Learning to localize and anonymize objects with indirect supervision
Abstract: Computer vision has made great strides for problems that can be learned with direct supervision, in which the goal can be precisely defined (e.g., drawing a box that tightly-fits an object). However, direct supervision is often not only costly, but also challenging to obtain when the goal is more ambiguous. In this talk, I [...]
What People See in a Robot: A New Look at Human-Like Appearance
Abstract: A long-standing question in HRI is what effects a robot’s human-like appearance has on various psychological responses. A substantial literature has demonstrated such effects on liking, trust, ascribed intelligence, and so on. Much of this work has relied on a construct of uni-dimensional low to high human-likeness. I introduce evidence for an alternative view according to which [...]
Safe Learning in Robotics
Abstract: A great deal of research in recent years has focused on robot learning. In many applications, guarantees that specifications are satisfied throughout the learning process are paramount. For the safety specification, we present a controller synthesis technique based on the computation of reachable sets, using optimal control and game theory. In the first part [...]
Carnegie Mellon University
Online, Interactive User Guidance for High-dimensional, Constrained Motion Planning
Abstract: We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that try to speed up planning by incorporating experiences or demonstrations ahead of planning, we suggest to seek user guidance [...]
RI Faculty Social
All Robotics Institute faculty are invited to attend this informal team-building business/social event. Beverages and snacks will be provided.
Carnegie Mellon University
MRFMaps: A Representation for Multi-Hypothesis Dense Volumetric SLAM
Abstract: Robust robotic flight requires tightly coupled perception and control. Conventional approaches employ a SLAM algorithm to infer the most likely trajectory and then generate an occupancy grid map using dense sensor data for planning purposes. In such approaches all the robustness and accuracy costs are offset to the SLAM algorithm; if there are any [...]