Student Talks

Abstract: The classical "modular and cascaded" autonomy stack (object detection, tracking, trajectory prediction, then planning and control) has been widely used for interactive autonomous systems such as self-driving cars due to its interpretability and fast development cycle. In this thesis, we advocate the use of such a modular stack but improve its accuracy and robustness [...]

Abstract: Teleoperated systems are used widely in deployed robots today, for such tasks as space exploration, disaster recovery, or assisted manipulation. However, teleoperated systems are difficult to control, especially when performing high-dimensional, contact-rich tasks like manipulation. One approach to ease teleoperated manipulation is shared control; this strategy combines the user's direct control input with an [...]