PhD Thesis Proposal
PhD Student
Robotics Institute,
Carnegie Mellon University

Teaching Robots to Drive: Scalable Policy Improvement via Human Feedback

NSH 3305

Abstract: A long-standing problem in autonomous driving is grappling with the long-tail of rare scenarios for which little or no data is available. Although learning-based methods scale with data, it is unclear that simply ramping up data collection will eventually make this problem go away. Approaches which rely on simulation or world modeling offer some [...]

PhD Thesis Defense
PhD Student
Robotics Institute,
Carnegie Mellon University

Exploration for Continually Improving Robots

NSH 4305

Abstract: Data-driven learning is a powerful paradigm for enabling robots to learn skills. Current prominent approaches involve collecting large datasets of robot behavior via teleoperation or simulation, to then train policies. For these policies to generalize to diverse tasks and scenes, there is a large burden placed on constructing a rich initial dataset, which is [...]

VASC Seminar
Nataniel Ruiz
Research Scientist
Google

Unlocking Magic: Personalization of Diffusion Models for Novel Applications

3305 Newell-Simon Hall

Abstract: Since the recent advent of text-to-image diffusion models for high-quality realistic image generation, a plethora of creative applications have suddenly become within reach. I will present my work at Google where I have attempted to unlock magical applications by proposing simple techniques that act on these large text-to-image diffusion models. Particularly, a large class of [...]

PhD Thesis Defense
PhD Student
Robotics Institute,
Carnegie Mellon University

Domesticating Soft Robotics Research and Development with Accessible Biomaterials

Abstract:   Current trends in robotics design and engineering are typically focused on high value applications where high performance, precision, and robustness take precedence over cost, accessibility, and environmental impact.  In this paradigm, the capability landscape of robotics is largely shaped by access to capital and the promise of economic return. This thesis explores an alternative [...]

PhD Thesis Proposal
PhD Student
Robotics Institute,
Carnegie Mellon University

Understanding and acting in the 4D world

NSH 4305

Abstract: As humans, we are constantly interacting with and observing a three-dimensional dynamic world; where objects around us change state as they move or are moved, and we, ourselves, move for navigation and exploration. Such an interaction between a dynamic environment and a dynamic ego-agent is complex to model as an ego-agent's perception of the [...]

Faculty Events
Assistant Professor
Robotics Institute,
Carnegie Mellon University

Using mechanical intelligence to create adaptable robots

Newell-Simon Hall 4305

Abstract: Currently deployed robots are primarily rigid machines that perform repetitive, controlled tasks in highly constrained or open environments such as factory floors, warehouses, or fields. There is an increasing demand for more adaptable, mobile, and flexible robots that can manipulate or move through unstructured and dynamic environments. My vision is to create robots that [...]

VASC Seminar
Yingsi Qin
PhD Candidate
Carnegie Mellon University

Instant Visual 3D Worlds Through Split-Lohmann Displays

3305 Newell-Simon Hall

Abstract: Split-Lohmann displays provide a novel approach to creating instant visual 3D worlds that support realistic eye accommodation. Unlike commercially available VR headsets that show content at a fixed depth, the proposed display can optically place each pixel region to a different depth, instantly creating eye-tracking-free 3D worlds without using time-multiplexing. This enables real-time streaming [...]

VASC Seminar
Edward Lu
PhD student
ECE Department at CMU

Remote Rendering and 3D Streaming for Resource-Constrained XR Devices

3305 Newell-Simon Hall

Abstract: An overview of the motivation and challenges for remote rendering and real-time 3D video streaming on XR headsets. Bio: Edward is a third year PhD student in the ECE department interested in computer systems for VR/AR devices. Homepage: https://users.ece.cmu.edu/~elu2/   Sponsored in part by:   Meta Reality Labs Pittsburgh      

VASC Seminar
Mosam Dabhi
PhD Student
Carnegie Mellon University

Vectorizing Raster Signals for Spatial Intelligence

3305 Newell-Simon Hall

Abstract: This seminar will focus on how vectorized representations can be generated from raster signals to enhance spatial intelligence. I will discuss the core methodology behind this transformation, with a focus on applications in AR/VR and robotics. The seminar will also briefly cover follow-up work that explores rigging and re-animating objects from casual single videos [...]

PhD Thesis Proposal
PhD Student
Robotics Institute,
Carnegie Mellon University

Learning Universal Humanoid Control

GHC 4405

Abstract: Since infancy, humans acquire motor skills, behavioral priors, and objectives by learning from their caregivers. Similarly, as we create humanoids in our own image, we aspire for them to learn from us and develop universal physical and cognitive capabilities that are comparable to, or even surpass, our own. In this thesis, we explore how [...]