Zoom Link: https://cmu.zoom.us/j/95571441174   Title: Online Connectivity-aware Dynamic Distribution for Heterogeneous Multi-Robot Systems   Abstract: In many multi-robot applications the robot team needs to execute multiple tasks simultaneously with different task-related controllers. To ensure effective coordination and at the same time avoid collisions, the robots have to stay connected. In this work, we consider the problem where a [...]

Zoom Link: https://cmu.zoom.us/j/91465601940   Title: Solving Puzzles Like A Human With Two Stage Random Search   Abstract: Humans are remarkably good at solving novel physical puzzles and tasks, with only a basic understanding of abstract concepts like kinematics, gravity, mass, friction, and inertia. We wanted to replicate how a human would explore the search space of a problem. [...]

Zoom Link: https://cmu.zoom.us/j/98546775449   Title: Grounding Abstract Concepts With Robotic Manipulatives   Abstract: Technology in education has been on the rise for a long time, developing from computer manipulatives to mobile apps and finally into robotics. Robotics has the unique affordances of the classic physical manipulatives and virtual manipulative, providing both a physical aspect along with [...]

Zoom Link: https://cmu.zoom.us/j/2112607862   Title: Bitwise Trajectory Elimination: An Efficient Method for Filtering Trajectory Libraries for Quadrotor Navigation   Abstract: Quadrotor flight in unknown environments is challenging due to the limited range of perception sensors, state estimation drift, and limited onboard computation. In this work, we tackle these challenges by proposing an efficient, reactive planning approach. We introduce [...]

Zoom link: https://cmu.zoom.us/j/94541819048   Title: Visual-Inertial Source Localization for Co-Robot Rendezvous   Abstract: We aim to enable robots to visually localize a target person through the aid of an additional sensing modality -- the target person's 3D inertial measurements. The need for such technology may arise when a robot is to meet a person in [...]

Zoom Link: https://cmu.zoom.us/j/99544484313   Title   DeepBLE - Generalizing RSSI based Localization Across Different Devices   Abstract   Accurate smartphone localization ( < 1-meter error) for indoor navigation using only RSSI received from a set of BLE beacons remains a challenging problem, due to the inherent noise of RSSI measurements. To overcome the large variance in [...]

ZOOM Link: https://cmu.zoom.us/j/93785335144   Title: Combining Semantic and Geometric Understanding for Modern Visual Recognition Tasks Abstract: For autonomous driving perception, visual data, such as camera image and LiDAR point cloud, consists of two aspects: semantic feature and geometric structure. While usually studied separately, these two properties can be combined and jointly used by a unified framework. [...]

Zoom Link: https://cmu.zoom.us/j/96397153508 Title: A Comprehensive Study of Unsupervised Classification Techniques for Hyperspectral Datasets Abstract: Unsupervised learning and in this specific research, clustering regional composition in hyperspectral images, poses significant challenges in the fields of machine learning and remote sensing. Hyperspectral images capture the spectral information in many wavelengths, as opposed to typical images that [...]

Zoom Link: https://cmu.zoom.us/j/98144379626   Title   Learning Precise and Task-oriented Grasps for Robotic Assembly   Abstract   Robust, precise, and task-oriented grasp planning is vital for autonomous robotic assembly. It requires reasoning about the object geometry and preconditions of a task so as to properly grasp an object and complete the down-stream tasks. However, achieving such [...]