PhD Thesis Defense
Robotics Institute,
Carnegie Mellon University

Intra-Robot Replanning and Learning for Multi-Robot Teams in Complex Dynamic Domains

GHC 6501

Abstract: In complex dynamic multi-robot domains, there is a set of individual robots that must coordinate together through a centralized planner that inevitably makes assumptions based on a model of the environment and the actions of the individual. Eventually, the individuals may encounter failures, because the centralized planner’s models of the states and actions are [...]

PhD Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

Toward a New Type of Agile and Dexterous Mobile Manipulator

NSH 3305

Abstract: Mobile robot bases have been developed over many decades, but only recently have researchers added arms to these bases, opening up the rich field of mobile manipulation. Most of these robots either need wide, heavy, statically-stable bases that may or may not be omnidirectional to support the arms and provide stability. Such robot bases, [...]

PhD Thesis Defense
Robotics Institute,
Carnegie Mellon University

Light Sheet Depth Imaging

NSH 3305

Abstract: Once confined to industrial manufacturing facilities and research labs, robots are increasingly entering everyday life. As specialized robots are developed for tasks such as autonomous driving, package delivery, and aerial videography, there is a growing need for affordable depth sensing technology. Robots use sensors like scanning LIDAR, depth cameras, and passive stereo cameras to [...]

PhD Thesis Defense
Robotics Institute,
Carnegie Mellon University

Towards Generalization and Efficiency in Reinforcement Learning

GHC 8102

Abstract: In classic supervised machine learning, a learning agent behaves as a passive observer: it receives examples from some external environment which it has no control over and then makes predictions. Reinforcement Learning (RL), on the other hand, is fundamentally interactive: an autonomous agent must learn how to behave in an unknown and possibly hostile [...]

MSR Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

Akshat Agarwal – MSR Thesis Talk

Newell-Simon Hall 4305

Title: Learning Transferable Cooperative Behavior in Multi-Agent Teams   Abstract: We study the emergence of cooperative behavior and communication protocols in multi-agent teams, for collaboratively accomplishing tasks like coverage control and formation control for swarms. Using graph neural networks to model inter-agent communications, we present state-of-the-art results in a fully decentralized execution framework which assumes [...]

MSR Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

Yifan Ding – MSR Thesis Talk

Newell-Simon Hall 4305

Title: Decentralized Multiple Mobile Depots Route Planning for Replenishing Persistent Surveillance Robots   Abstract: Persistent surveillance of a target space using multiple robots has numerous applications. The continuous operation in these applications is challenged by the limited onboard battery capacity of the persistent robots. We consider the problem for replenishing persistent robots using mobile depots, [...]

RI Seminar
Todd Murphey
Professor
Mechanical Engineering, Northwestern University

Active Learning in Robot Motion Control

1305 Newell Simon Hall

Abstract: Motion motivated by information needs can be found throughout natural systems, yet there is comparatively little work in robotics on analyzing and synthesizing motion for information. Instead, engineering analysis of robots and animal motion typically depends on defining objectives and rewards in terms of states and errors on states. This is how we formulate [...]

MSR Speaking Qualifier
Robotics Institute,
Carnegie Mellon University

Tanya Marwah – MSR Thesis Talk

Newell Simon Hall 4201

Title: Generating 3D Human Animations from Single Monocular Images   Abstract: Endowing AI systems with the ability to formulate a three-dimensional understanding of human appearance from a single RGB image is an important component technology for applications such as person re-identification, biometrics, virtual reality and augmented reality. However, jointly inferring the texture map and 3D [...]

Special Talk
Tesca Fitzgerald
PhD candidate
Computer Science, Georgia Tech College of Computing

Human-guided Task Transfer for Interactive Robots

GATES-HILLMAN 4405

Abstract: Adaptability is an essential skill in human cognition, enabling us to draw from our extensive, life-long experiences with various objects and tasks in order to address novel problems. To date, most robots do not have this kind of adaptability, and yet, as our expectations of robots’ interactive and assistive capacity grows, it will be [...]

MSR Speaking Qualifier
PhD Student
Robotics Institute,
Carnegie Mellon University

Pragna Mannam – MSR Thesis Talk

Newell-Simon Hall 4305

Title: Model-free Sensorless Manipulation   Abstract: This thesis is a study of 2D manipulation without sensing and planning, by exploring the effects of unplanned randomized action sequences on 2D object pose uncertainty. Our approach uses sensorless reorienting of an object to achieve a determined pose, regardless of the initial pose. Without using sensors and models [...]