RI Event
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Yimin Tang

NSH 3305

Title: Solving Multi-Agent Target Assignment and Path Finding with a Single Constraint Tree Abstract: Multi-Agent Path Finding (MAPF) and Combined Target-Assignment and Path-Finding problem (TAPF) arise in many applications such as robotics, computer gaming, warehouse automation and traffic management at road intersections. Combined Target-Assignment and Path-Finding problem (TAPF) requires simultaneously assigning targets to agents and [...]

MSR Thesis Defense
MSR Student
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Xuxin Cheng

NSH 3305

Title: Learning Legged Robot Agility: Sim-to-Real and Beyond Abstract: Legged robotics has seen significant advancements in both manipulation and locomotion. However, there remain significant gaps compared to their biological counterparts, particularly in energy efficiency, natural motion, and the capacity for agile skills. This thesis primarily focuses on two aspects: the unified control of legged manipulators [...]

MSR Thesis Proposal
PhD Student
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Harry Freeman

NSH 4305

Title: Computer Vision-Based Phenotyping in Agriculture: Leveraging Semantic Information for Non-Destructive Small Crop Analysis Abstract: Fast and reliable non-destructive phenotyping of plants plays an important role in precision agriculture, as the information enables farmers to make real-time crop management decisions without affecting yield. To non-destructively phenotype crops, computer and stereo-vision based methods are commonly used, [...]

MSR Thesis Defense
MSR Student
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Nishant Mohanty

Newell-Simon Hall 1305

Title: Multi-Robot Control using Control Barrier Functions: Theory and Application Abstract: Control Barrier Functions (CBFs) have emerged as a powerful theoretical tool for designing controllers with provable safety guarantees. This work presents a novel methodology that leverages CBFs to synthesize controllers for multi-robot coordination. Two multi-agent use cases are explored, i.e., a) Non-Cooperative Herding and [...]

MSR Thesis Defense
PhD Student
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Yuyao Shi

Newell-Simon Hall 4305

Title: A Learning Approach to Understand How Spinal Cord Learns Multiple Behaviors Abstract: The spinal cord plays a crucial role in the control of human locomotion, generating motor patterns and coordinating reflex responses to sensory signals. Although this spinal control is traditionally viewed as a simple relay system, more recent neurophysiological evidence points to a [...]

MSR Thesis Defense
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: FNU Abhimanyu

3305 Newell-Simon Hall

Title: Improving Robotic Ultrasound AI Using Optical Flow Abstract:  Ultrasound is an important modality for medical intervention such as vascular access because it is safe, portable, and low-cost. However, ultrasound scanning requires trained sonographers who are scarce, and it can be challenging to perform ultrasound examinations in disaster or battlefield scenarios. This motivates us to automate [...]

PhD Speaking Qualifier
PhD Student
Robotics Institute,
Carnegie Mellon University

Vision-based Proprioceptive and Tactile Sensing for Soft Robots

Abstract: Soft robotic manipulators present many unique advantages in difficult manipulation tasks. The inherent compliance of soft robots' constituent deformable material makes them safe and reliable in delicate tasks such as harvesting fruit and assisting in household work. To address challenges in proprioceptive and tactile sensing for soft robots, we present a family of vision-based [...]

MSR Thesis Defense
MSR Student
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Lucas Casanova De Oliveira Nogueira

Newell-Simon Hall 4305

Title: SuperLoop: a LIDAR-based SLAM Back-end for Underground Exploration Abstract: Robots deployed in underground scenarios require a SLAM system that can handle a variety of challenges, such as the absence of GPS, large scale maps, bad illumination, and geometrically degenerate environments. It is nearly impossible for any SLAM solution to handle all these challenges perfectly, specially [...]

PhD Thesis Defense
PhD Student
Robotics Institute,
Carnegie Mellon University

Learning via Visual-Tactile Interaction

NSH 1305

Abstract: Humans learn by interacting with their surroundings using all of their senses. The first of these senses to develop is touch, and it is the first way that young humans explore their environment, learn about objects, and tune their cost functions (via pain or treats). Yet, robots are often denied this highly informative and [...]

MSR Thesis Defense
Engineer II
Robotics Institute,
Carnegie Mellon University

MSR Thesis Talk: Neil Khera

TBD

Title: PyCubed-Mini: A Low-Cost, Open-Source Satellite Research Platform   Abstract: Satellite development has become more accessible with decreasing launch costs and shrinking hardware. However, the expenses associated with pre-built satellite kits remain high, making it difficult for student and hobbyist teams to participate. The lack of standardized satellite hardware and software further adds to the challenge, [...]