PhD Thesis Defense
Informative Path Planning Toward Autonomous Real-World Applications
Abstract: Gathering information from the physical world is critical for applications such as scientific research, environmental monitoring, search and rescue, defense, and disaster response. Autonomous robots provide significant advantages for information gathering, particularly in situations where human access is constrained, hazardous, or impractical. By leveraging intelligent algorithms, these robots can efficiently collect data, enhancing decision-making [...]
Deep 3D Geometric Reasoning for Robot Manipulation
Abstract: To solve general manipulation tasks in real-world environments, robots must be able to perceive and condition their manipulation policies on the 3D world. These agents will need to understand various common-sense spatial/geometric concepts about manipulation tasks: that local geometry can suggest potential manipulation strategies; that changes in observation viewpoint shouldn't affect the interpretation of [...]