RI Seminar

Abstract: I will start this talk by illustrating four different perspectives that we as a community have embraced to study robotic manipulation: 1) controlling a simplified model of the mechanics of interaction with an object; 2) using haptic feedback such as force or tactile to control the interaction with an environment; 3) planning sequences or [...]

Abstract: The sense of touch (haptics) is an active perceptual system used from our earliest days to discover the world around us. However, formal education is not designed to take advantage of this sensory modality. As a result, very little is known about the effects of using haptics in K-12 and higher education or the [...]

Abstract: Data-driven character animation holds great promise for games, film, virtual avatars and social robots. A "virtual AI actor" that moves in response to intuitive, high-level input could turn 3D animators into directors, instead of requiring them to laboriously pose the character for each frame of animation, as is the case today. However, the high [...]

Abstract: Autonomous and anthropomorphic robots are poised to play a critical role in manufacturing, healthcare and the services industry in the near future. However, for this vision to become a reality, robots need to efficiently communicate and interact with their human partners. Rather than traditional remote controls and programming languages, adaptive and transparent techniques for [...]

Abstract: Advances in autonomy are enabling intelligent robotic systems to enter human-centric environments like factories, homes and workplaces. To be effective as a teammate, we expect robots to accomplish more than performing simplistic repetitive tasks; they must perceive, reason, perform semantic tasks in a human-like way. A robot's ability to act intelligently is fundamentally tied [...]

Abstract: Enhanced robot autonomy---whether it be in the context of extended tether-free flight of a 100mg insect-scale flapping-wing micro aerial vehicle (FWMAV), or long inspection routes for a quadrupedal robot---is hindered by fundamental constraints in power and computation. With this motivation, I will discuss a few projects I have worked on to circumvent these issues in [...]

Abstract: Origami-inspired engineering produces structures with high strength-to-weight ratios and simultaneously lower manufacturing complexity. This reliable, customizable, cheap fabrication and component assembly technology is ideal for robotics applications in remote, rapid deployment scenarios that require platforms to be quickly produced, reconfigured, and deployed. Unfortunately, most examples of folded robots are appropriate only for small-scale, low-load [...]

Abstract: Prior mars rover missions have all landed in flat and smooth regions, but for the Mars 2020 mission, which is seeking signs of ancient life, this was no longer acceptable. To maximize the variety of rock samples that will eventually be returned to earth for analysis, the Perseverance rover needed to land in a [...]

Abstract:  The ability for robots to effectively understand natural language instructions and convey information about their observations and interactions with the physical world is highly dependent on the sophistication and fidelity of the robot’s representations of language, environment, and actions.  As we progress towards more intelligent systems that perform a wider range of tasks in a [...]

Abstract: Advances in perception have been integral to transitioning robots from machines restricted to factory automation to autonomous agents that operate robustly in unstructured environments. As our surrogates, robots enable people to explore the deepest depths of the ocean and distant regions of space, making discoveries that would otherwise be impossible. The age of robots [...]

Abstract: Can we balance efficiency and reliability while designing assistive AI systems? What would such AI systems need to provide? In this talk I will present some of our recent work addressing these questions. In particular, I will show that a few fundamental principles of abstraction are surprisingly effective in designing efficient and reliable AI [...]

Abstract: Subterranean robot exploration is difficult with many mobility, communications, and navigation challenges that require an approach with a diverse set of systems, and reliable autonomy. While prior work has demonstrated partial successes in addressing the problem, here we convey a comprehensive approach to address the problem of subterranean exploration in a wide range of [...]

Abstract: The growth of scale and complexity of interactions between humans and robots highlights the need for new computational methods to automatically evaluate novel algorithms and applications. Exploring the diverse scenarios of interaction between humans and robots in simulation can improve understanding of complex human-robot interaction systems and avoid potentially costly failures in real-world settings. [...]

Abstract: Mobile robots now deliver vast amounts of sensor data from large unstructured environments. In attempting to process and interpret this data there are many unique challenges in bridging the gap between prerecorded data sets and the field. This talk will present recent work addressing the application of machine learning techniques to mobile robotic perception. [...]

Abstract: Despite its diverse areas of application, the desire to optimize performance and guarantee acceptable behaviour in the face of inevitable uncertainty is pervasive throughout control theory. This creates a fundamental challenge since the necessity of robustly stable control schemes often favors conservative designs, while the desire to optimize performance typically demands the opposite. While [...]

Abstract: Physically collaborative robots present an opportunity to positively impact society across many domains. However, robots currently lack the ability to infer how their actions physically affect people. This is especially true for robotic caregiving tasks that involve manipulating deformable cloth around the human body, such as dressing and bathing assistance. In this talk, I [...]

Abstract: Many robotic applications require a robot to operate in an environment with unknowns or uncertainty, at least initially, before it gathers enough information about the environment. In such a case, a robot must rely on sensing and perception to feel its way around. Moreover, it has to couple sensing/perception and motion synergistically in real [...]

Abstract: Natural swarms exhibit sophisticated colony-level behaviors with remarkable scalability and error tolerance. Their evolutionary success stems from more than just intelligent individuals, it hinges on their morphology, their physical interactions, and the way they shape and leverage their environment. Mound-building termites, for instance, are believed to use their own body as a template for [...]