Student Talks
Carnegie Mellon University
Search-based Robust Motion Planning under Uncertainty Guided by Multiple Heuristics
Abstract: Motion planning has achieved a great success in many robotic applications but still suffers in the real world under ample uncertainty. For example, manipulation involves interaction with unstructured and stochastic environments, which results in motion uncertainty. Perception that provides understanding of the environment is also not perfect, which in turn leads to sensing uncertainty. [...]
Carnegie Mellon University
Robust State Estimation for Micro Aerial Vehicles
Title: Robust State Estimation for Micro Aerial Vehicles Autonomous robots provide excellent tools for information gathering in a wide variety of domains, from environmental management to infrastructure inspection and search and rescue. Micro aerial vehicles, in particular, offer a high degree of mobil- ity that can further their effectiveness in such environments. Deployment of aerial [...]
Deep Reinforcement Learning with skill library: Learning and exploration with temporal abstractions using coarse approximate dynamics models
Reinforcement learning is a computational approach to learn from interaction. However, learning from scratch using reinforcement learning requires exorbitant number of interactions with the environment even for simple tasks. One way to alleviate the problem is to reuse previously learned skills as done by humans. This thesis provides frameworks and algorithms to build and reuse [...]
Carnegie Mellon University
Robot Design for Everyone: Computational Tools that Democratize the Design of Robots
Abstract: A grand vision in robotics is that of a future wherein robots are integrated in daily human life just as smart phones and computers are today. Such pervasive integration of robots would require faster design and manufacturing of robots that cater to individual needs. For instance, people would be able to obtain customized smart [...]
Carnegie Mellon University
Semantic Segmentation for Terrain Roughness Estimation Using Data Autolabeled with a Custom Roughness Metric
Traditional methods for off-road terrain estimation use some type of learning network to predict hand labeled classes of terrain such as short grass, tall grass, dirt, and trees. Other methods of learning which can give more detailed, but stilldiscrete classes, use on board sensors to measure the terrain roughness, and then predict the terrain type. There also exists [...]
Carnegie Mellon University
Robust Soft-Matter Robotic Materials
Abstract: Emerging applications in wearable computing, human-machine interaction, and soft robotics will increasingly rely on new soft-matter technologies. These soft-matter technologies are considered inherently safe as they are primarily composed of intrinsically soft materials---elastomers, gels, and fluids. These materials provide a method for creating soft-matter counterparts to traditionally rigid devices that exhibit the mechanical compliance [...]
Carnegie Mellon University
Automated Design of Manipulators For In-Hand Tasks
Grasp planning and motion synthesis for dexterous manipulation tasks are traditionally done given a pre-existing kinematic model for the robotic hand. In this paper, we introduce a framework for automatically designing hand topologies best suited for manipulation tasks given high level objectives as input. Our goal is to ultimately design a program that is able [...]
Learning Neural Parsers with Deterministic Differentiable Imitation Learning
Abstract: In this work, we explore the problem of learning to decompose spatial tasks into segments, as exemplified by the problem of a painting robot covering a large object. Inspired by the ability of classical decision tree algorithms to construct structured partitions of their input spaces, we formulate the problem of decomposing objects into segments [...]
Carnegie Mellon University
Integrating Structure with Deep Reinforcement and Imitation Learning
Most deep reinforcement and imitation learning methods are data-driven and do not utilize the underlying structure of the problem. While these methods have achieved great success on many challenging tasks, several key problems such as generalization, data efficiency and compositionality remain open. Utilizing problem structure in the form of architecture design, priors, domain knowledge etc. may [...]
Carnegie Mellon University
Learning Reactive Flight Control Policies: from LIDAR measurements to Actions
Abstract The end goal of a reactive flight control pipeline is to output control commands based on local sensor inputs. Classical state estimation and control algorithms break down this problem by first estimating the robot’s velocity and then computing a roll and pitch command based on that velocity. However, this approach is not robust in [...]