Bayesian Aggregation of Evidence for Detection and Characterization of Patterns in Multiple Noisy Observations
Event Location: NSH 3305Abstract: Effective use of Machine Learning to support extracting maximal information from limited sensor data is one of the important research challenges in robotic sensing. This thesis develops techniques for detecting and characterizing patterns in noisy sensor data. Our Bayesian Aggregation (BA) algorithmic framework can leverage data fusion from multiple low Signal-To-Noise [...]
Computer vision for democratic and personalized access to sport video reports
Event Location: NSH 1507Bio: Christophe De Vleeschouwer is a Professor at ‘Université catholique de Louvain’ (UCL), and a Research Associate of the Belgian NSF. He received the M. Eng. and the Ph. D. degrees from UCL, in 1995 and 1999 respectively. As a young PhD, he was a senior research engineer with the IMEC Multimedia [...]
Factoring Scenes into 3D Structure an Style
Event Location: GHC 4405Abstract: Given a single image of a scene, humans have few issues answering questions about the 3D structure like “is this facing upwards?” even though mathematically speaking this should be impossible. We have similarly have few issues accounting for this 3D structure in answering viewpoint independent questions like “is this the same [...]
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3D Object Understanding
Event Location: NSH 1507Bio: Joseph Lim is a PhD student in the Department of Electrical Engineering and Computer Science at Massachusetts Institute of Technology (MIT), where he is advised by Professor Antonio Torralba. His research interests are in computer vision and machine learning. He has been motivated by the goal of building computer systems that [...]
Vector Map-Based, Non-Markov Localization for Long-Term Deployment of Autonomous Mobile Robots
Event Location: GHC 4405Abstract: As robots become increasingly available and capable, there has been an increased interest in having robots continue to perform autonomously over time despite changes in their environment. This thesis recognizes the wide variations in the applications and constraints of mobile robot localization in human environments, and proposes a number of localization [...]
Evaluation of Decentralized Reactive Swing-Leg Controllers on Powered Robotic Legs
Event Location: NSH 1507Abstract: We present work to transfer decentralized neuromuscular control strategies of human locomotion to powered segmented robotic legs. State-of-the-art robotic locomotion control approaches, like centralized planning and tracking in fully robotic systems and predefined motion pattern replay in prosthetic systems, do not enable the dynamism and reactiveness of able-bodied humans. Animals largely [...]
A Team Planning Language with Markup for Usage Adaptation
Event Location: NSH 1507Abstract: As robots become more reliable and user interfaces (UI) become more powerful, human-robot-agent teams are being applied to an increasing number of real world problems. Common areas of interest for these teams include scientific investigation, surveillance, disaster response, and search and rescue. These systems often employ a set of high level [...]
Decoupling Algorithms from the Organization of Computation for High-Performance Image Processing
Event Location: NSH 1507Bio: Jonathan Ragan-Kelley is a post-doctoral researcher at Stanford, where he works with Pat Hanrahan. He recently finished his PhD in computer science at MIT, where he worked with Frédo Durand and Saman Amarasinghe. His work focuses on high-efficiency computer graphics, at the intersection of graphics with systems, architecture, and compilers. He [...]
Creative Robotic Systems for Talent-Based Learning
Event Location: GHC 4405Abstract: In recent years, the U.S. educational system has fallen short in training the technology innovators of the future. To do so, we must give students the experience of designing and creating technological artifacts, rather than relegating students to the role of technology consumers, and must provide students with engineering activities that [...]
Online Hierarchical Optimization for Humanoid Control
Event Location: NSH 3305Abstract: This thesis proposal presents an online approach that is based on hierarchical optimization for controlling humanoid robots. While our primary focus is on developing a fast and robust walking system that is able to follow desired footsteps, full body manipulation capability is also achieved. The proposed hierarchical system consists of three [...]