Max-Affine Spline Insights into Deep Learning
Abstract: We build a rigorous bridge between deep networks (DNs) and approximation theory via spline functions and operators. Our key result is that a large class of DNs can be written as a composition of max-affine spline operators (MASOs) that provide a powerful portal through which we view and analyze their inner workings. For instance, [...]
Search-based Path Planning for a High Dimensional Manipulator in Cluttered Environments Using Optimization-based Primitives
Abstract: In this work we tackle the path planning problem for a 21-dimensional snake robot-like, navigating a cluttered gas turbine for the purposes of inspection. Heuristic search-based approaches are effective planning strategies for common manipulation domains. However, their performance on high-dimensional systems is heavily reliant on the effectiveness of the action space and the heuristics [...]
Vision-Based Tactile Sensor Design using Physics Based Rendering
Abstract: Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and human-robot interaction. However, the simulation of tactile sensors is still a challenge. Simulation is a critical tool in the development of robotic systems. In [...]
Teruko Yata Memorial Lecture
Leveraging Language and Video Demonstrations for Learning Robot Manipulation Skills and Enabling Closed-Loop Task Planning Humans have gradually developed language, mastered complex motor skills, created and utilized sophisticated tools. The act of conceptualization is fundamental to these abilities because it allows humans to mentally represent, summarize and abstract diverse knowledge and skills. By means of [...]
Details to Follow . . .
Details to Follow . . .
Robotics Institute Staff Offices 12PM Early Dismissal
Dear RI Faculty and Staff, In observance of the coming holiday, institute staff offices will close Friday, April 15th at noon. They will reopen at 8:30 on Monday, April 18th. Happy Holiday! Thank you – Debbie Z. =================================================== Deborah H. Zalewski, Senior Associate Business Manager | The Robotics Institute - Carnegie Mellon University | Newell-Simon [...]
RI Hiring Meeting
A faculty hiring meeting to discuss candidates for faculty position
Carnegie Mellon University
Unified Simulation, Perception, and Generation of Human Behavior
Abstract: Understanding and modeling human behavior is fundamental to almost any computer vision and robotics applications that involve humans. In this thesis, we take a holistic approach to human behavior modeling and tackle its three essential aspects --- simulation, perception, and generation. Throughout the thesis, we show how the three aspects are deeply connected and [...]
Kernel Density Decision Trees
Abstract We propose kernel density decision trees (KDDTs), a novel fuzzy decision tree (FDT) formalism based on kernel density estimation that improves the robustness of decision trees and ensembles and offers additional utility. FDTs mitigate the sensitivity of decision trees to uncertainty by representing uncertainty through fuzzy partitions. However, compared to conventional, crisp decision trees, [...]