulation, making the simulation interactive (in milliseconds) for models with one million degrees of freedom (DOFs) while keeping every triangle untangled. The guarantee of being penetration-free is inspired by the interior-point method, which converts the inequality constraints to barrier potentials. Nevertheless, we propose a [...]

VASC Seminar
Jiaqi Ma
Assistant Professor
University of Illinois Urbana-Champaign

Practical Challenges and Recent Advances in Data Attribution

3305 Newell-Simon Hall

Abstract: Data plays an increasingly crucial role in both the performance and the safety of AI models. Data attribution is an emerging family of techniques aimed at quantifying the impact of individual training data points on a model trained on them, which has found data-centric applications such as training data curation, instance-based explanation, and copyright [...]