PhD Thesis Defense

Abstract: Robots need a diverse repertoire of capable motor skills to succeed in the open world. Such a skillset cannot be learned or designed purely on human initiative. In this thesis, we advocate for an active continual learning approach that enables robots to take charge of their own learning. The goal of an autonomously learning [...]

Abstract: Optimal Control is a popular formulation for designing controllers for dynamic robotic systems. Under the formulation, the desired long-term behavior of the system is encoded via a cost function and the policy, i.e. a mapping from the state of the system to control commands, to achieve the desired behavior are obtained by solving an [...]

Abstract: Image denoising, depth completion, scene flow, and dynamic 3D reconstruction are all examples of recovery problems: the estimation of multidimensional signals from corrupted or partial measurements. This thesis examines these problems from the classic analysis-by-synthesis perspective, where a signal model is used to propose hypotheses, which are then compared to observations. This paradigm has [...]

Abstract: Touch is an essential sensing modality for making autonomous robots more dexterous and allowing them to work collaboratively with humans. In particular, the advent of vision-based tactile sensors has resulted in efforts to design them for different robotic manipulation tasks. However, this design task remains a challenging problem. This is for two reasons: first, [...]

Abstract: Motion planning for dynamically complex robotic tasks requires explicit reasoning within constraints on velocity, acceleration, force/torque, and kinematics such as avoiding obstacles. To meet these constraints, planning algorithms must simultaneously make high-level discrete decisions and low-level continuous decisions. For example, pushing a heavy object involves making discrete decisions about contact locations and continuous decisions [...]

Abstract: Robots often need to communicate their navigation goals to assist observers in anticipating the robot's future actions. Enabling observers to infer where a robot is going from its movements is particularly important as robots begin to share workplaces, sidewalks, and social spaces with humans. We can use legible motion, or movements that use intentional [...]

Abstract:  Intelligent vehicles have been proposed as one path to increasing traffic safety and reducing on-road crashes. Driving “intelligence” today takes many forms, ranging from simple blind spot occupancy or forward collision warnings to distance-aware cruise and all the way to full driving autonomy in certain situations. Primarily, these methods are outward-facing and operate on [...]

Abstract:  This thesis aims to build computer systems to understand everyday hand-object interactions in the physical world – both perceiving ongoing interactions in 3D space and predicting possible interactions. This ability is crucial for applications such as virtual reality, robotic manipulations, and augmented reality. The problem is inherently ill-posed due to the challenges of one-to-many [...]

Abstract: The role of sensing is widely acknowledged for robots interacting with the physical environment. However, few contemporary sensors have gained widespread use among roboticists. This thesis proposes a framework for incorporating sensors into a robot learning paradigm, from development to deployment, through the lens of ReSkin -- a versatile and scalable magnetic tactile sensor. [...]

Abstract: Humans are remarkably adept at learning to perform tasks by imitating other people demonstrating these tasks. Key to this is our ability to reason abstractly about the high-level strategy of the task at hand (such as the recipe of cooking a dish) and the behaviours needed to solve this task (such as the behaviour [...]

Abstract: As collaborative robots are increasingly deployed in personal environments, such as the home, it is critical they take actions to complete tasks consistent with personal preferences. Determining personal preferences for completing household chores, however, is challenging. Many household chores, such as setting a table or loading a dishwasher, are sequential and open-vocabulary, creating a [...]

Abstract: Data-driven learning is a powerful paradigm for enabling robots to learn skills. Current prominent approaches involve collecting large datasets of robot behavior via teleoperation or simulation, to then train policies. For these policies to generalize to diverse tasks and scenes, there is a large burden placed on constructing a rich initial dataset, which is [...]

Abstract:   Current trends in robotics design and engineering are typically focused on high value applications where high performance, precision, and robustness take precedence over cost, accessibility, and environmental impact.  In this paradigm, the capability landscape of robotics is largely shaped by access to capital and the promise of economic return. This thesis explores an alternative [...]

Abstract: Decades of research on computer vision have highlighted the importance of active sensing -- where an agent controls the parameters of the sensors to improve perception. Research on active perception in the context of robotic manipulation has demonstrated many novel and robust sensing strategies involving a multitude of sensors like RGB and RGBD cameras [...]

Abstract: Motivated by the potential of Artificial Intelligence (AI) in high-cost and safety-critical applications, and recently also by the increasing presence of AI in our everyday lives, Trustworthy AI has grown in prominence as a broad area of research encompassing topics such as interpretability, robustness, verifiable safety, fairness, privacy, accountability, and more. This has created [...]

Abstract: Robots lack the perception abilities of animals, which is one reason they can not achieve complex control in outdoor unstructured environments with the same ease as animals. One cause of the perception gap is the constraints researchers place on the environments in which they test new sensors so algorithms can correctly interpret data from [...]

Abstract: Robotic simulation, planning, estimation, and control, have all been built on top of numerical optimization. In this same time, modern convex optimization has matured into a robust technology delivering globally optimal solutions in polynomial time. With advances in differentiable optimization and custom solvers capable of producing smooth derivatives, convex modeling has become fast, reliable, [...]

Abstract: Robotics researchers have been attempting to extend data-driven breakthroughs in fields like computer vision and language processing into robot learning. However, unlike vision or language domains where massive amounts of data is readily available on the internet, training robotic policies relies on physical and interactive data collected via interacting with the physical world -- [...]