PhD Thesis Defense
Robotics Institute,
Carnegie Mellon University

Search Algorithms and Search Spaces for Neural Architecture Search

NSH 4305

Abstract: Neural architecture search (NAS) is recently proposed to automate the process of designing network architectures. Instead of manually designing network architectures, NAS automatically finds the optimal architecture in a data-driven way. Despite its impressive progress, NAS is still far from being widely adopted as a common paradigm for architecture design in practice. This thesis [...]

MSR Speaking Qualifier
Robotics Institute,
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 [...]

MSR Speaking Qualifier
PhD Student
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk – Gaurav Parmar

NSH 1109

Title: Spatially-Adaptive Multilayer GAN Inversion   Abstract: Existing GAN inversion and editing methods are well suited for only a target images that contain aligned objects with a clean background, such as portraits and animal faces, but often struggle for more difficult categories with complex scene layouts and object occlusions, such as cars, animals, and outdoor images. [...]

PhD Speaking Qualifier
PhD Student
Robotics Institute,
Carnegie Mellon University

Robust Reinforcement Learning via Genetic Curriculum

GHC 6501

Abstract: Achieving robust performance is crucial when applying deep reinforcement learning (RL) in safety critical systems. Some of the state of the art approaches try to address the problem with adversarial agents, but these agents often require expert supervision to fine tune and prevent the adversary from becoming too challenging to the trainee agent. While [...]

PhD Speaking Qualifier
PhD Student
Robotics Institute,
Carnegie Mellon University

Mouth Haptics in VR using a Headset Ultrasound Phased Array

GHC 7501

Abstract: This talk is the same one I will be presenting at the ACM CHI Conference on Human Factors in Computing Systems on May 2nd. Paper abstract: Today’s consumer virtual reality (VR) systems offer limited haptic feedback via vibration motors in handheld controllers. Rendering haptics to other parts of the body is an open challenge, [...]

PhD Thesis Proposal
PhD Student
Robotics Institute,
Carnegie Mellon University

Towards Large-scale and Long-term Neural Map Representations

Abstract: We address the problem of large-scale and long-term neural map representations. Maps, as our prior understanding toward the environment, provide valuable information for modern robotics applications such as autonomous driving and AR/VR. The size of maps largely affects the end task performance: usually a more detailed map can support better performance, but would cost [...]

PhD Thesis Defense
Robotics Institute,
Carnegie Mellon University

Self-Improving 3D Scene Representations

GHC 6501

Abstract: Most computer vision models in deployment today are not continually learning. Instead, they are in a “test” mode, where they will behave the same way perpetually, until they are replaced by newer models. This is a problem, because it means the models may perform poorly as soon as their “test” environment diverges from their [...]

MSR Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk – Manash Pratim Das

TBA

Title: Model-Accuracy Aware Anytime Planning with Simulation Verification for Navigating Complex Terrains Abstract: Off-road and unstructured environments often contain complex patches of various types of terrain, rough elevation changes, deformable objects, etc. An autonomous ground vehicle traversing such environments experiences physical interactions that are extremely hard to model at scale and thus very hard to [...]

MSR Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk – Akshay Dharamavaram

NSH 4305

Title: Stabilizing the Training Dynamics of Generative Models using Self-Supervision   Abstract: Generative Models have been shown to be adept in mimicking the behavior of an unknown distribution solely from bootstrapped data. However, deep learning models have been shown to overfit in either the minimization or maximization stage of the two player min-max game, resulting [...]

PhD Thesis Defense
Robotics Institute,
Carnegie Mellon University

Direct-drive Hands: Making Robot Hands Transparent and Reactive to Contacts

GHC 6501

Abstract: Industrial manipulators and end-effectors are a vital driver of the automation revolution. These robot hands, designed to reject disturbances with stiffness and strength, are inferior to their human counterparts. Human hands are dexterous and nimble effectors capable of a variety of interactions with the environment. Through this thesis we wish to answer a question: [...]