RI Seminar
On-Demand Machine Knitting for Everyone
Abstract: Knitting machines are general-purpose fabrication devices that can robustly create intricate 3D surfaces from yarn by cleverly actuating thousands of mechanical needles. Knitting machines are an established feature of the textiles production landscape, in use today to make everything from socks to sweaters. However, the current design tools for machine knitting are sorely lacking [...]
AI, Robotics, and Autonomous Vehicle Development at Ford Motor Company
Notice: The Location for these event has changed! The event will now take place in 6115 Gates Hillman Center. Education: Ph.D. in Physics, University of Michigan M.S. in Physics, Michigan State University B.S. in Physics & Mathematics, University of Wisconsin – River Falls Abstract: This presentation will highlight the history of autonomous vehicle development at [...]
Modeling Human Movements for Robotics
Abstract: Creating realistic virtual humans has traditionally been considered a research problem in Computer Animation primarily for entertainment applications. With the recent breakthrough in collaborative robots and deep reinforcement learning, accurately modeling human movements and behaviors has become a common challenge faced by researchers in robotics, artificial intelligence, as well as Computer Animation. In this [...]
What Matters for Deformable Object Manipulation
Abstract: Deformable objects such as cables and clothes are ubiquitous in factories, hospitals, and homes. While a great deal of work has investigated the manipulation of rigid objects in these settings, manipulation of deformable objects remains under-explored. The problem is indeed challenging, as these objects are not straightforward to model and have infinite-dimensional configuration spaces, [...]
Optimizing ankle prostheses to improve walking in transtibial amputees
Abstract: With a prosthetic device, people with a lower limb amputation can remain physically active, but most do not achieve medically recommended physical activity standards and are therefore at a greater risk of obesity and cardiovascular disease. Their reduced activity may be attributed to the 10 - 30% increase in energetic cost during walking compared [...]
Exploring Human-Robot Trust during Emergencies
Abstract: This talk presents our experimental results related to human-robot trust involving more than 2000 paid subjects exploring topics such as how and why people trust a robot too much and how broken trust in a robot might be repaired. From our perspective, a person trusts a robot when they rely on and accept the [...]
Deep Structured Models for Human Activity Recognition
Abstract: Visual recognition involves reasoning about structured relations at multiple levels of detail. For example, human behaviour analysis requires a comprehensive labeling covering individual low-level actions to pair-wise interactions through to high-level events. Scene understanding can benefit from considering labels and their inter-relations. In this talk I will present recent work by our group building [...]
Level Set Models for Computer Graphics
ABSTRACT A level set model is a deformable implicit model that has a regularly-sampled representation. It is defined as an iso-contour, i.e. a level set, of some implicit function f. The contour is deformed by solving a partial differential equation on a sampling of f, an image in 2D and a volume dataset in 3D. [...]
“Does it look right? – Why capture and reconstruction quality really matter.”
Special RI Seminar Please Note Different Day and Time Abstract: At first sight, 3D reconstruction can be considered a solved problem. The principles are well understood and we can reconstruct a wide range of objects and scenes using active as well as passive reconstruction approached. However, most of these reconstructions are not convincing when really [...]
Factor Graphs and Automatic Differentiation for Flexible Inference in Robotics and Vision
PLEASE NOTE: THIS SEMINAR WILL NOT BE RECORDED Abstract: Simultaneous Localization and Mapping (SLAM) and Structure from Motion (SFM) are important and closely related problems in robotics and vision. I will review how SLAM, SFM and other problems in robotics and vision can be posed in terms of factor graphs, which provide a graphical language [...]
Long Duration Autonomy With Applications to Persistent Environmental Monitoring
Abstract: By now, we have a fairly good understanding of how to design coordinated control strategies for making teams of mobile robots achieve geometric objectives in a distributed manner, such as assembling shapes or covering areas. But, the mapping from high-level tasks to geometric objectives is not well understood. In this talk, we investigate this [...]
Marine Robotics: Planning, Decision Making, and Learning
Abstract: Underwater gliders, propeller-driven submersibles, and other marine robots are increasingly being tasked with gathering information (e.g., in environmental monitoring, offshore inspection, and coastal surveillance scenarios). However, in most of these scenarios, human operators must carefully plan the mission to ensure completion of the task. Strict human oversight not only makes such deployments expensive and [...]
Signal Processing – From Images to Surfaces
Abstract: In this talk we will revisit some classical techniques from image processing and explore what is involved in translating them to the context of surfaces. We will show that by leveraging existing methodology from discrete differential geometry, it is often easy to extend the image-based techniques so that they can be used to edit [...]
Bio-inspired dynamics for multi-agent decision-making
Abstract: I will present distributed decision-making dynamics for multi-agent systems, motivated by studies of animal groups, such as house-hunting honeybees, and their extraordinary ability to make collective decisions that are both robust to disturbance and adaptable to change. The dynamics derive from principles of symmetry, consensus, and bifurcation in networked systems, exploiting instability as a [...]
Robotics-Inspired Implantable Passive Mechanisms to Surgically Re-Engineer the Human Body
Abstract: Tendon-transfer surgeries are performed for a variety of conditions such as stroke, palsies, trauma, and congenital defects. The surgery involves re-routing a tendon from a nonfunctioning muscle to a functioning muscle to partially restore lost function. However, a fundamental aspect of the current surgery, namely the suture that attaches the tendon(s) to the muscles, [...]
Rendering Material Properties through Touch
Abstract: Humans haptically perceive the material properties of objects, such as roughness and compliance, through signals from sensory receptors in skin, muscles, tendons, and joints. Approaches to haptic rendering of material properties operate by stimulating, or attempting to stimulate, some or all of these receptor populations. My talk will describe research on haptic perception of [...]
From Automation to Autonomy and the Ubiquity of Moral Decision Making
Abstract: I argue that there is an important sense in which all decisions are moral decisions and I explore some implications of this insight (and its denial) for the design and human impacts of increasingly complex automated systems and emerging autonomous systems. This insight is obscured when we think about automated systems by the social [...]
Learning to Drive
Abstract: Why is our understanding of sensorimotor control behind our understanding of perception? I will talk about structural differences between perception and control, and how these differences can be mitigated to help advance sensorimotor control systems. Judicious use of simulation can play an important role and I will describe some simulation tools that we have [...]
Imaging the World One Photon at a Time
Abstract: The heart of a camera and one of the pillars for computer vision is the digital photodetector, a device that forms images by collecting billions of photons traveling through the physical world and into the lens of a camera. While the photodetectors used by cellphones or professional DSLR cameras are designed to aggregate as [...]
Carnegie Mellon University
Lesson Learned from Two Decades of Robotics Development and Thoughts on Where We Go from Here
Abstract: In this talk, Herman Herman will offer various lessons learned from developing various robots for the last 2 decades at the National Robotics Engineering Center. He will also offer his perspective on the future of autonomous robots in various industries, including self-driving cars, material handling and consumer robotics. Bio: Dr. Herman Herman is the [...]
Factor Graphs for Robot Perception
Abstract: Factor graphs have become a popular tool for modeling robot perception problems. Not only can they model the bipartite relationship between sensor measurements and variables of interest for inference, but they have also been instrumental in devising novel inference algorithms that exploit the spatial and temporal structure inherent in these problems. I will overview [...]
Light-Sensitive Displays
Abstract: Nobel prize winner M. G. Lippmann described his dream of an ideal display as a “window into the world.” “While the current most perfect photographic print only shows one aspect of reality, reduced to a single image fixed in a plane, the direct view of reality offers, as we know, infinitely more variety.” Changing [...]
What People See in a Robot: A New Look at Human-Like Appearance
Abstract: A long-standing question in HRI is what effects a robot’s human-like appearance has on various psychological responses. A substantial literature has demonstrated such effects on liking, trust, ascribed intelligence, and so on. Much of this work has relied on a construct of uni-dimensional low to high human-likeness. I introduce evidence for an alternative view according to which [...]
Safe Learning in Robotics
Abstract: A great deal of research in recent years has focused on robot learning. In many applications, guarantees that specifications are satisfied throughout the learning process are paramount. For the safety specification, we present a controller synthesis technique based on the computation of reachable sets, using optimal control and game theory. In the first part [...]
Bipolar Robotics – From the Arctic to the Antarctic with a stop for Fisheries in the middle latitudes.
Abstract: The Arctic, Antarctic and Greenland remain some of the least explored parts of the planet. This talk looks at efforts over the last decade to explore areas under-ice which have traditionally been difficult to access. The focus of the talk will be on the robots, the role of communications over low bandwidth acoustic links, [...]
Learning Robot Manipulation Skills through Experience and Generalization
Abstract: In the future, robots could be used to take care of the elderly, perform household chores, and assist in hazardous situations. However, such applications require robots to manipulate objects in unstructured and everyday environments. Hence, in order to perform a wide range of tasks, robots will need to learn manipulation skills that generalize between [...]
Signal to Symbol (via Skills)
Abstract: While recent years have seen dramatic progress in the development of affordable, general-purpose robot hardware, the capabilities of that hardware far exceed our ability to write software to adequately control. The key challenge here is one of abstraction: generally capable behavior requires high-level reasoning and planning, but perception and actuation must ultimately be performed [...]
Multi-Modal Geometric Learning for Grasping
Abstract: In this talk, we will describe methods to enable robots to grasp novel objects using multi-modal data and machine. The starting point is an architecture to enable robotic grasp planning via shape completion using a single occluded depth view of objects. Shape completion is accomplished through the use of a 3D CNN. The network [...]
Building a Force-Controlled Actuator (Company)
Abstract: In 2014, I was lucky enough to be one of 5 people to start HEBI Robotics, with the dream of eventually making the task of building custom robots as easy as building with Lego. A few years later we are now 10 people, and our first product, a series of modular force-controlled actuators, is [...]
Minimalist Visual Perception and Navigation for Consumer Drones
Abstract: Consumer drone developers often face the challenge of achieving safe autonomous navigation under very tight size, weight, power, and cost constraints. In this talk, I will present our recent results towards a minimalist, but complete perception and navigation solution utilizing only a low-cost monocular visual-inertial sensor suite. I will start with an introduction of [...]
Social Perception for Machines
Abstract: Despite decades of progress, machines remain intelligent tools rather than collaborative partners in individual human enterprise. A key reason is that machine perception of inter-personal communication is largely unsolved and a computationally accessible representation of such behavior remains elusive. In this talk, I will describe our research arc over the past decade at CMU [...]
Geometry Processing in The Wild
Abstract: Geometric data abounds, but our algorithms for geometry processing are failing. Whether from medical imagery, free-form architecture, self-driving cars, or 3D-printed parts, geometric data is often messy, riddled with "defects" that cause algorithms to crash or behave unpredictably. The traditional philosophy assumes geometry is given with 100% certainty and that algorithms can use whatever [...]
Self Driving Cars and AI: Transforming our cities and our lives
Abstract: Artificial intelligence and machine learning are critical to reaching full autonomy in self driving cars. I will present two autonomy systems along with the use of machine learning in each of them. I will summarize recent progress in commercializing these systems and make some observations about the potential impact of these systems in our [...]
Robotic Morphing Matter
Abstract: Morphing matter harnesses the programmability in material structures and compositions to achieve transformative behaviors and integrates sensing, actuation, and computation to create adaptive and responsive material systems. These material systems can be leveraged to design soft robots, self-assembling furniture, adaptive fabrics, and self-folding foods. In this talk, Lining presents the recent works in the [...]
The Mechanical Side of Artificial Intelligence
Abstract: Artificial Intelligence typically focuses on perception, learning, and control methods to enable autonomous robots to make and act on decisions in real environments. On the contrary, our research is focused on the design, mechanics, materials, and manufacturing of novel robot platforms that make the perception, control, or action easier or more robust for natural, unstructured, and [...]
Three surprises and a story of prison education
Abstract: I will talk about three results that surprised me. First, I will show that the free configuration space of an elastic wire is path-connected, a result that makes easy a manipulation planning problem that was thought to be hard. Second, I will show a linear relationship between stimulation parameters, skin impedance, and sensation intensity [...]
Robots Learning from Human Teachers
Abstract: In this talk I will cover some of the recent work out of the Socially Intelligent Machines Lab at UT Austin (http://sim.ece.utexas.edu/research.html). The vision of our research is to enable robots to function in dynamic human environments by allowing them to flexibly adapt their skill set via learning interactions with end-users. We explore the ways in which [...]
Creative Robots with Deep Reinforcement Learning
Recent advances in Deep Reinforcement Learning (DRL) algorithms provided us with the possibility of adding intelligence to robots. Recently, we have been applying a variety of DRL algorithms to the tasks that modern control theory may not be able to solve. We observed intriguing creativity from robots when they are constrained in reaching a certain [...]
Active Learning in Robot Motion Control
Abstract: Motion motivated by information needs can be found throughout natural systems, yet there is comparatively little work in robotics on analyzing and synthesizing motion for information. Instead, engineering analysis of robots and animal motion typically depends on defining objectives and rewards in terms of states and errors on states. This is how we formulate [...]
Formalizing Teamwork in Human-Robot Interaction
Abstract: Robots out in the world today work for people but not with people. Before robots can work closely with ordinary people as part of a human-robot team in a home or office setting, robots need the ability to acquire a new mix of functional and social skills. Working with people requires a shared understanding [...]
Microsystems-inspired robotics
Abstract: The ability to manufacture micro-scale sensors and actuators has inspired the robotics community for over 30 years. There have been huge success stories; MEMS inertial sensors have enabled an entire market of low-cost, small UAVs. However, the promise of ant-scale robots has largely failed. Ants can move high speeds on surfaces from picnic tables [...]
Robotic Grippers for Planetary Applications
Abstract: The previous generation of NASA missions to the outer solar system discovered salt water oceans on Europa and Enceladus, each with more liquid water than Earth – compelling targets to look for extraterrestrial life. Closer to home, JAXA and NASA have imaged sky-light entrances to lava tube caves on the Moon more than 100 [...]
Improving Multi-fingered Robot Manipulation by Unifying Learning and Planning
Abstract: Multi-fingered hands offer autonomous robots increased dexterity, versatility, and stability over simple two-fingered grippers. Naturally, this increased ability comes with increased complexity in planning and executing manipulation actions. As such, I propose combining model-based planning with learned components to improve over purely data-driven or purely-model based approaches to manipulation. This talk examines multi-fingered autonomous [...]
Design, Modeling and Control of a Robot Bat: From Bio-inspiration to Engineering Solutions
Abstract: In this talk, I will describe our recent work building a biologically-inspired bat robot. Bats have a complex skeletal morphology, with both ball-and-socket and revolute joints that interconnect the bones and muscles to create a musculoskeletal system with over 40 degrees of freedom, some of which are passive. Replicating this biological system in a [...]
Deep Learning for Robotics
Abstract: Programming robots remains notoriously difficult. Equipping robots with the ability to learn would by-pass the need for what otherwise often ends up being time-consuming task specific programming. This talk will describe recent progress in deep reinforcement learning (robots learning through their own trial and error), in apprenticeship learning (robots learning from observing people), and [...]
Modeling, Design, and Analysis for Intelligent Vehicles: Intersection Management, Security-Aware Design, and Automotive Design Automation
Abstract: Advanced Driver Assistance Systems (ADAS), autonomous functions, and connected applications bring a revolution to automotive systems and software. In this talk, several research topics in the domain of automotive systems and software will be introduced: (1) graph-based modeling, scheduling, and verification for intersection management, (2) security-aware design and analysis considering timing, game theory, and [...]
DNA and gammaPNA in programmable nanomaterials for sensing, robotics and manufacturing
Abstract: When programmable nanomaterials are used in conjunction with rapid microfabrication techniques like two photon polymerization, it becomes possible to rapidly prototype microstructures with nanoscale components. In this research presentation I introduce DNA nanotechnology using a commonly used simple nanotube motif, and I will illustrate how nucleic acid nanotubes can be used in sensing, robotics [...]
The Robots are Coming – to your Farm! AKA: Autonomous and Intelligent Robots in Unstructured Field Environments
Abstract: What if a team of collaborative autonomous robots grew your food for you? In this talk, I will discuss some key advances in robotics, machine learning, and autonomy that will one day enable teams of small robots to grow food for you in your backyard in a fundamentally more sustainable way than modern mega-farms! [...]
Improving Robot and Deep Reinforcement Learning via Quality Diversity and Open-Ended Algorithms
Abstract: Quality Diversity (QD) algorithms are those that seek to produce a diverse set of high-performing solutions to problems. I will describe them and a number of their positive attributes. I will then summarize our Nature paper on how they, when combined with Bayesian Optimization, produce a learning algorithm that enables robots, after being damaged, to adapt in 1-2 minutes [...]
Toward telelocomotion: human sensorimotor control of contact-rich robot dynamics
Abstract: Human interaction with the physical world is increasingly mediated by automation -- planes assist pilots, cars assist drivers, and robots assist surgeons. Such semi-autonomous machines will eventually pervade our world, doing dull and dirty work, assisting the elderly and disabled, and responding to disasters. Recent results (e.g. from the DARPA Robotics Challenge) demonstrate that, [...]
Formal Synthesis for Robots
Abstract: In this talk I will describe how formal methods such as synthesis – automatically creating a system from a formal specification – can be leveraged to design robots, explain and provide guarantees for their behavior, and even identify skills they might be missing. I will discuss the benefits and challenges of synthesis techniques and [...]
Extreme Motions in Biological and Engineered Systems
Abstract: Dr. Temel’s work mainly focuses on understanding the dynamics and energetics of extreme motions in small-scale natural and synthetic systems. Small-scale biological systems achieve extraordinary accelerations, speeds, and forces that can be repeated with minimal costs throughout the life of the organism. Zeynep uses analytical and computational models as well as physical prototypes to learn about these systems, test [...]
CANCELLED
Yes, That’s a Robot in Your Grocery Store. Now what?
Abstract: Retail stores are becoming ground zero for indoor robotics. Fleet of different robots have to coexist with each others and humans every day, navigating safely, coordinating missions, and interacting appropriately with people, all at large scale. For us roboticists, stores are giant labs where we're learning what doesn't work and iterating. If we get [...]
CANCELLED
Abstract: Before learning robots can be deployed in the real world, it is critical that probabilistic guarantees can be made about the safety and performance of such systems. In recent years, safe reinforcement learning algorithms have enjoyed success in application areas with high-quality models and plentiful data, but robotics remains a challenging domain for scaling [...]
Optimizing for coordination with people
https://youtu.be/AQ-w5o2oGI8 Abstract: From autonomous cars to quadrotors to mobile manipulators, robots need to co-exist and even collaborate with humans. In this talk, we will explore how our formalism for decision making needs to change to account for this interaction, and dig our heels into the subtleties of modeling human behavior -- sometimes strategic, often irrational, [...]