Student Talks
Carnegie Mellon University
MSR Thesis Talk – Alvin Shek
Title: Learning from Physical Human Feedback: An Object-Centric One-Shot Adaptation Method Abstract: For robots to be effectively deployed in novel environments and tasks, they must be able to understand the feedback expressed by humans during intervention. This can either correct undesirable behavior or indicate additional preferences. Existing methods either require repeated episodes of interactions or [...]
Carnegie Mellon University
MSR Thesis Talk: Jiaqi Geng
Title: Dense Human Pose Estimation From WiFi Abstract: Advances in computer vision and machine learning techniques have led to significant development in 2D and 3D human pose estimation from RGB cameras, LiDAR, and radars. However, human pose estimation from images is adversely affected by occlusion and lighting, which are common in many scenarios of interest. [...]
Carnegie Mellon University
MSR Thesis Talk: Jianchun Chen
Title: An efficient approach for sequential shape human performance capture from monocular video Abstract: Human performance capture from RGB videos in unconstrained environments has become very popular for applications to generate virtual avatars or digital actors. Modern approaches rely on neural network algorithms to estimate geometry directly from images, resulting in a coarse representation of [...]
Thermal Management Considerations For Lunar Polar Micro-Rovers
Meeting ID: 940 0396 4889 Passcode: 906118 Abstract: This research addresses the significant and unprecedented challenge of thermal regulation for lunar polar micro-rovers. These are distinct from priors by way of very small size, mass, and power, but particularly for the extremes of ambient environment in which they must operate. On the lunar poles, rovers experience temperatures [...]
Carnegie Mellon University
MSR Thesis Talk: Zhihao Zhang
Title: Efficient Methods for Model Performance Inference Abstract: A key challenge in neural architecture search (NAS) is quickly inferring the predictive performance of a broad spectrum of neural networks to discover statistically accurate and computationally efficient ones. We refer to this task as model performance inference (MPI). The current practice for efficient MPI is gradient-based methods [...]
Carnegie Mellon University
MSR Thesis Talk: Chufan Gao
Title: Addressing Time-series Signal Quality in Healthcare Data Abstract: Healthcare data time-series signal quality assessment (SQA) plays a vital role in the accuracy and reliability of machine learning algorithms to analyze health metrics. However, these signals are often corrupted with different kinds of noises and artifacts, including Baseline Wander, Muscle Artifacts, Powerline Interference, and Equipment Failure. This [...]
Carnegie Mellon University
Object Pose Estimation without Direct Supervision
Abstract: Currently, robot manipulation is a special purpose tool, restricted to isolated environments with a fixed set of objects. In order to make robot manipulation more general, robots need to be able to perceive and interact with a large number of objects in cluttered scenes. Traditionally, object pose has been used as a representation to [...]
Improving Robotic Exploration with Self-Supervision and Diverse Data
Abstract: Reinforcement learning (RL) holds great promise for improving robotics, as it allows systems to move beyond passive learning and interact with the world while learning from these interactions. A key aspect of this interaction is exploration: which actions should an RL agent take to best learn about the world? Prior work on exploration is typically [...]
An Extension to Model Predictive Path Integral Control and Modeling Considerations for Off-road Autonomous Driving in Complex Environment
Abstract: The ability to traverse complex environments and terrains is critical to autonomously driving off-road in a fast and safe manner. Challenges such as terrain navigation and vehicle rollover prevention become imperative due to the off-road vehicle configuration and the operating environment itself. This talk will introduce some of these challenges and the different tools [...]
Carnegie Mellon University
Heuristic Search Based Planning by Minimizing Anticipated Search Efforts
Abstract: We focus on relatively low dimensional robot motion planning problems, such as planning for navigation of a self-driving vehicle, unmanned aerial vehicles (UAVs), and footstep planning for humanoids. In these problems, there is a need for fast planning, potentially compromising the solution quality. Often, we want to plan fast but are also interested in [...]