Carnegie Mellon University
Ryan Coulson – MSR Thesis Talk
Zoom link: https://cmu.zoom.us/j/91138367616 Title: Soft Materials Architectures for Robot Manipulation Abstract: Robot manipulation has been a prolific subject of academic research for several decades - however, today's robotic manipulators have yet to demonstrate an ability to perform robust and versatile dexterous manipulation. This challenge can largely be attributed to a tradeoff between complexity and capability [...]
Carnegie Mellon University
Anish Bhattacharya – MSR Thesis Talk
Zoom link: https://cmu.zoom.us/j/4413360562 Title: Toward Increased Airspace Safety: Quadrotor Guidance for Targeting Aerial Objects Abstract: As the market for commercially available unmanned aerial vehicles (UAVs) booms, there is an increasing number of small, teleoperated or autonomous aircraft found in protected or sensitive airspace. Existing solutions for removal of these aircraft are either military-grade and too [...]
Carnegie Mellon University
Aaron Miller – MSR Thesis Talk
Zoom link: https://cmu.zoom.us/j/95386019509?pwd=cmNnTm9lWWlNbTh1SmQ0RU5PVTBmQT09 Title: Cooperative Perception for Pairs of Self-Driving Cars Abstract: Fully autonomous vehicles are expected to share the road with less advanced vehicles for a significant period of time. Furthermore, an increasing number of vehicles on the road are equipped with a variety of low-fidelity sensors which provide some perception and localization [...]
Carnegie Mellon University
Sara Misra – MSR Thesis Talk
Zoom link: https://cmu.zoom.us/j/3216213856 Title: Learning-based modular framework for environment-adaptive planning in exploration tasks Abstract: Search-based path planning has spawned a number of different solutions using different paradigms and strategies, both generalized and specific to certain problems, representations, and environments. Split into heuristic and non-heuristic based approaches, where heuristic-based approaches, embedded within these approaches [...]
Carnegie Mellon University
Blake Buchanan – MSR Thesis Talk
Location: https://cmu.zoom.us/j/99874277969?pwd=Q1MvczNhWTB4UmF3UXFOMEFtVG1uZz09 Title: Mechanics and Control of Coupled Interactions in Ambient Media Abstract: Many multi-agent systems in nature comprise agents that interact with, and respond to, the dynamics of their environment. For example, fish school based on the fundamental fluid phenomena of vortex shedding, birds shed leading-edge vortices in formation for flocking, and E. coli bacteria [...]
Carnegie Mellon University
Online Inference of Joint Occupancy using Forward Sensor Models and Trajectory Posteriors for Deliberate Robot Navigation
Zoom Link Abstract: Robotic navigation algorithms for real-world robots require dense and accurate probabilistic volumetric representations of the environment in order to traverse efficiently. Sensor data in a Simultaneous Localisation And Mapping (SLAM) context, however, always has associated acquisition noise and pose uncertainty, and encoding this within the map representation while still maintaining computational tractability [...]
Computational Imaging: Beyond the Limits Imposed by Lenses
Virtual VASC Seminar: https://cmu.zoom.us/j/92587238250?pwd=S0paYUVBUXozQkFTclMwRUg0MzBNZz09 Abstract: The lens has long been a central element of cameras, since its early use in the mid-nineteenth century by Niepce, Talbot, and Daguerre. The role of the lens, from the Daguerrotype to modern digital cameras, is to refract light to achieve a one-to-one mapping between a point in the scene and a point on the sensor. This effect enables the sensor to compute a particular two-dimensional (2D) [...]
Beyond ROS: Using a Data Connectivity Framework to build and run Autonomous Systems
Virtual FRC Seminar: Seminar recording: https://cmu.zoom.us/rec/share/x84qF7_q8TlIcpHoyG_DRa58O6i8aaa8hCAW_fEPxEkBGjBVPyzW_lK0YW30RfJ3?startTime=1598551489000 Passcode: qu6)ePH9 Abstract: Next-generation robotics will need more than the current ROS code in order to comply with the interoperability, security and scalability requirements for commercial deployments. This session will provide a technical overview of ROS, ROS2 and the Data Distribution Service™ (DDS) protocol for data connectivity in safety-critical cyber-physical [...]
Learning 3D Reconstruction in Function Space
Virtual VASC Seminar: https://cmu.zoom.us/j/96635002737?pwd=RkxGVlJaUTlhcDdGeVBPcnpTS015dz09 Abstract: In this talk, I will show several recent results of my group on learning neural implicit 3D representations, departing from the traditional paradigm of representing 3D shapes explicitly using voxels, point clouds or meshes. Implicit representations have a small memory footprint and allow for modeling arbitrary 3D toplogies at [...]
Carnegie Mellon University
Machine Learning Parallelism Could Be Adaptive, Composable and Automated
Zoom Link Abstract: In recent years, researchers in SysML have created algorithms and systems that parallelize ML training over multiple devices or computational nodes. As ML models become more structurally complex, many systems have struggled to provide all-round performance on a variety of models. Particularly, ML scale-up is usually underestimated in terms of the amount [...]