MSR Speaking Qualifier
Carnegie Mellon University
MSR Thesis Talk: Aaron Huang
Title: End-to-End Methods for Autonomous Driving in Simulation Abstract: Fully autonomous driving is considered one of the grand challenges of modern technology and a variety of approaches have emerged for creating and evaluating autonomous driving agents. The self-driving industry typically adopts a modular software architecture and uses large fleets of autonomous vehicles for data [...]
Carnegie Mellon University
MSR Thesis Talk
Title: Retrieval-based Novel Activity Detection in Untrimmed Videos Abstract: Accurately detecting activities in untrimmed videos is a challenging task as systems need to handle variance in object scales, multiple viewpoints, and multiple types of activities. Furthermore, in a real-world scenario, activity detectors are often required to detect novel kinds of activities when the need [...]
Carnegie Mellon University
MSR Thesis Talk: Howard Coffin
Title: Mutual Information Maps for Single and Multi-Target Ergodic Search Abstract: This thesis addresses use of multi-agent systems to perform autonomous search for moving targets. Target search has many applications, including search and rescue and surveillance, but most robotic systems used in these situations require human operators. Recent works have used ergodic search methods to [...]
Carnegie Mellon University
MSR Thesis Talk: Wanwen Chen
Title: Ultrasound-based Needle Tracking and Lateral Manipulation Planning for Common Needle Steering Abstract: Many medical interventions require inserting a needle towards the desired site. Robotic needle insertion can potentially provide reliable needle access independent of practitioner experience and availability. However, when the needle is inserted into heterogeneous tissue, the complicated needle-tissue interaction introduces multiple challenges [...]
Carnegie Mellon University
MSR Thesis Talk: Rohit Garg
Title: Coordinated Aerial Exploration of Subterranean Voids Abstract: Subterranean exploration has been thrust into the spotlight by the recent DARPA Subterranean Challenge. Teams are tasked with developing a multi-agent system that can rapidly navigate through unknown underground environments while sending back maps and other semantic information. A system with such capabilities has a wide [...]
Carnegie Mellon University
MSR Thesis Talk: Harvey Shi
Title: The design of a compact laser scanner and an integrated simulation environment for smart manufacturing Abstract: Advanced manufacturing is on the rise with the notable progress in the additive and hybrid manufacturing field. However, most of the existing solutions are open loop without sensory feedback because of the lack of a small form factor [...]
Carnegie Mellon University
MSR Thesis Talk: Daqian Cheng
Zoom link: https://cmu.zoom.us/j/99726348928?pwd=azlicW9qZk1Nc3BkQXBLT2d6djVBQT09 Meeting ID: 997 2634 8928 Passcode: 136122 Title: SLAM with Laser Profilers for High Definition Mapping in Confined Spaces Abstract: Three-dimensional reconstruction in confined spaces is important for the manufacturing of aircraft wings, the inspection of narrow pipes, the examination of turbine blades, etc. It is also challenging because confined spaces tend [...]
Carnegie Mellon University
MSR Thesis Talk: Quint Hester
Title: Graph Neural Networks for Wind Farm Yaw Optimization Abstract: In order to mitigate the effects of climate change, it is important to maximize the power output of our wind energy resources. Wind farm control is typically greedy, with all turbines facing directly into the wind. Due to wake interactions, this leads to reductions [...]
Carnegie Mellon University
MSR Thesis Talk: Henry Zhang
Title: On Visual-Aided LiDAR-Inertial Odometry System in Challenging Subterranean Environments Abstract: Simultaneous Localization and Mapping (SLAM) is one of the fundamental components for autonomous robotic exploration. The goal of SLAM is to create an accurate map for the environment and provide robust state estimation for planning, control, and perception tasks. However, due to the [...]
MSR Thesis Talk: Ryan Darnley
Title: Communication Network Flow Control With LQR and Factor Graphs Abstract: Advances in the estimation and more recently the controls communities have leveraged the use of factor graphs to overcome problems of scalability and runtime in dynamical systems. In continuation of that work, we look to use factor graphs to perform LQR control on [...]
Carnegie Mellon University
MSR Thesis Talk: Shirsendu Halder
Title: Robust 3D reconstruction in noisy environments Abstract: Automated inspection in industrial manufacturing can minimize the total production cost of a part. Current inspection solutions often involve measuring a part manually, which interrupts the machining process. We present two non-contact real-time systems which integrate visual inspection in-line with CNC (computer numerical control) machines and ensures [...]
MSR Thesis Talk: Tejus Gupta
ZOOM Link: https://cmu.zoom.us/j/2388465851 Meeting ID: 238 846 5851 Google calendar invite link Title: Adaptive and Efficient Models for Intent Recognition Abstract: Assistive robots should have the ability to understand the intent of humans, predict their behavior, and plan to provide anticipatory assistance in complex real-life environments. In this thesis, we present adaptive and efficient algorithms for recognizing [...]
Carnegie Mellon University
MSR Thesis Talk: Siddharth Agrawal
Title: Learning to Imitate, Adapt and Communicate Abstract: For AI agents to co-exist with humans, they need to be able to learn from us humans, adapt to any perceived changes in our behavior, and communicate in a manner that is easily interpretable. In this work, we investigate the following 3 subproblems: Imitation Learning, Adaptation in Human-Agent [...]
Carnegie Mellon University
MSR Thesis Talk: Danny Vedova
Link: https://cmu.zoom.us/j/92810207130?pwd=blphbkovYVA2b1VoSmhuZ0h2bFRzZz09 Meeting ID: 928 1020 7130 Passcode: 721620 Title: Design and Analysis of a Control Pipeline for a Manipulator in Space Abstract: Many satellites are rapidly reaching the end of their lifespans, and risk de-orbiting if no action is taken. One common problem satellites face towards the end of their lifespans is that they are running [...]
Carnegie Mellon University
MSR Thesis Talk: Fan Jia
Zoom Link: https://cmu.zoom.us/j/9793644214?pwd=enpab3dPc0FBWVdqWDNrcVlabUJCZz09 Meeting ID: 979 364 4214 Passcode: 304453 Title: Trust-Aware Behavior Reflection for Robot Swarm Self-Healing Abstract: The deployment of robot swarms is influenced by real-world factors, such as motor issues, sensor failure, and wind disturbances. These factors cause the appearance of faulty robots. In a decentralized swarm, sharing incorrect information from faulty robots will lead to [...]
Carnegie Mellon University
MSR Thesis Talk: Tejas Zodage
Meeting Link: https://cmu.zoom.us/j/2427727031 Title: Point Cloud Registration as a Classification Problem Abstract: Point Cloud Registration(PCR) is an important step in fields such as robotic manipulation, augmented and virtual reality, SLAM, etc. In the context of computer vision, registration, in general, refers to the process of aligning data obtained from different frames, and as the [...]
Carnegie Mellon University
MSR Thesis Talk – Evan Harber
Title: Stiffness Mapping of Deformable Objects Through Supervised Embedding and Gaussian Process Regression Abstract: The stiffness map of a deformable object stores information about that object's surface compliance. Thus, through a stiffness map, we gain insight into the physical properties of that object. Depending on the object, an understanding of stiffness has applications ranging [...]