The Topology of Learning
Zoom Virtual Meeting: https://cmu.zoom.us/j/92178295543?pwd=L2dwZU5SbDY5NzZZNzZ4ZmFUclRqQT09 Abstract: Deep Neural Networks (DNNs) have revolutionized computer vision. We now have DNNs that achieve top results in many computer vision problems, including object recognition, facial expression analysis, and semantic segmentation, to name but a few. Unfortunately, the rise in performance has come with a cost. DNNs have become so [...]
Carnegie Mellon University
Sarthak Ahuja – MSR Thesis Talk
Zoom Link: https://cmu.zoom.us/j/8978517404 Title: Visual Assessment for Non-Disruptive Object Extraction Abstract: Robots operating in human environments need to perform a variety of dexterous manipulation tasks on object arrangements that have complex physical support relationships, e.g. procuring utensils from a large pile of dishes, grabbing a bottle from a stuffed fridge, or fetching a book from a loaded [...]
Carnegie Mellon University
Eric Dexheimer – MSR Thesis Talk
Location: https://cmu.zoom.us/j/98262481359?pwd=dnN4UERmQlF6dVVROTQ1czYrU215UT09 Title: Efficient Multiresolution Scrolling Grid for MAV Obstacle Avoidance Abstract: In this talk, we propose the use of an efficient, structured multiresolution representation for robot mapping and planning. We focus on expanding the sensor range of dense local grids for memory-constrained platforms. While multiresolution data structures have been proposed previously, we avoid processing [...]
Carnegie Mellon University
Tanmay Agarwal – MSR Thesis Talk
Zoom link: https://cmu.zoom.us/j/3388909661 Title: On-Policy Reinforcement Learning for Learning to Drive in Urban Settings Abstract: Traditional autonomous vehicle pipelines that follow a modular approach have been very successful in the past both in academia and industry, which has led to autonomy deployed on road. Though this approach provides ease of interpretation, its generalizability to unseen [...]
Jay Patrikar – MSR Thesis Talk
Zoom link: https://cmu.zoom.us/j/93391276533?pwd=RTM4NTc0cTJETmRudGcwenNCSVgzdz09 Title: Wind-Field Estimation and Curvature Continuous Path Planning for Low Altitude Urban Aerial Mobility Abstract: Unmanned Aerial Vehicles (UAVs) operating in dense urban areas need the ability to generate wind-aware collision-free, smooth, dynamically feasible trajectories between two locations. The complex and high-rise structure of the modern urban landscape affects the wind flow [...]
Benjamin Freed – MSR Thesis Talk
Where?:https://cmu.zoom.us/j/96355036481?pwd=OCtBeWZpMnZsZzFlRkJWc2dkZW5qUT09 Title: Discrete Communication Learning via Backpropagation for Distributed Computing on Bandwidth-Limited Communication Networks Abstract: Efficient inter-agent communication is an important requirement for both cooperative multi-agent robotics tasks, as well as distributed computing. In both of these domains, the rate at which information can be transferred between robots or computing nodes is often [...]
Carnegie Mellon University
Tanvir Parhar – MSR Thesis Talk
Zoom Link:https://cmu.zoom.us/j/3399055387 Title: Applications of Deep Learning for Robotic Agriculture. Abstract: Agricultural automation is a varied and challenging field, with tasks ranging from detection to sizing and from manipulation to navigation. These are also precursors to effective plant breeding and management. Making plant measurements by manually scouting is labor-intensive and intractable at large scale. [...]
Carnegie Mellon University
Hitesh Arora – MSR Thesis Talk
Zoom link: https://cmu.zoom.us/j/4937138807 Title: Off-Policy Reinforcement Learning for Autonomous Driving Abstract: Modern autonomous driving systems continue to face the challenges of handling complex and variable multi-agent real-world scenarios. Some subsystems, such as perception, use deep learning-based approaches to leverage large amounts of data to generalize to novel scenes. Other subsystems, such as planning [...]
Carnegie Mellon University
Scott Sun – MSR Thesis Talk
Zoom link: https://cmu.zoom.us/j/93097644031?pwd=RzZVSXEvdE5zZ0RDaU9FdmRUMU1vQT09 Title: Accurate Orientation Estimates for Deep Inertial Odometry Abstract: Many smartphone applications use inertial measurement units (IMUs) to sense movement, but the use of these sensors for pedestrian localization can be challenging due to their noise characteristics. Recent deep inertial odometry approaches to pedestrian navigation have demonstrated the increasing feasibility of inertial navigation. However, [...]
Carnegie Mellon University
Allen Cheng – MSR Thesis Talk
Zoom link: https://cmu.zoom.us/j/6056258382 Title: Search-Based Planning with Extend Operator Abstract: Sampling-based approaches are often favored in robotics for high-dimensional motion planning for their fast coverage of the search space. However, at best they offer asymptotic guarantees on completeness and solution quality, and returned paths are typically unpredictable due to their inherent stochasticity. By [...]
Implicit Neural Scene Representations
Virtual Zoom Seminar: https://cmu.zoom.us/j/92178295543?pwd=L2dwZU5SbDY5NzZZNzZ4ZmFUclRqQT09 Abstract How we represent signals has major implications for the algorithms we build to analyze them. Today, most signals are represented discretely: Images as grids of pixels, shapes as point clouds, audio as grids of amplitudes, etc. If images weren't pixel grids - would we be using convolutional neural networks [...]
Carnegie Mellon University
Chenfeng Tu – MSR Thesis Talk
Location: https://cmu.zoom.us/j/96696044200?pwd=MVl4aUpiZlYvYlRwRmF1SVBUeGx6Zz09 Title: On-the-fly Targetless Extrinsics Calibration For Multi-Stereo Systems Without Field-of-View Overlap Abstract: In this talk, we propose an on-the-fly extrinsics calibration method for stereo pairs lacking overlapping field of view that is robust to visual odometry errors. Multi-stereo systems are becoming increasingly popular because of their large field of view (FoV) that benefits [...]