Student Talks
Carnegie Mellon University
Anish Bhattacharya – MSR Thesis Talk
Zoom link: https://cmu.zoom.us/j/4413360562 Title: Toward Increased Airspace Safety: Quadrotor Guidance for Targeting Aerial Objects Abstract: As the market for commercially available unmanned aerial vehicles (UAVs) booms, there is an increasing number of small, teleoperated or autonomous aircraft found in protected or sensitive airspace. Existing solutions for removal of these aircraft are either military-grade and too [...]
Carnegie Mellon University
Aaron Miller – MSR Thesis Talk
Zoom link: https://cmu.zoom.us/j/95386019509?pwd=cmNnTm9lWWlNbTh1SmQ0RU5PVTBmQT09 Title: Cooperative Perception for Pairs of Self-Driving Cars Abstract: Fully autonomous vehicles are expected to share the road with less advanced vehicles for a significant period of time. Furthermore, an increasing number of vehicles on the road are equipped with a variety of low-fidelity sensors which provide some perception and localization [...]
Carnegie Mellon University
Sara Misra – MSR Thesis Talk
Zoom link: https://cmu.zoom.us/j/3216213856 Title: Learning-based modular framework for environment-adaptive planning in exploration tasks Abstract: Search-based path planning has spawned a number of different solutions using different paradigms and strategies, both generalized and specific to certain problems, representations, and environments. Split into heuristic and non-heuristic based approaches, where heuristic-based approaches, embedded within these approaches [...]
Carnegie Mellon University
Blake Buchanan – MSR Thesis Talk
Location: https://cmu.zoom.us/j/99874277969?pwd=Q1MvczNhWTB4UmF3UXFOMEFtVG1uZz09 Title: Mechanics and Control of Coupled Interactions in Ambient Media Abstract: Many multi-agent systems in nature comprise agents that interact with, and respond to, the dynamics of their environment. For example, fish school based on the fundamental fluid phenomena of vortex shedding, birds shed leading-edge vortices in formation for flocking, and E. coli bacteria [...]
Carnegie Mellon University
Online Inference of Joint Occupancy using Forward Sensor Models and Trajectory Posteriors for Deliberate Robot Navigation
Zoom Link Abstract: Robotic navigation algorithms for real-world robots require dense and accurate probabilistic volumetric representations of the environment in order to traverse efficiently. Sensor data in a Simultaneous Localisation And Mapping (SLAM) context, however, always has associated acquisition noise and pose uncertainty, and encoding this within the map representation while still maintaining computational tractability [...]
Carnegie Mellon University
Machine Learning Parallelism Could Be Adaptive, Composable and Automated
Zoom Link Abstract: In recent years, researchers in SysML have created algorithms and systems that parallelize ML training over multiple devices or computational nodes. As ML models become more structurally complex, many systems have struggled to provide all-round performance on a variety of models. Particularly, ML scale-up is usually underestimated in terms of the amount [...]
Carnegie Mellon University
Computational Contact Modes for Robotics
Zoom Link Abstract: A central theme in robotics is that of robots interacting with the world through physical contact. Whether it is a walking robot or robotic manipulator picking up an object, such as a spoon, we desire robots that physically interact with their environments. One significant challenge in physical robot interactions involves dealing with [...]
Carnegie Mellon University
Data-Driven Robotic Grasping in the Wild
Zoom Link Abstract: Humans can effortlessly grasp a wide variety of objects in diverse environments. On the other hand, robotic grasping has been extremely challenging in practice and is far from matching human dexterity. Despite recent progress in the community, most research is still largely focused on constrained environments like picking individual objects on a [...]
Carnegie Mellon University
Routing for Persistent Exploration in Dynamic Environments with Teams of Energy-Constrained Robots
Abstract: Disaster relief scenarios require rapid and persistent situational awareness to inform first-responders of safe and viable routes through a constantly shifting environment. Knowing what roads have become flooded or are suddenly obstructed by debris can significantly improve response time and ease the distribution of resources. In a sufficiently large environment, deploying and maintaining fixed [...]
Sparse Spatial Hashing for Dense 3D Reconstruction
Abstract: Real-world 3D data is locally dense but globally sparse. Therefore, efficient sparse data structures are an essential component of dense 3D perception for computer vision and robotics. We manifest the power of spatial hashing by two typical tasks: dense scene reconstruction and global registration. In the first task, we accelerate volumetric integration and surface [...]