Predicting Sets and Lists: Theory and Practice
Event Location: NSH 1305Abstract: Increasingly, real world problems require multiple predictions while traditional supervised learning techniques focus on making a single best prediction. For instance in advertisement placement on the web, a list of advertisements is placed on a page with the objective of maximizing click-through rate on that list. In this work, we build [...]
Bayesian Aggregation of Evidence for Detection and Characterization of Patterns in Multiple Noisy Observations
Event Location: NSH 1305Abstract: 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 [...]
Do Deep Nets Really Need To Be Deep?
Event Location: NSH 1507Bio: Rich Caruana is a Senior Researcher at Microsoft Research. Before joining Microsoft, Rich was on the faculty at the Computer Science Department at Cornell University, at UCLA’s Medical School, and at CMU’s Center for Learning and Discovery (CALD). Rich’s Ph.D. is from Carnegie Mellon University, where he worked with Tom Mitchell [...]
Towards context-ready tagging: Solutions and open challenges of implicit tagging in the real world
Event Location: NSH 1507Bio: Hayley Hung is an Assistant Professor and Delft Technology Fellow in the Pattern Recognition and Bioinformatics group at TU Delft, The Netherlands, since 2013. Between 2010-2013, she held a Marie Curie Intra-European Fellowship at the Intelligent Systems Lab at the University of Amsterdam. Between 2007-2010, she was a post-doctoral researcher at [...]
Unconstrained 3D Face Reconstruction
Event Location: NSH 3305Bio: Xiaoming Liu is an Assistant Professor at the Department of Computer Science and Engineering of Michigan State University. He received the Ph.D. degree in Electrical and Computer Engineering from Carnegie Mellon University in 2004. Before joining MSU in Fall 2012, he was a research scientist at General Electric (GE) Global Research. [...]
State Estimation for Humanoid Robots
Event Location: GHC 6501Abstract: This thesis focuses on dynamic model based state estimation for hydraulic humanoid robots. The goal is to produce state estimates that are robust and achieve good performance when combined with the controller. Three issues are addressed in this thesis. How to use force sensor and IMU information in state estimation? How [...]
Navigation for Balancing Robots in Contact with People
Event Location: NSH 1305Abstract: This work describes methods for advancing the state of the art in mobile robot navigation and physical Human-Robot Interaction (pHRI). An enabling technology in this effort is the ballbot, a person-sized mobile robot that balances on a ball. This underactuated robot presents unique challenges in planning, navigation, and control; however, it also has significant advantages over [...]
Robust Rearrangement Planning using Nonprehensile Interaction
Event Location: GHC 6501Abstract: As we work to move robots out of factories and into human environments, we must empower robots to interact freely in unstructured, cluttered spaces. Humans do this easily, using diverse, whole-arm, nonprehensile actions such as pushing or pulling in everyday tasks. These interaction strategies make difficult tasks easier and impossible tasks [...]
Learning Policies for Shared Autonomy
Event Location: NSH 3305Abstract: In shared autonomy, user input and robot autonomy are combined to control a robot to achieve a goal. Most prior work accomplishes this by augmenting user input with some autonomous strategy for that goal. We take a different viewpoint, treating the user as a policy minimizing some cost function. Our aim [...]
Analysis of Angle of Attack for Efficient Slope Ascent by Rovers
Event Location: GHC 2109Bio: Hiroaki Inotsume is a Masters student in the Robotics Institute advised by David Wettergreen. His research focuses on vehicle-terrain interaction analysis for design, planning, and control of planetary rovers. He holds a B.E. and a M.E. degrees in Aerospace Engineering.Abstract: What direction should a rover drive to efficiently ascend slope of [...]