PhD Thesis Proposal
PhD Student
Robotics Institute,
Carnegie Mellon University

Ensuring safety for uncertain high-dimensional robotic systems

GHC 8102

Abstract: Two major obstacles for safe control and planning are (1) scaling to high-dimensional systems and (2) handling uncertain systems. This is problematic because such systems are ubiquitous in practice: e.g. drones with unknown drag, manipulators carrying unknown packages. In this proposal, we aim to address both challenges. At the control level, we have synthesized [...]

PhD Thesis Proposal
PhD Student
Robotics Institute,
Carnegie Mellon University

Trustworthy Learning using Uncertain Interpretation of Data

GHC 8102

Abstract: Non-parametric models are popular in real-world applications of machine learning. However, many modern ML methods that ensure that models are pragmatic, safe, robust, fair, and otherwise trustworthy in increasingly critical applications, assume parametric, differentiable models. We show that, by interpreting data as locally uncertain, we can achieve many of these without being limited to [...]

PhD Thesis Proposal
PhD Student
Robotics Institute,
Carnegie Mellon University

Allocation, Planning, and Control in Off-road Automated Convoy Operations

GHC 4405

Abstract: The lack of structure in off-road terrains makes off-road operations of automated platforms difficult. The difficulty arises from uncertainty in the optimality and safety of the actions (e.g., planning and control) taken by the automated platform. When multiple automated platforms are required to act in a coordinated manner (e.g., a convoy) in complex cluttered [...]

PhD Speaking Qualifier
PhD Student
Robotics Institute,
Carnegie Mellon University

Robot Learning for Assistive Dressing

NSH 4305

Abstract: Robot-assisted dressing could benefit the lives of many people such as older adults and individuals with disabilities. In this talk, I will present two pieces of work that use robot learning for this assistive task. In the first half of the talk, I will present our work on developing a robot-assisted dressing system that [...]

Faculty Events
Senior Systems Scientist
Robotics Institute,
Carnegie Mellon University

RI Faculty Meeting: Multi-Robot Field Autonomy: A 5 Year Perspective

Newell-Simon Hall 4305

LIVE DEMO! Come see, hear and witness progress made in developing a heterogeneous (wheeled, legged, etc.) team of field deployable mobile robots.  Details will be shared on the history of development of multi-robot autonomy at CMU throughout the previous DARPA Subterranean Challenge, DARPA RACER program, and current ARL projects.  There will be an ongoing live and interactive [...]

Faculty Events

RI Faculty Business Meeting

Newell-Simon Hall 4305

Meeting for RI Faculty. Discussions include various department topics, policies, and procedures. Generally meets weekly.

RI Seminar
Dr. Robert Ambrose
J. Mike Walker '66 Chair Professor
Mechanical Engineering, Texas A&M University

Robots at the Johnson Space Center and Future Plans

1305 Newell Simon Hall

Abstract: The seminar will review a series of robotic systems built at the Johnson Space Center over the last 20 years. These will include wearable robots (exoskeletons, powered gloves and jetpacks), manipulation systems (ISS cranes down to human scale) and lunar mobility systems (human surface mobility and robotic rovers). As all robotics presentations should, this [...]

VASC Seminar
Arun Ross
Professor
Michigan State University

Biometrics in a Deep Learning World

Newell-Simon Hall 3305

Abstract: Biometrics is the science of recognizing individuals based on their physical and behavioral attributes such as fingerprints, face, iris, voice and gait. The past decade has witnessed tremendous progress in this field, including the deployment of biometric solutions in diverse applications such as border security, national ID cards, amusement parks, access control, and smartphones. [...]

PhD Speaking Qualifier
PhD Student
Robotics Institute,
Carnegie Mellon University

Towards Robotic Tree Manipulation: Leveraging Graph Representations

GHC 4405

Abstract: There is growing interest in automating agricultural tasks that require intricate and precise interaction with specialty crops, such as trees and vines. However, developing robotic solutions for crop manipulation remains a difficult challenge due to complexities involved in modeling their deformable behavior. In this study, we present a framework for learning the deformation behavior [...]

PhD Speaking Qualifier
PhD Student
Robotics Institute,
Carnegie Mellon University

Tracking Any”Thing” in Videos

NSH 3001

Abstract: Being able to track anything is one of the fundamental steps to parse and understand a video. In this talk, I will present two pieces of work that tackle this problem at different spatial granularities. In the first half of the talk, I will discuss tracking any video pixel or particle through time in [...]